self.bus_id = bus_id
self.radio_id = radio_id
self.bus = smbus.SMBus(self.bus_id)
def red_chanel(self, ch_id):
w = self.bus.read_word_data(self.radio_id, ch_id)
return w
if __name__ == "__main__":
m0 = Motor(0)
m1 = Motor(1, -1)
rc = Rcradio(2, 0x10)
offset = 698
try:
while 1:
speed = offset - rc.red_chanel(0)
if abs(speed) < 3:
speed = 0
print(speed)
m0.set_voltage(speed)
m1.set_voltage(speed)
time.sleep(0.1)
except KeyboardInterrupt:
m0.close()
m1.close()
pass
while c != 'q' and c != 'Q':
t0 = time.time()
r0 = m0.get_radians()
c = getch()
t1 = time.time()
r1 = m0.get_radians()
print("{0}, {1}".format(voltage, (r1 - r0)/(t1 - t0)))
if ord(c) == 27:
c = getch()
if ord(c) == 91:
c = getch()
if ord(c) in key_map.keys():
print(key_map[ord(c)])
if key_map[ord(c)] == 'up':
voltage += voltage_step
elif key_map[ord(c)] == 'down':
voltage -= voltage_step
elif ord(c) == 32:
pass
else:
print(ord(c))
if voltage > 100:
volate = 100
if voltage < -100:
voltage = -100
m0.get_radians()
m0.set_voltage(voltage)
m0.set_encoder(0)
m0.close()