from time import sleep
import sys
a = nanpyConnect()
M1En = 6
M1A = 7
M1B = 8
M2En = 11
M2A = 12
M2B = 13
motorK = 2
maxPWM = 255
M1 = Motor("LEFT", M1En, M1A, M1B)
M2 = Motor("RIGHT", M2En, M2A, M2B)
M1.pinSet(a)
M2.pinSet(a)
# Initiate the classes needed for this file
nav = Navigation()
nav.position() # line that calls the position of the beacon
trig = Trig()
# coordinates of each waypoint in the room, starting from door side clockwise.
xArr = [5.1, 8.0, 6.0, 2.4, 0] # x-coordinates of the waypoints
yArr = [2.5, -1.5, -3.5, 0.3, 0] # y-coorindates of the waypoints
x1 = 0
y1 = 0
from MotorClass import Motor
from Trig import Trig
from math import fabs
from time import sleep
import sys
a = nanpyConnect()
M1En = 3
M1A = 4
M1B = 5
M2En = 11
M2A = 9
M2B = 10
motorK = 2
maxPWM = 255
AUTO = True
MANUAL = True
M1 = Motor("LEFT", M1En, M1A, M1B)
M2 = Motor("RIGHT", M2En, M2A, M2B)
M1.pinSet(a)
M2.pinSet(a)
AUTO = manualControl(a, M1, M2, MANUAL)
M1.stopAll(a)
M2.stopAll(a)
print(AUTO)
#!/usr/bin/env python3.4 #### IMPORTS #### import socket, select, string, sys, time from epics import PV import epics import PVNames from MotorClass import Motor #import subprocess #### DEFINITIONS #### pvSampleY = PV(PVNames.sampleStageMotorY) pvSampleX = Motor(PVNames.sampleStageMotorX) pvMTS1 = Motor(PVNames.sampleMTS1MotorPVName) pvMTS2 = Motor(PVNames.sampleMTS2MotorPVName) hutchStatus = PV(PVNames.hutchStatusPVName) global OFFSET ############################################################################################################################## #### PUT SAMPLE ON ROTATION STAGE FUNCTION #### def SampleON(s, SampleNumber): # Update positions based on SampleY Offset P2='1;1;VAL=P2=(+160.55,-158.73,+' + str(OFFSET+641.88) + ',+94.73,+44.69,+48.81)(7,0)' P3='1;1;VAL=P3=(+294.59,-290.53,+' + str(OFFSET+630.84) + ',+94.73,+44.69,+48.81)(7,0)' P4='1;1;VAL=P4=(+294.59,-290.53,+' + str(OFFSET+613.04) + ',+94.73,+44.69,+48.81)(7,0)'
with self._lock: return self.Sunrise def getPickTime(self): with self._lock: return self.PickTime def getUpTime(self): with self._lock: return self.UpTime def getDownTime(self): with self._lock: return self.DownTime datat = Data() motor = Motor() def ListenToPort(): UDP_IP = "192.168.0.38" UDP_PORT = 5005 sock = socket.socket(socket.AF_INET,socket.SOCK_DGRAM) sock.bind((UDP_IP, UDP_PORT)) SENDIP = "192.168.9.39" SENDPORT = 5005 sock2 = socket.socket(socket.AF_INET,socket.SOCK_DGRAM) while True: data, addr = sock.recvfrom(1024) #print(data.decode()) if "." in data.decode(): SENDIP = data.decode()
import sys
# CONNECT CONTROL AND ARDUINO
ps = psControl()
a = nanpyConnect()
# PIN SETUP
M1En = 5
M1A = 6
M1B = 7
M2En = 8
M2A = 9
M2B = 10
# MOTOR SETUP
M1 = Motor("LEFT", M1En, M1A, M1B)
M2 = Motor("RIGHT", M2En, M2A, M2B)
M1.pinSet(a)
M2.pinSet(a)
print 'IF AT ANY POINT THE MOTORS GO WILD, TRY HITTING X'
sleep(3)
while True:
try:
sleep(0.005)
leftJoy = ps.joyStick(1)
rightJoy = ps.joyStick(4)
if leftJoy < 0:
M1.directionSet("S", a)
M1.pwmSet(leftJoy * -1, a)
from NanpyConnect import nanpyConnect
from time import sleep
from MotorClass import Motor
a = nanpyConnect()
M1EnPin = 5
M1APin = 6
M1BPin = 7
M2EnPin = 8
M2APin = 9
M2BPin = 10
# Enable and set each motor
M1 = Motor("LEFT", M1EnPin, M1APin, M1BPin)
M1.pinSet(a)
M2 = Motor("RIGHT", M2EnPin, M2APin, M2BPin)
M2.pinSet(a)
from NanpyConnect import nanpyConnect
from time import sleep
from MotorClass import Motor
a = nanpyConnect()
M1EnPin = 5
M1APin = 6
M1BPin = 7
M2EnPin = 8
M2APin = 9
M2BPin = 10
# Enable and set each motor
M1 = Motor("LEFT", M1EnPin, M1APin, M1BPin)
M1.pinSet(a)
M2 = Motor("RIGHT", M2EnPin, M2APin, M2BPin)
M2.pinSet(a)
# Now let's test some movements
try:
print 'Moving FORWARD' # forward turns the motor clockwise
M1.directionSet(
"W", a) # Change these values here to change direction of motors
M2.directionSet(
"W", a) # Change these values here to change direction of motors
sleep(1)
print 'Speeding Up'
for x in range(0, 255):