def main(): Frontal.ResetEncoders(address) Trasero.ResetEncoders(address) time.sleep(1) with open("csvMAX.csv", "wb") as f: writer = csv.writer(f, delimiter=',', quotechar='"', quoting=csv.QUOTE_ALL) writer.writerow(['Tiempo', 'EncA', 'EncB', 'EncC', 'EncD', 'vA', 'vB', 'vC', 'vD','iA','iB', 'iC', 'iD', 'pwmA', 'pwmB', 'pwmC', 'pwmD']) rep=0 #try: while(rep<1): #while (Ein[0]<1 and Ein[1]<1 and Ein[2] <1 and Ein[3] <1): start = time.time() last = start while(time.time()-start< 2.0): inicio = time.time() if (inicio-last)>=0.05: savelast = last last = inicio LM.Adelante2x() LM.writeCSV(start,savelast) print("\n--- %s seconds ---\n" % (time.time()-start)) start = time.time() LM.Detenerse() time.sleep(2) print("\n--- %s seconds ---\n" % (time.time()-start)) rep = rep + 1
def main(): Frontal.ResetEncoders(address) Trasero.ResetEncoders(address) time.sleep(3) with open("csvFile.csv", "wb") as f: writer = csv.writer(f, delimiter=',', quotechar='"',quoting=csv.QUOTE_ALL) writer.writerow(['Tiempo', 'EncA', 'EncB', 'EncC', 'EncD', 'vA', 'vB', 'vC', 'vD','iA','iB', 'iC', 'iD', 'pwmA', 'pwmB', 'pwmC', 'pwmD']) rep=0 while(rep<1): start_time = time.time() ee = displayspeed() Ein = [abs(ee[0]), abs(ee[1]), abs(ee[2]), abs(ee[3])] while (Ein[0]<10*4800 and Ein[1]< 10*4800 and Ein[2] < 10*4800 and Ein[3] < 10*4800): LM.Motor1() LM.Motor2() LM.Motor3() LM.Motor4() iAB = Frontal.ReadCurrents(address) iCD = Trasero.ReadCurrents(address) pwmAB = Frontal.ReadPWMs(address) pwmCD = Trasero.ReadPWMs(address) lectura = displayspeed() print(lectura) writer.writerow([(time.time()- start_time), lectura[0], lectura[1], lectura[2], lectura[3], lectura[4], lectura[5], lectura[6], lectura[7], float(iAB[1])/100, float(iAB[2])/100, float(iCD[1])/100, float(iCD[2])/100, pwmAB[1], pwmAB[2], pwmCD[1], pwmCD[2]]) time.sleep(0.01) Ein =[abs(lectura[0]), abs(lectura[1]), abs(lectura[2]), abs(lectura[3])] print("\n--- %s seconds ---\n" % (time.time() - start_time)) start_time = time.time() LM.Detenerse() time.sleep(2) print("\n--- %s seconds ---\n" % (time.time() - start_time)) rep = rep + 1
def SE(): print("\nSE ⇘\n") rep = 0 while (rep < 1): LM.SE2x() time.sleep(2) LM.Detenerse() time.sleep(0.5) rep = rep + 1
def NO(): print("\nNO ⇖\n") rep = 0 while (rep < 1): LM.NO2x() time.sleep(2) LM.Detenerse() time.sleep(0.5) rep = rep + 1
def CCW(): print("\nCCW ↺\n") rep = 0 while (rep < 1): LM.CCW2x() time.sleep(2) LM.Detenerse() time.sleep(0.5) rep = rep + 1
def LEFT(): print("\nLEFT ⇦\n") rep = 0 while (rep < 1): LM.LEFT2x() time.sleep(2) LM.Detenerse() time.sleep(0.5) rep = rep + 1
def RIGHT(): print("\nRIGHT ⇨\n") rep = 0 while (rep < 1): LM.RIGHT2x() time.sleep(2) LM.Detenerse() time.sleep(0.5) rep = rep + 1
def REVERSE(): print("\nREVERSE ⇩\n") rep = 0 while (rep < 1): LM.Atras2x() time.sleep(2) LM.Detenerse() time.sleep(0.5) rep = rep + 1
def FORWARD(): print("\nFORWARD ⇧\n") rep = 0 while (rep < 1): LM.Adelante1x() time.sleep(2) LM.Detenerse() time.sleep(0.5) rep = rep + 1
def SO(): print("\nSO ⇙\n") rep = 0 while (rep < 1): LM.SO2x() time.sleep(2) LM.Detenerse() time.sleep(0.5) rep = rep + 1
def NE(): print("\nNE ⇗\n") rep = 0 while (rep < 1): LM.NE2x() time.sleep(2) LM.Detenerse() time.sleep(0.5) rep = rep + 1
def main(): time.sleep(1) LM.Adelante2x() time.sleep(2) LM.Detenerse() time.sleep(1) LM.Atras2x() time.sleep(2) LM.Detenerse() time.sleep(1) LM.RIGHT3x() time.sleep(2) LM.Detenerse() time.sleep(1) LM.LEFT3x() time.sleep(2) LM.Detenerse() time.sleep(1) LM.SE3x() time.sleep(2) LM.Detenerse() time.sleep(1) LM.NO3x() time.sleep(2) LM.Detenerse() time.sleep(1) LM.SO3x() time.sleep(2) LM.Detenerse() time.sleep(1) LM.NE3x() time.sleep(2) LM.Detenerse() time.sleep(1) LM.CCW5x() time.sleep(3) LM.Detenerse() time.sleep(1) LM.CW5x() time.sleep(3) LM.Detenerse() time.sleep(1)
def main(): Frontal.ResetEncoders(address) Trasero.ResetEncoders(address) time.sleep(2) with open("csvMAX.csv", "wb") as f: writer = csv.writer(f, delimiter=',', quotechar='"', quoting=csv.QUOTE_ALL) writer.writerow([ 'Tiempo', 'EncA', 'EncB', 'EncC', 'EncD', 'vA', 'vB', 'vC', 'vD', 'iA', 'iB', 'iC', 'iD', 'pwmA', 'pwmB', 'pwmC', 'pwmD' ]) rep = 0 #try: while (rep < 1): #while (Ein[0]<1 and Ein[1]<1 and Ein[2] <1 and Ein[3] <1): start = time.time() while (time.time() - start < 2.0): #LM.Adelante2x() LM.Atras2x() L1 = LM.EDV() L2 = LM.display_IP() #print((time.time()-start_time)) writer.writerow([(time.time() - start), L1[0], L1[1], L1[2], L1[3], L1[4], L1[5], L1[6], L1[7], L2[0], L2[1], L2[2], L2[3], L2[4], L2[5], L2[6], L2[7]]) time.sleep(0.01) #Ein =[abs(L1[0]), abs(L1[1]), abs(L1[2]), abs(L1[3])] print("\n--- %s seconds ---\n" % (time.time() - start)) start = time.time() LM.Detenerse() time.sleep(2) print("\n--- %s seconds ---\n" % (time.time() - start)) rep = rep + 1
def main(): Frontal.ResetEncoders(address) Trasero.ResetEncoders(address) time.sleep(1) with open("Ts6.csv", "wb") as f: writer = csv.writer(f, delimiter=',', quotechar='"', quoting=csv.QUOTE_ALL) writer.writerow([ 'Tiempo', 'EncA', 'EncB', 'EncC', 'EncD', 'vA', 'vB', 'vC', 'vD', 'iA', 'iB', 'iC', 'iD', 'pwmA', 'pwmB', 'pwmC', 'pwmD' ]) rep = 0 while (rep < 1): ##### ADELANTE1X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Adelante1x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ADELANTE 1X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ADELANTE2X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Adelante2x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ADELANTE 2X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ADELANTE3X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Adelante3x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ADELANTE 