from servo import ServoMotor
from ultrasonic import UltrsonicSensor
if __name__ == "__main__":
config = {}
with open('config.json') as f:
config = json.load(f)
motionControl = MotionControl(config['MultiStepperController'])
motionControl.setSpeed(1.5)
motionsensor = MotionSensor()
ultrasonicSensorFront = UltrsonicSensor(config["FrontUltrsonicSensor"])
ultrasonicSensorBack = UltrsonicSensor(config["BackUltrsonicSensor"])
servo = ServoMotor(config['HeadMountServo'])
servoAngle = 90
servo.rotate(servoAngle)
try:
while 1:
events = get_gamepad()
for event in events:
# print(event.ev_type, event.code, event.state)
if event.ev_type == 'Key' and event.code == 'BTN_NORTH' and event.state == 0:
print('Moving forward')
motionControl.move(0.1)
elif event.ev_type == 'Key' and event.code == 'BTN_EAST' and event.state == 0:
print('Moving backward')
motionControl.move(-0.1)
elif event.ev_type == 'Key' and event.code == 'BTN_Z' and event.state == 0:
print('Rotating')
motionControl.rotate(10)
import sys
import json
from servo import ServoMotor
from ultrasonic import UltrsonicSensor
from motioncontrol import MotionControl
from motionsensor import MotionSensor
config = {}
with open('config.json') as f:
config = json.load(f)
ultrasonicSensorFront = UltrsonicSensor(config["FrontUltrsonicSensor"])
motionControl = MotionControl(config['MultiStepperController'])
servo = ServoMotor(config['HeadMountServo'])
servo.rotate(0)
motionSensor = MotionSensor()
def calibrateMovement(dist: float):
startAvg = 0
for i in range(10):
distance = ultrasonicSensorFront.getDistance()
time.sleep(0.1)
startAvg += distance
startAvg /= 10
motionControl.move(dist)
time.sleep(1)
endAvg = 0
