GPIO.output(LSHDN, GPIO.HIGH) time.sleep(0.01) lSensor.start_ranging(VL53L0X.VL53L0X_GOOD_ACCURACY_MODE) # Connect the right sensor and start measurement GPIO.output(RSHDN, GPIO.HIGH) time.sleep(0.01) rSensor.start_ranging(VL53L0X.VL53L0X_GOOD_ACCURACY_MODE) # Connect the front sensor and start measurement GPIO.output(FSHDN, GPIO.HIGH) time.sleep(0.01) fSensor.start_ranging(VL53L0X.VL53L0X_GOOD_ACCURACY_MODE) # Initialize encoders my.initEncoders() # Set servos to netural my.setSpeedsPWM(1.5, 1.5) pwmData, leftTotal, rightTotal = my.readCalibrateFile() # Tuple of colors with hsv min and max HSV_MIN = 0 HSV_MAX = 1 # Goal colors HSV color1 = [(0,91,61),(9,132,176)] # orange color2 = [(42,106,55),(68,164,157)] # Green color3 = [(152,114,77),(173,185,194)] # pink # PID constants
#calibration.py #This progeam is stepping through each PWM from 1.3 - 1.7 at intervals of 0.005 #Saves results in a file import time import encoder_lib as enc # Calibrate encoders enc.initEncoders() timeX = time.monotonic() enc.setSpeedsPWM(1.5, 1.5) enc.calibrateSpeeds(1, 'CalibrateResults.txt') print(time.monotonic() - timeX) enc.end()
