def set_speeds(power_left, power_right,motor_multiplier=1.0):
"""
As we have an motor hat, we can use the motors
:param power_left:
Power to send to left motor
:param power_right:
Power to send to right motor, will be inverted to reflect chassis layout
"""
# If one wants to see the 'raw' 0-100 values coming in
#print("source left: {}".format(power_left))
#print("source right: {}".format(power_right))
# Take the 0-100 inputs down to 0-1 and reverse them if necessary
# this comment relates to the gpio zero robot and camjam board
# we are using redboard motor controller and that wants demand +/-100
power_left = (motor_multiplier * power_left)
power_right = (motor_multiplier * power_right)
# Print the converted values out for debug
#print("left: {}".format(power_left))
#print("right: {}".format(power_right))
# If power is less than 0, we want to turn the motor backwards, otherwise turn it forwards
# m1 is connected to left motor, +ve sends it forward
redboard.M1(power_left)
# m2 is connected to right motor, +ve sneds it backwards, hence we invert
redboard.M2(-power_right)
def set_speeds(power_left, power_right):
"""
As we have an motor hat, we can use the motors
:param power_left:
Power to send to left motor
:param power_right:
Power to send to right motor, will be inverted to reflect chassis layout
"""
redboard.M1(-power_right)
redboard.M2(power_left)
def stop_motors():
"""
As we have an motor hat, stop the motors using their motors call
"""
redboard.M1(0)
redboard.M2(0)
def main(stdscr):
motor1 = 0
motor2 = 0
turbo = False
rSteer = False
keypress = 0
up = 0
stop = 0
while True:
curses.halfdelay(1)
c = stdscr.getch()
#print(c) # Uncomment to show keypresses
#print("\r")
if c == ord('w'):
keypress = 1
print("Forward")
print("\r")
stop = 0
motor1 = 100 # Set motor speed and direction
motor2 = 100 # Set motor speed and direction
elif c == ord('s'):
keypress = 1
stop = 0
print("Backwards")
print("\r")
motor1 = -100
motor2 = -100
elif c == ord('a'):
keypress = 1
stop = 0
print("Left")
print("\r")
motor1 = 100
motor2 = -100
elif c == ord('d'):
keypress = 1
stop = 0
print("Right")
print("\r")
motor1 = -100
motor2 = 100
elif c == 32: # Spacebar
keypress = 1
stop = 0
print("Stop")
print("\r")
motor1 = 0
motor2 = 0
elif c == ord('r') and rSteer == False:
keypress = 1
stop = 0
rSteer = True
print("Reverse Steering")
print("\r")
elif c == ord('r') and rSteer == True:
keypress = 1
stop = 0
rSteer = False
print("Normal Steering")
print("\r")
elif c == ord('t') and turbo == False:
keypress = 1
stop = 0
turbo = True
print("Turbo on")
print("\r")
elif c == ord('t') and turbo == True:
keypress = 1
stop = 0
turbo = False
print("Turbo off")
print("\r")
# Pressing a key also produces a number of key up events.
# This block of code only stops the robot moving after at least 4 key up events have been detected.
# This makes driving the robot smoother but adds a short delay-
# -from when you release the key until the robot stops.
if c == -1: # Check for key release
stop += 1 # Count the number of key up events
if keypress == 1 and stop > 5: # Min = 4 - If the robot pauses when you hold a key down-
# -increase this number.
keypress = 0
stop = 0
print("Stop----------------------------------------")
print("\r")
motor1 = 0
motor2 = 0
# Half the speed if Turbo is off
if turbo == True:
m1 = motor1
m2 = motor2
elif turbo == False:
m1 = motor1 / 2
m2 = motor2 / 2
# Reverse the steering if 'R' has been pressed
if rSteer == False:
redboard.M1(m1)
redboard.M2(m2)
else:
redboard.M1(m2)
redboard.M2(m1)
