def turnLeft(self): if self.interface == "I2C": self.front_right.move(self.speed, self.accel) self.rear_left.move(-self.speed, self.accel) self.front_left.move(-self.speed, self.accel) self.rear_right.move(self.speed, self.accel) elif self.interface == "UDP": motor_udp.send_motor_speed_fr(self.speed) motor_udp.send_motor_speed_rl(-self.speed) motor_udp.send_motor_speed_fl(-self.speed) motor_udp.send_motor_speed_rr(self.speed) self.state = MotorState.LEFT
def moveBackward(self): if self.interface == "I2C": self.front_left.move(-self.speed, self.accel) self.rear_left.move(-self.speed, self.accel) self.front_right.move(-self.speed, self.accel) self.rear_right.move(-self.speed, self.accel) elif self.interface == "UDP": motor_udp.send_motor_speed_fl(-self.speed) motor_udp.send_motor_speed_rl(-self.speed) motor_udp.send_motor_speed_fr(-self.speed) motor_udp.send_motor_speed_rr(-self.speed) self.state = MotorState.BACKWARD
def moveForwardDualSpeed(self, left_speed, right_speed): left_speed = self.__clipSpeedValue(left_speed) right_speed = self.__clipSpeedValue(right_speed) if self.interface == "I2C": self.front_right.move(right_speed, self.accel) self.front_left.move(left_speed, self.accel) self.rear_right.move(right_speed, self.accel) self.rear_left.move(left_speed, self.accel) elif self.interface == "UDP": motor_udp.send_motor_speed_fr(right_speed) motor_udp.send_motor_speed_fl(left_speed) motor_udp.send_motor_speed_rr(right_speed) motor_udp.send_motor_speed_rl(left_speed) # TODO:This is unsafe! could be going forwards,backwards,left or right self.state = MotorState.FORWARD
def moveIndependentSpeeds( self, front_left, front_right, rear_left, rear_right): front_left = self.__clipSpeedValue(front_left) front_right = self.__clipSpeedValue(front_right) rear_left = self.__clipSpeedValue(rear_left) rear_right = self.__clipSpeedValue(rear_right) if self.interface == "I2C": self.front_left.move(front_left, self.accel) self.front_right.move(front_right, self.accel) self.rear_left.move(rear_left, self.accel) self.rear_right.move(rear_right, self.accel) elif self.interface == "UDP": motor_udp.send_motor_speed_fl(front_left) motor_udp.send_motor_speed_fr(front_right) motor_udp.send_motor_speed_rl(rear_left) motor_udp.send_motor_speed_rr(rear_right) # TODO: This is unsafe! could be going forwards,backwards,left or right self.state = MotorState.FORWARD
return ch if __name__ == "__main__": while(True): key = getKey() d_logger.debug("Key %s pressed", key) if(key == 'c'): motor_udp.stop() sys.exit(0) elif(key == 'C'): motor_udp.stop() sys.exit(0) elif(key == 'w'): motor_udp.send_motor_speed_fl(50) motor_udp.send_motor_speed_fr(50) motor_udp.send_motor_speed_rr(50) motor_udp.send_motor_speed_rl(50) elif(key == 'W'): motor_udp.send_motor_speed_fl(100) motor_udp.send_motor_speed_fr(100) motor_udp.send_motor_speed_rr(100) motor_udp.send_motor_speed_rl(100) elif(key == 'a'): motor_udp.skid_left(20) elif(key == 'A'): motor_udp.skid_left(40) elif(key == 's'): motor_udp.send_motor_speed_fl(-50) motor_udp.send_motor_speed_fr(-50) motor_udp.send_motor_speed_rr(-50)