3X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ADELANTE4X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Adelante4x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ADELANTE 4X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ADELANTE5X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Adelante5x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ADELANTE 5X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ADELANTE4X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Adelante4x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ADELANTE 4X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ADELANTE3X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Adelante3x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ADELANTE 3X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ADELANTE2X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Adelante2x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ADELANTE 2X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ADELANTE1X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Adelante1x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ADELANTE 1X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### DETENERSE POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Detenerse() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE DETENERSE ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ATRAS1X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Atras1x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ATRAS 1X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ATRAS2X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Atras2x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ATRAS 2X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ATRAS3X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Atras3x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ATRAS 3X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ATRAS4X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Atras4x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ATRAS 4X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ATRAS5X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Atras5x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ATRAS 5X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ATRAS4X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Atras4x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ATRAS 4X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ATRAS3X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Atras3x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ATRAS 3X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ATRAS2X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Atras2x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ATRAS 2X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ATRAS1X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Atras1x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ATRAS 1X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### DETENERSE POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Detenerse() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE DETENERSE ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ADELANTE2X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Adelante2x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ADELANTE2X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ATRAS2X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Atras2x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ATRAS 2X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### DETENERSE POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Detenerse() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE DETENERSE ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ADELANTE4X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Adelante4x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ADELANTE4X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### DETENERSE POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Detenerse() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE DETENERSE ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ATRAS4X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Atras4x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ATRAS 4X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### DETENERSE POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Detenerse() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE DETENERSE ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ADELANTE3X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Adelante3x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ADELANTE3X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### DETENERSE POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Detenerse() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE DETENSERSE ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### ATRAS3X POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Atras3x() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE ATRAS 3X ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ##### DETENERSE POR 3 SEGUNDOS ##### start = time.time() last = start while (time.time() - start < 3.0): inicio = time.time() if (inicio - last) >= 0.05: savelast = last last = inicio LM.Detenerse() LM.writeCSV(writer, start, savelast) print("\n--- FIN DE DETENSERSE ----") print("\n--- %s seconds ---\n" % (time.time() - start)) ### FIN DE LA PRUEBA print("\n --- FIN DE LA PRUEBA ---") start = time.time() LM.Detenerse() time.sleep(1) print("\n--- %s seconds ---\n" % (time.time() - start)) rep = rep + 1
def main(): LM.Detenerse()