def pwm_off (channel) :
global board
if (board == -1) :
return
gb.set_mode(board,channel,gb.MODE_OFF)
def pwm_init (channel) :
# Set channel for brushed and start motor
global inited
global board
if (board == -1) :
return
if inited == 0 :
gb.open_uart(0)
version = gb.get_version(board)
print("Board version {}".format(version))
inited = 1
gb.set_mode(board,channel,gb.MODE_BRUSH)
gb.move_brushed(board,channel,gb.MOVE_B)
def __init__(self):
gb.open_uart(0)
# Setup the channels for brushed motors
gb.set_mode(BOARD, FRONT_LEFT, gb.MODE_BRUSH)
gb.set_mode(BOARD, FRONT_RIGHT, gb.MODE_BRUSH)
gb.set_mode(BOARD, BACK_LEFT, gb.MODE_BRUSH)
gb.set_mode(BOARD, BACK_RIGHT, gb.MODE_BRUSH)
# set a ramp-up speed in case motors are big
gb.set_brush_ramps(BOARD, FRONT_LEFT, RAMP, RAMP, 0)
gb.set_brush_ramps(BOARD, FRONT_RIGHT, RAMP, RAMP, 0)
gb.set_brush_ramps(BOARD, BACK_LEFT, RAMP, RAMP, 0)
gb.set_brush_ramps(BOARD, BACK_RIGHT, RAMP, RAMP, 0)
BOARD_A = 3 BOARD_B = 0 BRS_A = 0 RAMP = gb.RAMP_050 # ramp speed=0.5 seconds FORWD = gb.MOVE_A BACKW = gb.MOVE_B STOP = gb.MOVE_STOP STEPPER_A = 2 STEPPER_B = 0 STEPPER_C = 2 MODE = 24 FREQ = 400.0 gb.open_uart(0) gb.set_mode(BOARD_A, BRS_A, gb.MODE_BRUSH) gb.set_brush_ramps(BOARD_A, BRS_A, RAMP, RAMP, 0) gb.set_mode(BOARD_A, STEPPER_A, MODE) gb.freq_stepper(BOARD_A, STEPPER_A, FREQ) gb.set_mode(BOARD_B, STEPPER_B, MODE) gb.freq_stepper(BOARD_B, STEPPER_B, FREQ) gb.set_mode(BOARD_B, STEPPER_C, MODE) gb.freq_stepper(BOARD_B, STEPPER_C, FREQ) gb.set_endstop(BOARD_A, BRS_A, 2, 2) gb.set_endstop(BOARD_A, STEPPER_A, 2, 2) #gb.set_endstop(BOARD_B, STEPPER_B, 2, 2) #gb.set_endstop(BOARD_B, STEPPER_C, 2, 2) ard.write(str(3).encode()) # rainbow cycle
dxax_old = 0
dyax_old = 0
BOARD = 3
BRS_A = 0
RAMP = gb.RAMP_050 # ramp speed=0.5 seconds
FORWD = gb.MOVE_A
BACKW = gb.MOVE_B
STOP = gb.MOVE_STOP
STEPPER_B = 2
MODE = 24
FREQ = 400.0
gb.open_uart(0)
gb.set_mode(BOARD, BRS_A, gb.MODE_BRUSH)
gb.set_brush_ramps(BOARD, BRS_A, RAMP, RAMP, 0)
gb.set_mode(BOARD, STEPPER_B, MODE)
gb.freq_stepper(BOARD, STEPPER_B, FREQ)
while True:
dlen = binascii.b2a_hex(ser.read()).decode('utf-8')
if dlen == '08' or dlen == '05' or dlen == '04':
dsep = binascii.b2a_hex(ser.read()).decode('utf-8')
if dsep == 'a1':
dtyp = binascii.b2a_hex(ser.read()).decode('utf-8')
if dtyp == '07':
for i in range(len(btn)):
btn[i] = 0
for i in range(len(btn)):
# ||||| ||||||| |||||||||
# ||||| ||||||| +++++++++--------< Left, right, stop
# ||||| +++++++------------------< Which motor on board 0,1,2,3
# +++++--------------------------< which board 0,1,2,3
# Main program
# Get the curses screen
screen = curses.initscr()
# Open serial port to talk to Gertbot
gb.open_uart(0)
# Setup the channels for brushed motors
gb.set_mode(BOARD,LEFT,gb.MODE_BRUSH)
gb.set_mode(BOARD,RIGHT,gb.MODE_BRUSH)
# set a ramp-up speed in case motors are big
gb.set_brush_ramps(BOARD,LEFT, RAMP,RAMP,0);
gb.set_brush_ramps(BOARD,RIGHT,RAMP,RAMP,0);
# Tell user what to expect
# in curses print does not work anymore. use addstr
screen.addstr("Gertbot example program for Python\n")
screen.addstr("Use numeric keypad keys control\n")
screen.addstr("Left Both Right\n")
screen.addstr(" Forward \n")
screen.addstr(" 7 8 9 \n")
screen.addstr(" \n")
screen.addstr(" 4 Stop 6 \n")
screen.addstr(" \n")
def pwm_off (channel) : gb.set_mode(board,channel,gb.MODE_OFF)
def pwm_init (channel) : # Set channel for brushed and start motor gb.set_mode(board,channel,gb.MODE_BRUSH) gb.move_brushed(board,channel,gb.MOVE_B)
f14=False,
f15=False,
f16=False,
f17=False,
f18=False,
f19=False,
f20=False):
ret1 = 0xDE
ret2 = (f20 << 7) | (f19 << 6) | (f18 << 5) | (f17 << 4) | (f16 << 3) | (
f15 << 2) | (f14 << 1) | (f13)
return [address, ret1, ret2]
gb.open_uart(0)
#gb.set_mode(board, channel, mode)
gb.set_mode(board, 0, gb.MODE_DCC)
gb.send_dcc_mess(board, 0xF, loco_speed(address=47))
gb.send_dcc_mess(board, 0xF, loco_functions_1(address=47, lights=True,
f1=True))
time.sleep(15)
gb.send_dcc_mess(board, 0xF,
loco_functions_1(address=47, lights=True, f1=True, f2=True))
gb.send_dcc_mess(board, 0xF, loco_functions_1(address=47, lights=True,
f1=True))
time.sleep(5)
for i in range(0, 9):
gb.send_dcc_mess(board, 0xF, loco_speed(address=47, speed=i, lights=True))
time.sleep(1)
time.sleep(5)
for i in range(0, 9):
