def __init__(self):
self.myMotor = qwiic_scmd.QwiicScmd()
self.R_MTR = 0
self.L_MTR = 1
self.FWD = 0
self.BWD = 1
if self.myMotor.connected == False:
print("Motor Driver not connected. Check connections.", \
file=sys.stderr)
return
self.myMotor.begin()
print("Motor initialized.")
time.sleep(.250)
#self.myMotor.inversion_mode(1,1)
# Zero speeds
self.myMotor.set_drive(0,0,0)
self.myMotor.set_drive(1,1,0)
self.myMotor.enable()
print("Motor enabled")
time.sleep(.250)
def __init__(self):
super(Motor, self).__init__()
self.motor = qwiic_scmd.QwiicScmd()
self.left = 1
self.right = 0
self.fwd = 0
self.bwd = 1
def __init__(self, *args, **kwargs):
super(Robot, self).__init__(*args, **kwargs)
self.motor_driver = qwiic_scmd.QwiicScmd()
self.left_motor = Motor(self.motor_driver,
channel=self.left_motor_channel,
alpha=self.left_motor_alpha)
self.right_motor = Motor(self.motor_driver,
channel=self.right_motor_channel,
alpha=self.right_motor_alpha)
self.motor_driver.enable()
def __init__(self):
rospy.loginfo("Setup Move...")
# setup motor controller
if rospy.get_param("motor_controller").lower() == 'adafruit':
self.motor_driver = Adafruit_MotorHAT(
i2c_bus=int(rospy.get_param("i2c_bus")))
self.motor_left_ID = 1
self.motor_right_ID = 2
self.motor_left = self.motor_driver.getMotor(self.motor_left_ID)
self.motor_right = self.motor_driver.getMotor(self.motor_right_ID)
self.all_stop()
elif rospy.get_param("motor_controller").lower() == 'qwiic':
self.motor_driver = qwiic_scmd.QwiicScmd()
self.motor_driver.disable()
rospy.loginfo("Setup Move Complete")
class Motor(HasTraits):
#-------------------------------------------
# Class variables for setting up the motor
# driver for all instances of the Motor class
speed = Int()
myMotor = qwiic_scmd.QwiicScmd(address=0x58)
myMotor.begin()
myMotor.set_drive(1,0,0)
myMotor.set_drive(0,0,0)
myMotor.enable()
FWD = 0
BWD = 1
def __init__(self, side):
self.side = side
if self.myMotor.is_connected():
print('Motor driver connection established')
else:
print('Motor driver not connected')
#--------------------------------------------
# Utilize observer pattern so Motor instance
# can modulate speed in response to change in
# speed-value
@observe('speed')
def _observe_speed(self, change):
self._run(change['new'])
#--------------------------------------------
# Speed input will be in range of -255 to 255
# Values < 0 imply reverse direction
def _run(self, speed):
if speed < 0: # backward
self.myMotor.set_drive(self.side, self.BWD, abs(speed))
else: # forward
self.myMotor.set_drive(self.side, self.FWD, speed)
#--------------------------------------------
# Calling disable from any instance of Motor
# will disable the motor driver for ALL instances
def disable(self):
self.myMotor.set_drive(0,0,0)
self.myMotor.set_drive(1,0,0)
self.myMotor.disable()
def setup_motor_controller(self):
rospy.loginfo("Starting with controller %s", CONTROLLER)
if CONTROLLER == 'adafruit':
# setup motor controller
self.motor_driver = Adafruit_MotorHAT(i2c_bus=1)
self.motor_left = self.motor_driver.getMotor(
CircleRobot.motor_left_ID)
self.motor_right = self.motor_driver.getMotor(
CircleRobot.motor_right_ID)
# stop the motors as precaution
self.all_stop()
elif CONTROLLER == 'qwiic':
self.motor_driver = qwiic_scmd.QwiicScmd()
self.motor_driver.disable()
def __init__(self):
myMotor = qwiic_scmd.QwiicScmd()
self.R_MTR = 0
self.L_MTR = 1
self.FWD = 0
self.BWD = 1
if myMotor.connected == False:
print("Motor Driver not connected. Check connections.", \
file=sys.stderr)
return
myMotor.begin()
print("Motor initialized.")
