def wheel_com_init():
global Device1, Device2
Device1 = BLEDevice("DD:43:89:16:43:81") #right wheel
Device2 = BLEDevice("F4:82:B3:50:ED:55") #left wheel
Device1.writereq(0xd, '54524F5F0D0A') #RUN_flag
Device1.notify()
Device2.writereq(0xd, '54524F5F0D0A') #RUN_flag
Device2.notify()
Device1.writereq(0xd, '544443790D0A') #FRONT
Device1.notify()
Device2.writereq(0xd, '544443790D0A') #FRONT
Device2.notify()
desired_speed1(10)
desired_speed2(10)
time.sleep(2)
desired_speed1(0)
desired_speed2(0)
global state
state = STOP
import sys, time
import threading
import keyboard
import numpy as np
from bledevice import scanble, BLEDevice
Device1 = BLEDevice("DD:43:89:16:43:81")
Device2 = BLEDevice("F4:82:B3:50:ED:55")
Device1.writereq(0xd, '54524F5F0D0A') #RUN_flag
Device1.notify()
Device2.writereq(0xd, '54524F5F0D0A') #RUN_flag
Device2.notify()
Device1.writereq(0xd, '544443790D0A') #FRONT
Device1.notify()
Device2.writereq(0xd, '544443790D0A') #FRONT
Device2.notify()
desired = 0
flag = 1
now_velocity1 = 0
now_velocity2 = 0
STOP = 0
IDLE = 1
FWD = 2
LEFT = 3
RIGHT = 4
ROTATE = 6
direction1 = 1
direction2 = 1
#!/usr/bin/env python
import sys, time
from bledevice import scanble, BLEDevice
if len(sys.argv) != 2:
print "Usage: python blecomm.py <ble address>"
print "Scan devices are as follows:"
print scanble(timeout=3)
sys.exit(1)
hm10 = BLEDevice(sys.argv[1])
while True:
vh = hm10.getvaluehandle("ffe1")
hm10.writecmd(vh, "test\r\n".encode('hex'))
data = hm10.notify()
if data is not None:
print "Received: ", data
time.sleep(1)
#!/usr/bin/env python
import sys, time
from bledevice import scanble, BLEDevice
if len(sys.argv) != 2:
print "Usage: python blecomm.py <ble address>"
print "Scan devices are as follows:"
print scanble(timeout=3)
sys.exit(1)
hm10 = BLEDevice(sys.argv[1])
while True:
vh = hm10.getvaluehandle("ffe1")
hm10.writecmd(vh, "test\r\n".encode("hex"))
data = hm10.notify()
if data is not None:
print "Received: ", data
time.sleep(1)
def M_FWD_LEFT(Device1, Device2):
print("\nM_FWD_LEFT")
#vh=Device1.getvaluehandle(b"0000ffe1")
Device1.writereq(0xd, '54524F5F0D0A')
Device2.writereq(0xd, '54524F5F0D0A')
time.sleep(0.5)
sum_time = 0
mean_time = 0
count = 0
while True:
count = count + 1
start = time.time()
data = Device1.notify()
sum_time = sum_time + time.time() - start
mean_time = sum_time / count
print(
"time :",
time.time() - start,
"mean_time : ",
mean_time,
"\n",
)
print(data)
print("\n")
'''
while True:
#vh=hm10.getvaluehandle("ffe1")
#hm10.writecmd(vh, "hello\r\n".encode('hex'))
