def packet():
# saber = Sabertooth(port, baudrate=115200)
saber = Sabertooth(port, baudrate=38400)
try:
print('temperature [C]: {}'.format(saber.textGet('m2:gett')))
print('battery [mV]: {}'.format(saber.textGet('m2:getb')))
saber.text('m1:startup')
saber.text('m2:startup')
for speed in range(-100, 100, 20):
saber.drive(1, speed)
saber.drive(2, speed)
# format returned text
m1 = saber.textGet('m1:get').split()[1]
m2 = saber.textGet('m2:get').split()[1]
print('M1: {:6} M2: {:6}'.format(m1, m2))
time.sleep(1)
except KeyboardInterrupt:
print('keyboard interrupt ... ')
saber.drive(1, 0)
saber.drive(2, 0)
time.sleep(0.1)
saber.stop()
def ascii():
# saber = Sabertooth(port, baudrate=115200)
saber = Sabertooth(port, baudrate=38400)
try:
print('temperature [C]: {}'.format(saber.textGet(b'm2:gett')))
print('battery [mV]: {}'.format(saber.textGet(b'm2:getb')))
saber.text(b'm1:startup')
saber.text(b'm2:startup')
for speed in range(-2000, 2000, 500):
# print('.')
# def independentDrive(self, dir_left="fwd", speed_left=0, dir_right="fwd", speed_right=0)
# saber.independentDrive('fwd', 50, 'fwd', 50)
saber.text(b'm1:{}'.format(speed))
saber.text(b'm2:{}'.format(speed))
# format returned text
m1 = saber.textGet(b'p1:get').split()[1]
m2 = saber.textGet(b'p2:get').split()[1]
c1 = saber.textGet(b'm1:getc')[:-2].split('C')[1]
c2 = saber.textGet(b'm2:getc')[:-2].split('C')[1]
# print(c1)
print('M1: {:6} {:>6} mA M2: {:6} {:>6} mA'.format(
m1, c1, m2, c2))
time.sleep(1)
except KeyboardInterrupt:
print('keyboard interrupt ... ')
saber.text(b'm1:0')
saber.text(b'm2:0')
time.sleep(0.1)
saber.stop()
noEventTimeout = 1 # seconds until timeout with no event, set back to 0 speed.
# Power settings
voltageIn = 24.0 # Total battery voltage to the Sabertooth
voltageOut = 24.0 * 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 = 100
else:
maxPower = voltageOut / float(voltageIn)
# Setup pygame and wait for the joystick to become available
saber = Sabertooth(port, baudrate=9600)
print('temperature [C]: {}'.format(saber.textGet(b'm2:gett')))
print('battery [mV]: {}'.format(saber.textGet(b'm2:getb')))
saber.text(b'm1:startup')
saber.text(b'm2:startup')
print('Pygame os display settings')
os.environ[
"SDL_VIDEODRIVER"] = "dummy" # Removes the need to have a GUI window
os.putenv('SDL_VIDEODRIVER', 'fbcon')
print('Pygame init')
pygame.init()
print('Pygame display init')
pygame.display.init()
print('Pygame display set')
pygame.display.set_mode((1, 1))
print('Waiting for joystick... press CTRL+C to abort')
