def TB_Startup():
# Setup the ThunderBorg
TB = ThunderBorg.ThunderBorg()
# TB.i2cAddress = 0x15 # Uncomment and change the value if you have changed the board address
TB.Init()
if not TB.foundChip:
boards = ThunderBorg.ScanForThunderBorg()
if len(boards) == 0:
print 'No ThunderBorg found, check you are attached :)'
else:
print 'No ThunderBorg at address %02X, but we did find boards:' % TB.i2cAddress
for board in boards:
print ' %02X (%d)' % (board, board)
print 'If you need to change the I²C address change the setup line so it is correct, e.g.'
print 'TB.i2cAddress = 0x%02X' % (boards[0])
sys.exit()
# Ensure the communications failsafe has been enabled!
failsafe = False
for i in range(5):
TB.SetCommsFailsafe(True)
failsafe = TB.GetCommsFailsafe()
if failsafe:
break
if not failsafe:
print 'Board %02X failed to report in failsafe mode!' % TB.i2cAddress
sys.exit()
return TB
def init(self):
# Init ThunderBorg
self.TB = ThunderBorg.ThunderBorg()
self.TB.Init()
if not self.TB.foundChip:
boards = ThunderBorg.ScanForThunderBorg()
if len(boards) == 0:
print('No ThunderBorg found, check you are attached :)')
else:
print(
'No ThunderBorg at address %02X, but we did find boards:' %
(TB.i2cAddress))
for board in boards:
print(' %02X (%d)' % (board, board))
print(
'If you need to change the IC address change the setup line so it is correct, e.g.'
)
print('TB.i2cAddress = 0x%02X' % (boards[0]))
sys.exit()
self.TB.SetCommsFailsafe(False) # Disable the communications failsafe
self.TB.SetLedShowBattery(False)
# Init action values
self.Forward = False
self.Backward = False
self.Left = False
self.Right = False
# Init the Camera
self.camera = cv2.VideoCapture(0)
def __init__(self):
self.TB = ThunderBorg.ThunderBorg()
self.TB.i2cAddress = 10
self.motorControlEnabled = False
self.TB.Init()
if not self.TB.foundChip:
boards = ThunderBorg.ScanForThunderBorg()
if len(boards) == 0:
print 'no ThunderBorg found. check you are attached..'
else:
print 'no ThunderBorg at address %02X. but we did find boards:' % (
TB.i2cAddress)
for board in boards:
print ' %02X (%d)' % (board, board)
print 'if you need to change the I2C address change the setup line so it is correct, e.g.'
print 'TB.i2cAddress = 0x%02X' % (boards[0])
raise Exception('init motor control failed')
self.enable()
def __init__(self, i2cAddress, maxPower, holdingPower, stepDelay): # Order for stepping when moving self.sequence = [ [+maxPower, +maxPower], [+maxPower, -maxPower], [-maxPower, -maxPower], [-maxPower, +maxPower]] # Order for stepping when holding self.sequenceHold = [ [+holdingPower, +holdingPower], [+holdingPower, -holdingPower], [-holdingPower, -holdingPower], [-holdingPower, +holdingPower]] # Init motor self.motor = ThunderBorg.ThunderBorg() self.motor.i2cAddress = i2cAddress self.motor.Init() # Exit if motor initialization failed if not self.motor.foundChip: boards = ThunderBorg.ScanForThunderBorg() if len(boards) == 0: print 'No ThunderBorg found, check you are attached :)' else: print 'No ThunderBorg at address %02X, but we did find boards:' % (self.motor.i2cAddress) for board in boards: print ' %02X (%d)' % (board, board) print 'If you need to change the IC address change the setup line so it is correct, e.g.' print 'TB.i2cAddress = 0x%02X' % (boards[0]) sys.exit(-1) # Init rest variables self.degPerStep = 1.8 self.stepDelay = stepDelay self.step = -1
#!/usr/bin/env python
# coding: latin-1
# Import library functions we need
import ThunderBorg
import Tkinter
import sys
# Setup the ThunderBorg
global TB
TB = ThunderBorg.ThunderBorg() # Create a new ThunderBorg object
#TB.i2cAddress = 0x15 # Uncomment and change the value if you have changed the board address
TB.Init() # Set the board up (checks the board is connected)
if not TB.foundChip:
boards = ThunderBorg.ScanForThunderBorg()
if len(boards) == 0:
print 'No ThunderBorg found, check you are attached :)'
else:
print 'No ThunderBorg at address %02X, but we did find boards:' % (
TB.i2cAddress)
for board in boards:
print ' %02X (%d)' % (board, board)
print 'If you need to change the I²C address change the setup line so it is correct, e.g.'
print 'TB.i2cAddress = 0x%02X' % (boards[0])
sys.exit()
# Class representing the GUI dialog
class ThunderBorg_tk(Tkinter.Tk):
# Constructor (called when the object is first created)
def __init__(self, parent):
def setupTB(address=0x15):
"""Function for setting up a thunderborg. Tries to setup a TB instance from the given I2C address,
informs if set up failed"""
# Setup a thunderborg instance
TB = ThunderBorg.ThunderBorg()
# Set the I2C address
TB.i2cAddress = address
# Initialize
TB.Init()
# Inform if no board at address
if not TB.foundChip:
boards = ThunderBorg.ScanForThunderBorg()
if len(boards) == 0:
print 'No ThunderBorg found, check you are attached'
else:
print 'No ThunderBorg at address %02X, but we did find boards:' % (
TB.i2cAddress)
for board in boards:
print ' %02X (%d)' % (board, board)
print 'If you need to change the I²C address change the setup line so it is correct, e.g.'
print 'TB.i2cAddress = 0x%02X' % (boards[0])
sys.exit()
# Ensure the communcations failsafe had been enabled
failsafe = False
for i in range(5):
TB.SetCommsFailsafe(True)
failsafe = TB.GetCommsFailsafe()
if failsafe:
break
if not failsafe:
print 'Board %02X failed to report in failsafe mode!' % (
ThunderBorg.i2cAddress)
sys.exit()
# # Power settings
# voltageIn = 1.2 * 10 # Total battery voltage to the ThunderBorg
# voltageOut = 12.0 * 0.95 # Maximum motor voltage, we limit it to 95% to allow the RPi to get uninterrupted power
#
# # Setup the power limits
# if voltageOut > voltageIn:
# maxPower = 1.0
# else:
# maxPower = voltageOut / float(voltageIn)
# # Show battery monitoring settings
# battMin, battMax = TB.GetBatteryMonitoringLimits()
# print 'Battery monitoring settings:'
# print ' Minimum (red) %02.2f V' % (battMin)
# print ' Half-way (yellow) %02.2f V' % ((battMin + battMax) / 2)
# print ' Maximum (green) %02.2f V' % (battMax)
# print
battCurrent = TB.GetBatteryReading()
print ' Current voltage %02.2f V' % (battCurrent)
print
# Turn off battery mode for leds
TB.SetLedShowBattery(False)
TB.SetLeds(0, 0, 1)
# Make sure the motors are off
TB.MotorsOff()
return TB