forward_right_motor = motor_ibt2.motor1_ibt2(4,17)
backward_left_motor = motor_ibt2.motor1_ibt2(15,14)
backward_right_motor = motor_ibt2.motor1_ibt2(23,18)
################################
# VARIABLES FOR ROBOTIC ARM:
#################################
baseMotorSpeed = 0
baseActuator = 0;
armActuator = 0;
clawPitch = 0;
clawRoll = 0;
clawOpenClose = 0;
Motor1_baseMotor = motor_ibt2.motor1_ibt2(25,24); #IBT2 (2 pin)
Motor2_baseActuator = motor_l298n.motor1_L298n_NOPWM(6,13);#L298n (2 pin)
Motor3_armActuator = motor_l298n.motor1_L298n_NOPWM(19,26); #L298n (2 pin)
Motor4_clawPitch = motor_l298n.motor1_L298n_NOPWM(12,1); #L298n (2 pin)
Motor5_clawRoll = motor_l298n.motor1_L298n(21,20,16); #L298n (3 pin)
Motor6_clawOpenClose = motor_l298n.motor1_L298n_NOPWM(7,8);#L298n (2 pin)
#
######################################################################################################################
########## Function to Create a Socket ( socket connect two computers)
######################################################################################################################
def create_socket():
try:
#Creating following 3 global variables
global host
global port
global s #This is socket variable which is named s
backward_left_motor = motor_ibt2.motor1_ibt2(4, 17) backward_right_motor = motor_ibt2.motor1_ibt2(18, 23) ################################ # VARIABLES FOR ROBOTIC ARM: ################################# baseMotorSpeed = 0 baseActuator = 0 armActuator = 0 clawPitch = 0 clawRoll = 0 clawOpenClose = 0 Motor1_baseMotor = motor_ibt2.motor1_ibt2(25, 24) #IBT2 (2 pin) Motor2_baseActuator = motor_l298n.motor1_L298n_NOPWM(6, 13) #L298n (2 pin) Motor3_armActuator = motor_l298n.motor1_L298n_NOPWM(19, 26) #L298n (2 pin) Motor4_clawPitch = motor_l298n.motor1_L298n(12, 1, 10) #L298n (2 pin) Motor5_clawRoll = motor_l298n.motor1_L298n(21, 20, 16) #L298n (3 pin) Motor6_clawOpenClose = motor_l298n.motor1_L298n_NOPWM(7, 8) #L298n (2 pin) # ######################################################### ######################################################### groundIP = "192.168.185.58"
forward_right_motor = motor_ibt2.motor1_ibt2(25,8)
backward_left_motor = motor_ibt2.motor1_ibt2(19,26)
backward_right_motor = motor_ibt2.motor1_ibt2(7,1)
################################
# VARIABLES FOR ROBOTIC ARM:
#################################
baseMotorSpeed = 0
baseActuator = 0;
armActuator = 0;
clawPitch = 0;
clawRoll = 0;
clawOpenClose = 0;
Motor1_baseMotor = motor_ibt2.motor1_ibt2(3,4); #IBT2 (2 pin)
Motor2_baseActuator = motor_l298n.motor1_L298n_NOPWM(5,6);#L298n (2 pin)
Motor3_armActuator = motor_l298n.motor1_L298n_NOPWM(8,9); #L298n (2 pin)
Motor4_clawPitch = motor_l298n.motor1_L298n_NOPWM(11,12); #L298n (2 pin)
Motor5_clawRoll = motor_l298n.motor1_L298n(14,15,16); #L298n (3 pin)
Motor6_clawOpenClose = motor_l298n.motor1_L298n_NOPWM(17,18);#L298n (2 pin)
#########################################################
#########################################################
groundIP = "192.168.185.58"
def IPCheckRoutine():
print(time.ctime())
response = os.system("ping -c 1 " + groundIP)
if response == 0:
print('BASE - CONNECTED');
else:
if(mode == 0):