import Quaternion_shared_helper as Q
from simple_pid import PID
import atexit
import redboard
# Loop until the user clicks the close button.
done = False
running = False
pygame.init()
#kit = MotorKit()
#kit.motor1.throttle = 0.0
#kit.motor2.throttle = 0.0
redboard.M1(0.0)
redboard.M2(0.0)
leftThrottle = 0.0
rightThrottle = 0.0
currentLeftSpeed = 0.0
currentRightSpeed = 0.0
button_rotate = 0.0
grabWidth = 0.0 # 0.0 = fully open, 1.0 = fully closed
joy_forward = 0.0
quaternion = Q.Quaternion_shared_helper()
pidLeft = PID(0.32,
0.8,
0.02,
setpoint=0,
sample_time=0.01,
def main(stdscr):
keypress = 0
up = 0
stop = 0
turbo = False
motor1 = 0
motor2 = 0
rSteer = 0
pan_centre = -19
tilt_centre = 28
pan_offset = 0
tilt_offset = 0
pan_limit = 25
tilt_limit = 45
pan(pan_centre)
tilt(tilt_centre)
while True:
curses.halfdelay(1)
c = stdscr.getch()
#print(c) # Uncomment to show keypresses
#print("\r")
if c == ord('w'):
keypress = 1
tilt_offset = tilt_offset if tilt_offset == -tilt_limit else tilt_offset - 1
elif c == ord('s'):
keypress = 1
stop = 0
tilt_offset = tilt_offset if tilt_offset == tilt_limit else tilt_offset + 1
elif c == ord('a'):
keypress = 1
stop = 0
pan_offset = pan_offset if pan_offset == -pan_limit else pan_offset - 1
elif c == ord('d'):
keypress = 1
stop = 0
pan_offset = pan_offset if pan_offset == pan_limit else pan_offset + 1
if c == ord('i'):
keypress = 1
print("Forward")
print("\r")
stop = 0
motor1 = -100 # Set motor speed and direction
motor2 = -100 # Set motor speed and direction
elif c == ord('k'):
keypress = 1
stop = 0
print("Backwards")
print("\r")
motor1 = 100
motor2 = 100
elif c == ord('j'):
keypress = 1
stop = 0
print("Left")
print("\r")
motor1 = -100
motor2 = 100
elif c == ord('l'):
keypress = 1
stop = 0
print("Right")
print("\r")
motor1 = 100
motor2 = -100
elif c == 32: # Spacebar
keypress = 1
stop = 0
motor1 = 0
motor2 = 0
# Pressing a key also produces a number of key up events.
# This block of code only stops the robot moving after at least 4 key up events have been detected.
# This makes driving the robot smoother but adds a short delay-
# -from when you release the key until the robot stops.
if c == -1: # Check for key release
stop += 1 # Count the number of key up events
if keypress == 1 and stop > 5: # Min = 4 - If the robot pauses when you hold a key down-
# -increase this number.
keypress = 0
stop = 0
motor1 = 0
motor2 = 0
pan(pan_centre - pan_offset)
tilt(tilt_centre - tilt_offset)
# Half the speed if Turbo is off
if turbo == True:
m1 = motor1
m2 = motor2
elif turbo == False:
m1 = motor1 / 2
m2 = motor2 / 2
# Reverse the steering if 'R' has been pressed
if rSteer == False:
redboard.M1(m1)
redboard.M2(m2)
else:
redboard.M1(m2)
redboard.M2(m1)
def __init__(self):
redboard.M1(0)
redboard.M2(0)
def stop_moving():
if not stop:
stop = True
redboard.M1(0)
redboard.M2(0)
def move_right():
while stop != True:
redboard.M1(100)
redboard.M2(100)
def move_left():
while stop != True:
redboard.M1(-100)
redboard.M2(-100)
def move_backwards():
"""Move the rover in reverse at full speed"""
while stop != True:
redboard.M1(100)
redboard.M2(-100)
def move_forward():
"""Move the rover forwards at full speed"""
while stop != True: #don't forget to implement a stop!
redboard.M1(-100)
redboard.M2(100)
import Motor
# Loop until the user clicks the close button.
done = False
running = False
pygame.init()
motorLeft = Motor.Motor(1)
motorRight = Motor.Motor(2)
#kit = MotorKit()
#kit.motor1.throttle = 0.0
#kit.motor2.throttle = 0.0
redboard.M1(0.0)
redboard.M2(0.0)
leftThrottle = 0.0
rightThrottle = 0.0
currentLeftSpeed = 0.0
currentRightSpeed = 0.0
button_rotate = 0.0
grabWidth = 0.0 # 0.0 = fully open, 1.0 = fully closed
joy_forward = 0.0
cameraAngle = 1280.0
quaternion = Q.Quaternion_shared_helper()
pidLeft = PID(0.4,
0.8,
0.02,
setpoint=0,
