tilt_servo = ServoCommand(6, 2, start_pos=0)
pan_servo = ServoCommand(7, 3, start_pos=0)
encoder = RCencoder(0, rc_motors)
gps = GPS(1, 6, 4)
imu = IMU(2, 2, 11)
communicator = Communicator(*leds, blue_led, servo, motors, pan_servo, tilt_servo, uart_bus=1)
while True:
communicator.read_command()
if imu.recved_data():
sensor_updated = True
communicator.write_packet(imu)
if gps.recved_data():
sensor_updated = True
communicator.write_packet(gps)
pyb.LED(3).toggle()
# if encoder.recved_data():
# sensor_updated = True
# communicator.write_packet(encoder)
# pyb.LED(2).toggle()
# if sensor_updated:
# sensor_updated = False
# print("%0.5f, %0.6f, %0.6f, %0.6i" % (
# imu.data[0], gps.data[0], gps.data[1], encoder.data[0]), end='\r')
mcp9808,
accel,
gps
)
command_pool = CommandPool(servo1, motor_a)
communicator = Communicator(sensor_queue, command_pool)
while True:
if new_data:
while uart.any():
gps.update(chr(uart.readchar()))
new_data = False
communicator.write_packet()
communicator.read_command()
if increase:
indicator.intensity(indicator.intensity() + 5)
else:
indicator.intensity(indicator.intensity() - 5)
if indicator.intensity() <= 0:
increase = True
elif indicator.intensity() >= 255:
increase = False
pyb.delay(5)
from turret.turret_objects import *
from comm import Communicator
blue_led = BlueLEDcommand(1)
lidar = LidarSensor(0, uart_bus=1)
communicator = Communicator(blue_led, uart_bus=3)
while True:
# communicator.read_command()
if lidar.recved_data():
communicator.write_packet(lidar)
print(lidar)
# pyb.delay(1)
if communicator.should_reset():
print("\nresetting")
lidar.reset()
communicator.write_packet(lidar)
if communicator.should_stop():
print("\nstopping")
lidar.stop()
while not communicator.should_reset():
communicator.read_command()
pyb.delay(5)
from turret.turret_objects import *
from comm import Communicator
blue_led = BlueLEDcommand(1)
lidar = LidarSensor(0, uart_bus=1)
communicator = Communicator(blue_led, uart_bus=3)
while True:
# communicator.read_command()
if lidar.recved_data():
communicator.write_packet(lidar)
print(lidar)
# pyb.delay(1)
if communicator.should_reset():
print("\nresetting")
lidar.reset()
communicator.write_packet(lidar)
if communicator.should_stop():
print("\nstopping")
lidar.stop()
while not communicator.should_reset():
communicator.read_command()
pyb.delay(5)
def reset():
print("\nResetting sensors")
gps.reset()
imu.reset()
stepper.reset()
communicator.write_packet(gps)
communicator.write_packet(imu)
while True:
communicator.read_command()
if imu.recved_data():
sensor_updated = True
communicator.write_packet(imu)
if gps.recved_data():
sensor_updated = True
communicator.write_packet(gps)
gps_received()
if sensor_updated:
sensor_updated = False
print(
"%8.5f (%s:%s:%s:%s), %7.4f, %7.4f, %7.4f; %10.6f, %10.6f, %10.6f "
% ((imu.data[0], ) + imu.bno.get_calibration() +
(imu.data[1], imu.data[2], imu.data[6], gps.data[0],
gps.data[1], gps.data[2])),
end='\r')
pyb.delay(1)
communicator = Communicator(*leds, blue_led, stepper, uart_bus=4)
sensor_updated = False
comm_ready()
pyb.delay(500)
communicator.signal_stop() # micropython will be in standby at the start
standby()
while True:
communicator.read_command()
if imu.recved_data():
sensor_updated = True
communicator.write_packet(imu)
if gps.recved_data():
sensor_updated = True
communicator.write_packet(gps)
gps_received()
if sensor_updated:
sensor_updated = False
print("%0.5f (%s:%s:%s:%s), %0.6f, %0.6f" % ((
imu.data[0],) + imu.bno.get_calibration() + (gps.data[0], gps.data[1])), end='\r')
pyb.delay(1)
if communicator.should_reset():
print("\nresetting")
gps.reset()
