Python Motor.setSpeedBrushless Exemples

Exemple #1

Fichier : stabilize-crazyflie.py Projet : erlerobot/erle_control

    #QUAD_FORMATION_NORMAL first approach        
    motorPowerM1 = limitThrust(thrust + pitch + yaw, 40);
    motorPowerM2 = limitThrust(thrust - roll - yaw, 40);
    motorPowerM3 =  limitThrust(thrust - pitch + yaw, 40);
    motorPowerM4 =  limitThrust(thrust + roll - yaw, 40);

    #Log the motor powers:
    print "------------------------"
    print "motorPowerM1:" + str(motorPowerM1)
    print "motorPowerM2:" + str(motorPowerM2)
    print "motorPowerM3:" + str(motorPowerM3)
    print "motorPowerM4:" + str(motorPowerM4)
    print "**************************"
    
    #Set motor speeds
    motor1.setSpeedBrushless(motorPowerM1)
    motor2.setSpeedBrushless(motorPowerM2)
    motor3.setSpeedBrushless(motorPowerM3)
    motor4.setSpeedBrushless(motorPowerM4)
    
    #Start Motors
    for mot in motors:
        mot.go()
    
    #Kalman Prediction
    #MyKalman.predict()

    #delay = 4e-3 #delay ms (250 Hz) 
    # delay = 20e-3 #delay ms (50 Hz)
    # time.sleep(delay)

Exemple #2

Fichier : stabilize.py Projet : sjtony/erle_control

        motorPowerM1 = limitThrust(u[0], limit_thrust)
        motorPowerM2 = limitThrust(u[1], limit_thrust)
        motorPowerM3 = limitThrust(u[2], limit_thrust)
        motorPowerM4 = limitThrust(u[3], limit_thrust)

    if logging:
        #Log the motor powers:
        print "------------------------"
        print "motorPowerM1 (limited):" + str(motorPowerM1)
        print "motorPowerM2 (limited):" + str(motorPowerM2)
        print "motorPowerM3 (limited):" + str(motorPowerM3)
        print "motorPowerM4 (limited):" + str(motorPowerM4)
        print "**************************"

    #Set motor speeds
    motor1.setSpeedBrushless(motorPowerM1)
    motor2.setSpeedBrushless(motorPowerM2)
    motor3.setSpeedBrushless(motorPowerM3)
    motor4.setSpeedBrushless(motorPowerM4)

    #Start Motors
    for mot in motors:
        mot.go()

    #Kalman Prediction
    #MyKalman.predict()

    # calculate the time each iteration takes
    time_u = (dt.datetime.now() - start).microseconds
    time_s = time_u / 1e6
    frequency = 1e6 / time_u

Exemple #3

Fichier : test_motor.py Projet : sjtony/erle_control

     python text_motor.py [speed = 10] [time = 5]
'''

from motors import Motor
import Adafruit_BBIO.GPIO as GPIO
import time
import os
import sys

speed = 10
if len(sys.argv) > 1:
	speed = int(sys.argv[1])


m1 = Motor(1);
m1.setSpeedBrushless(speed)
m1.go()

m2 = Motor(2);
m2.setSpeedBrushless(speed);
m2.go()

m3 = Motor(3);
m3.setSpeedBrushless(speed);
m3.go()

m4 = Motor(4);
m4.setSpeedBrushless(speed);
m4.go()

sleep_time = 5

Exemple #4

Fichier : init_motors.py Projet : erlerobot/erle_control

def initMotors():

	speed = 10

	m1 = Motor(1);
	m1.setSpeedBrushless(speed)
	m1.go()

	m2 = Motor(2);
	m2.setSpeedBrushless(speed);
	m2.go()

	m3 = Motor(3);
	m3.setSpeedBrushless(speed);
	m3.go()

	m4 = Motor(4);
	m4.setSpeedBrushless(speed);
	m4.go()

	time.sleep(0.5)

	#####
	# shutdown the motors
	#####

	speed = 0

	m1.setSpeedBrushless(speed);
	m1.go()

	m2.setSpeedBrushless(speed);
	m2.go()

	m3.setSpeedBrushless(speed);
	m3.go()

	m4.setSpeedBrushless(speed);
	m4.go()

Exemple #5

Fichier : init_motors.py Projet : rossd15/erle_control

def initMotors():

    speed = 10

    m1 = Motor(1)
    m1.setSpeedBrushless(speed)
    m1.go()

    m2 = Motor(2)
    m2.setSpeedBrushless(speed)
    m2.go()

    m3 = Motor(3)
    m3.setSpeedBrushless(speed)
    m3.go()

    m4 = Motor(4)
    m4.setSpeedBrushless(speed)
    m4.go()

    time.sleep(0.5)

    #####
    # shutdown the motors
    #####

    speed = 0

    m1.setSpeedBrushless(speed)
    m1.go()

    m2.setSpeedBrushless(speed)
    m2.go()

    m3.setSpeedBrushless(speed)
    m3.go()

    m4.setSpeedBrushless(speed)
    m4.go()