def __init__(self):
self.mA = ppi.Motor(ppi.AD_MOTOR_A)
self.mB = ppi.Motor(ppi.AD_MOTOR_B)
ppi.init()
parser.add_argument("-d",
"--debug",
help="show debug information",
action="store_true")
args = parser.parse_args()
# Create a TCP/IP socket and bind the socket to the port
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server_address = (IP_ADDRESS, PORT)
print('Starting up on {0}, port {1}'.format(server_address[0],
server_address[1]),
file=sys.stderr)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sock.bind(server_address)
mA = ppi.Motor(ppi.AD_MOTOR_A)
mB = ppi.Motor(ppi.AD_MOTOR_B)
display = ppi.Display(ppi.AD_DISPLAY_A)
#initialise serial, and retrieve initial values from the Atmega
ppi.init()
mA.get_all()
mB.get_all()
# Initialise loop variables
connection = None
client_address = None
# initialize the heartbeat thread
heartbeat_thread = threading.Thread(target=HeartBeat, daemon=True)
heartbeat_thread.start()
import time
import penguinPi as ppi
ppi.uart.init()
ppi.init()
# Initialise L and R motors
motorL = ppi.Motor(ppi.AD_MOTOR_A)
motorR = ppi.Motor(ppi.AD_MOTOR_B)
# Initialise Display
display = ppi.Display(ppi.AD_DISPLAY_A)
display.set_mode('u') # decimal mode
ppi.init()
def set_speed(motorL_speed, motorR_speed):
motorL.set_power(motorL_speed)
motorR.set_power(motorR_speed)
display.set_value(motorL_speed + " " + motorR_speed)
# Move forwards
set_speed(50, 50)
time.sleep(1) # 1s pause
