def test():
GPIO.setmode(GPIO.BOARD)
pins = get_pins()
car = Car(pins["car"])
updater = Updater(0.01)
updater.add(car.update)
print("Moving straight forward")
car.set_velocities(15, 0)
updater.reset_timer()
while updater.timer < 2:
updater.update()
print("Rotating on the spot at 90 degrees per second")
car.set_velocities(0, -90)
updater.reset_timer()
while updater.timer < 2:
updater.update()
print("Reversing and turning left with turning radius 20cm")
car.set_velocities(-20, math.degrees(1))
updater.reset_timer()
while updater.timer < 2:
updater.update()
car.set_velocities(0, 0)
print("Finished")
GPIO.cleanup()
def test():
pins = get_pins()
servo1 = Servo(pins["pan servo"])
servo2 = Servo(pins["tilt servo"])
print("Testing servo 1")
time.sleep(1)
print("Angle: 0")
servo1.set_angle(0)
time.sleep(1)
print("Angle: 90")
servo1.set_angle(90)
time.sleep(1)
print("Angle: 180")
servo1.set_angle(180)
time.sleep(1)
servo1.set_angle(90)
print("Testing servo 2")
time.sleep(1)
print("Angle: 0")
servo2.set_angle(0)
time.sleep(1)
print("Angle: 90")
servo2.set_angle(90)
time.sleep(1)
print("Angle: 180")
servo2.set_angle(180)
time.sleep(1)
servo2.set_angle(90)
print("Finished")
def test():
GPIO.setmode(GPIO.BOARD)
pins = get_pins()
left_motor = SmartMotor(pins["left motor"], pins["left encoder"], 20, 3,
True)
right_motor = SmartMotor(pins["right motor"], pins["right encoder"], 20, 3,
True)
updater = Updater(0.01)
updater.add(left_motor.update)
updater.add(right_motor.update)
print("Testing SmartMotor")
time.sleep(1)
print("Move forward in a straight line by giving the motors equal speeds")
left_motor.set_velocity(15)
right_motor.set_velocity(15)
updater.reset_timer()
while updater.timer < 2:
updater.update()
left_motor.set_velocity(0)
right_motor.set_velocity(0)
time.sleep(1)
print("Rotate on the spot by giving the motors opposite speeds")
left_motor.set_velocity(15)
right_motor.set_velocity(-15)
updater.reset_timer()
while updater.timer < 2:
updater.update()
left_motor.set_velocity(0)
right_motor.set_velocity(0)
time.sleep(1)
print("Varying the speed of left motor")
start_speed = 0
end_speed = 40
updater.add(lambda dt: left_motor.set_velocity(start_speed + (
end_speed - start_speed) * (updater.timer / 3)))
updater.reset_timer()
while updater.timer < 3:
updater.update()
updater.remove(-1)
updater.add(lambda dt: left_motor.set_velocity(end_speed - (
end_speed - start_speed) * (updater.timer / 3)))
updater.reset_timer()
while updater.timer < 3:
updater.update()
updater.remove(-1)
left_motor.set_velocity(0)
print("Finished")
GPIO.cleanup()
def test():
pins = get_pins()
GPIO.setmode(GPIO.BOARD)
left_motor = HW95Motor(pins["left motor"], True)
right_motor = HW95Motor(pins["right motor"], True)
left_encoder = WheelEncoder(pins["left encoder"], 20, 3)
right_encoder = WheelEncoder(pins["right encoder"], 20, 3)
print("Testing left encoder")
time.sleep(1)
print("Moving left motor 20cm")
left_motor.set_speed(50)
left_encoder.reset()
while left_encoder.get_distance() < 20:
time.sleep(0.01)
left_motor.set_speed(0)
time.sleep(1)
print("Measure the speed of the left motor")
time.sleep(1)
left_motor.set_speed(50)
end_time = time.time() + 1.5
while time.time() < end_time:
print(left_encoder.get_speed())
time.sleep(0.1)
left_motor.set_speed(0)
print("Testing right encoder")
time.sleep(1)
print("Moving right motor 20cm")
right_motor.set_speed(50)
right_encoder.reset()
while right_encoder.get_distance() < 20:
time.sleep(0.01)
right_motor.set_speed(0)
time.sleep(1)
print("Measure the speed of the right motor")
time.sleep(1)
right_motor.set_speed(50)
end_time = time.time() + 1.5
while time.time() < end_time:
print(right_encoder.get_speed())
time.sleep(0.1)
right_motor.set_speed(0)
time.sleep(1)
print("Finished")
GPIO.cleanup()
def test():
pins = get_pins()
GPIO.setmode(GPIO.BOARD)
left_motor = HW95Motor(pins["left motor"], True)
right_motor = HW95Motor(pins["right motor"], True)
print("Testing left motor")
time.sleep(1)
print("Left motor forward at 50%")
left_motor.set_speed(50)
time.sleep(1)
print("Left motor forward at 100%")
left_motor.set_speed(100)
time.sleep(1)
print("Left motor stopping")
left_motor.set_speed(0)
time.sleep(1)
print("Left motor backward at 50%")
left_motor.set_speed(-50)
time.sleep(1)
print("Left motor backward at 100%")
left_motor.set_speed(-100)
time.sleep(1)
left_motor.set_speed(0)
print("Testing right motor")
time.sleep(1)
print("Right motor forward at 50%")
right_motor.set_speed(50)
time.sleep(1)
print("Right motor forward at 100%")
right_motor.set_speed(100)
time.sleep(1)
print("Right motor stopping")
right_motor.set_speed(0)
time.sleep(1)
print("Right motor backward at 50%")
right_motor.set_speed(-50)
time.sleep(1)
print("Right motor backward at 100%")
right_motor.set_speed(-100)
time.sleep(1)
right_motor.set_speed(0)
print("Finished")
GPIO.cleanup()
def test():
pins = get_pins()
GPIO.setmode(GPIO.BOARD)
left = OptoInterrupter(pins["left opto-interrupter"])
right = OptoInterrupter(pins["right opto-interrupter"])
print("Reading left opto-interrupter")
time.sleep(1)
end_time = time.time() + 5
while time.time() < end_time:
print(left.get_value())
time.sleep(0.05)
print("Reading right opto-interrupter")
time.sleep(1)
end_time = time.time() + 5
while time.time() < end_time:
print(right.get_value())
time.sleep(0.05)
time.sleep(1)
print("Finished")
GPIO.cleanup()
forward <distance>
backward <distance>
right <degrees>
left <degrees>
exit
"""
import RPi.GPIO as GPIO
from mechanisms.car import Car
from pin_data import get_pins
from sensors.mpu import Mpu
from utils.updater import Updater
pins = get_pins()
GPIO.setmode(GPIO.BOARD)
car = Car(pins["car"])
mpu = Mpu()
updater = Updater(0.01)
updater.add(car.update)
updater.add(mpu.update)
def run_car_until(condition_func):
while not condition_func():
updater.update()
def move_forward(distance):