time.sleep(.250)
# Zero speeds
myMotor.set_drive(0, 0, 150)
myMotor.set_drive(1, 1, 150)
def __init__(self):
super().__init__('motor_node')
self.motor_driver = qwiic_scmd.QwiicScmd()
self.left_motor = 0
self.right_motor = 1
self.all_stop()
self.string_sub = self.create_subscription(
String,
'jetbot_motor_string',
self.string_callback,
10)
self.twist_sub = self.create_subscription(
Twist,
'jetbot_motor_twist',
self.twist_callback,
10)
class AutoPhatMD:
TEST = 0
pastError = 0
prevSteer = 0
prevDrive = 0
myMotor = qwiic_scmd.QwiicScmd()
def Turn(self, steer):
if (steer > 200):
steer = 200
elif (steer < -200):
steer = -200
if (steer < 0):
self.myMotor.set_drive(0, 0, abs(steer))
else:
self.myMotor.set_drive(0, 1, abs(steer))
def Drive(self, speed):
if (speed > 150):
speed = 150
if (speed > 30):
for i in range(speed - 7, speed, 1):
self.myMotor.set_drive(1, 1, i)
time.sleep(0.01)
else:
self.myMotor.set_drive(1, 1, speed)
self.prevDrive = speed
def NoError(self):
self.myMotor.set_drive(0, 0, 0)
self.myMotor.set_drive(1, 1, 150)
def Stop(self):
self.myMotor.set_drive(0, 0, 0)
self.myMotor.set_drive(1, 0, 0)
time.sleep(0.05)
def ManualLeft(self):
self.myMotor.set_drive(0, 1, 200)
time.sleep(0.05)
def ManualRight(self):
self.myMotor.set_drive(0, 0, 200)
time.sleep(0.05)
def ManualSteerStop(self):
self.myMotor.set_drive(0, 1, 0)
time.sleep(0.05)
def ManualForward(self):
for i in range(60, 120, 20):
self.myMotor.set_drive(1, 1, i)
time.sleep(0.01)
def ManualReverse(self):
for i in range(60, 120, 20):
self.myMotor.set_drive(1, 0, i)
time.sleep(0.01)
def ManualDriveStop(self):
self.myMotor.set_drive(1, 0, 0)
time.sleep(0.05)
def __init__(self):
R_MTR = 0
L_MTR = 1
FWD = 0
BWD = 1
if self.myMotor.connected == False:
print("Motor Driver not connected. Check connections.",
file=sys.stderr)
return
self.myMotor.begin()
print("Motor initialized.")
time.sleep(.250)
# Zero Motor Speeds
self.myMotor.set_drive(0, 0, 0)
self.myMotor.set_drive(1, 0, 0)
self.myMotor.enable()
print("Motor enabled")
motor_driver.enable()
elif msg.data.lower() == "backward":
set_speed(motor_left_ID, -1.0)
set_speed(motor_right_ID, -1.0)
motor_driver.enable()
elif msg.data.lower() == "stop":
all_stop()
else:
rospy.logerror(rospy.get_caller_id() + ' invalid cmd_str=%s', msg.data)
# initialization
if __name__ == '__main__':
# setup motor controller
motor_driver = qwiic_scmd.QwiicScmd()
motor_left_ID = 1
motor_right_ID = 2
print(motor_left_ID)
#motor_left = motor_driver.getMotor(motor_left_ID)
#motor_right = motor_driver.getMotor(motor_right_ID)
# stop the motors as precaution
all_stop()
# setup ros node
rospy.init_node('jetbot_motors')
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
#==================================================================================
# Example 1
#
from __future__ import print_function
import time
import sys
import math
import qwiic_scmd
myMotor = qwiic_scmd.QwiicScmd()
def runExample():
print("Motor Test.")
R_MTR = 0
L_MTR = 1
FWD = 0
BWD = 1
if myMotor.connected == False:
print("Motor Driver not connected. Check connections.", \
file=sys.stderr)
return
myMotor.begin()
print("Motor initialized.")
time.sleep(.250)
from __future__ import print_function
import time
import sys
import math
import qwiic_scmd
from log_setup import logger
#------------------------------------------
# Default I2C assigned by qwiic library is bus 1.
# This motor driver will be using bus 0 therefore
# a modification has been made to change the default
# bus to bus 0 in file:
# ~/.local/lib/python3.6/site-packages/qwiic_i2c/linux_i2c.py
# Line number 65
myMotor = qwiic_scmd.QwiicScmd(address=0x58)
def run_motor_test():
print("Start: ")
motor_left = 0
motor_right = 1
forward = 0
backward = 1
if not myMotor.is_connected():
print("Motor driver not connected!", file=sys.stderr)
else:
print("Motor driver connection established.")
logger.info('Initializing operation of SCMD module')
def setup_motor_controller(self):
rospy.loginfo("Starting with controller %s", CONTROLLER)
self.motor_driver = qwiic_scmd.QwiicScmd()
self.motor_driver.disable()
