#!/usr/bin/env python # -*- coding: utf-8 -*- HOST = "localhost" PORT = 4223 UID = "XXYYZZ" # Change XXYYZZ to the UID of your DC Brick from tinkerforge.ip_connection import IPConnection from tinkerforge.brick_dc import BrickDC if __name__ == "__main__": ipcon = IPConnection() # Create IP connection dc = BrickDC(UID, ipcon) # Create device object ipcon.connect(HOST, PORT) # Connect to brickd # Don't use device before ipcon is connected dc.set_drive_mode(dc.DRIVE_MODE_DRIVE_COAST) dc.set_pwm_frequency(10000) # Use PWM frequency of 10kHz dc.set_acceleration(5000) # Slow acceleration dc.set_velocity(32767) # Full speed forward dc.enable() # Enable motor power raw_input("Press key to exit\n") # Use input() in Python 3 dc.disable() # Disable motor power ipcon.disconnect()
#!/usr/bin/env python # -*- coding: utf-8 -*- HOST = "localhost" PORT = 4223 UID = "XYZ" # Change to your UID from tinkerforge.ip_connection import IPConnection from tinkerforge.brick_dc import BrickDC if __name__ == "__main__": ipcon = IPConnection() # Create IP connection dc = BrickDC(UID, ipcon) # Create device object ipcon.connect(HOST, PORT) # Connect to brickd # Don't use device before ipcon is connected dc.set_pwm_frequency(10000) # Use PWM frequency of 10kHz dc.set_drive_mode(1) # Use 1 = Drive/Coast instead of 0 = Drive/Brake dc.enable() dc.set_acceleration(5000) # Slow acceleration dc.set_velocity(32767) # Full speed forward raw_input('Press key to exit\n') # Use input() in Python 3 dc.disable() ipcon.disconnect()
def start(main_controller_connection): signal.signal(signal.SIGTERM, signal_handler) logger.info("Starting drive_controller") # Motor drivers ipcon.connect('localhost', 4223) time.sleep(1.0) right_wheel = BrickDC('6wUYf6', ipcon) right_wheel.set_drive_mode(BrickDC.DRIVE_MODE_DRIVE_COAST) right_wheel.set_acceleration(60000) right_wheel.set_velocity(0) right_wheel.disable_status_led() right_wheel.enable() left_wheel = BrickDC('62gBJZ', ipcon) left_wheel.set_drive_mode(BrickDC.DRIVE_MODE_DRIVE_COAST) left_wheel.set_acceleration(60000) left_wheel.set_velocity(0) left_wheel.disable_status_led() left_wheel.enable() cutter = BrickDC('6e68bZ', ipcon) cutter.set_drive_mode(BrickDC.DRIVE_MODE_DRIVE_COAST) cutter.set_acceleration(10000) cutter.set_velocity(0) cutter.disable_status_led() cutter.enable() while True: if main_controller_connection.poll(): cmd = main_controller_connection.recv() logger.info("Execute external command {}".format(str(cmd))) execute_command(cmd, right_wheel, left_wheel, cutter) time.sleep(0.01)
stepper.drive_forward() elif distance <= 150: print("Stepper -> Stop") stepper.stop() elif distance <= 130: print("Stepper -> Zurück") stepper.drive_backward() else: print("Puffer erreicht") stepper.stop() if __name__ == "__main__": ipcon = IPConnection() dcb = BrickDC(UIDdcb, ipcon) oled = BrickletOLED128x64(UIDoled, ipcon) poti = BrickletLinearPoti(UIDpoti, ipcon) ropoti = BrickletRotaryPoti(UIDropoti, ipcon) stepper = BrickStepper(UIDstepper, ipcon) joystick = BrickletJoystick(UIDjoystick, ipcon) irsensor = BrickletDistanceIR(UIDirsensor, ipcon) ipcon.connect(HOST, PORT) print("Verbindung unter folgenden Daten: \nIP: " + HOST + "\nPort: " + PORT) o_clear() print("Einstellungen werden gesetzt") o_write(1, 5, "Einstellungen") o_write(1, 5, "werden gesetzt")
# Use velocity reached callback to swing back and forth # between full speed forward and full speed backward def cb_velocity_reached(velocity, dc): if velocity == 32767: print('Velocity: Full speed forward, now turning backward') dc.set_velocity(-32767) elif velocity == -32767: print('Velocity: Full speed backward, now turning forward') dc.set_velocity(32767) else: print('Error') # Can only happen if another program sets velocity if __name__ == "__main__": ipcon = IPConnection() # Create IP connection dc = BrickDC(UID, ipcon) # Create device object ipcon.connect(HOST, PORT) # Connect to brickd # Don't use device before ipcon is connected # The acceleration has to be smaller or equal to the maximum # acceleration of the DC motor, otherwise the velocity reached # callback will be called too early dc.set_acceleration(5000) # Slow acceleration dc.set_velocity(32767) # Full speed forward # Register velocity reached callback to function cb_velocity_reached dc.register_callback(dc.CALLBACK_VELOCITY_REACHED, lambda x: cb_velocity_reached(x, dc)) # Enable motor power
# Use velocity reached callback to swing back and forth # between full speed forward and full speed backward def cb_velocity_reached(velocity, dc): if velocity == 32767: print("Velocity: Full speed forward, now turning backward") dc.set_velocity(-32767) elif velocity == -32767: print("Velocity: Full speed backward, now turning forward") dc.set_velocity(32767) else: print("Error") # Can only happen if another program sets velocity if __name__ == "__main__": ipcon = IPConnection() # Create IP connection dc = BrickDC(UID, ipcon) # Create device object ipcon.connect(HOST, PORT) # Connect to brickd # Don't use device before ipcon is connected # The acceleration has to be smaller or equal to the maximum # acceleration of the DC motor, otherwise the velocity reached # callback will be called too early dc.set_acceleration(5000) # Slow acceleration dc.set_velocity(32767) # Full speed forward # Register velocity reached callback to function cb_velocity_reached dc.register_callback(dc.CALLBACK_VELOCITY_REACHED, lambda x: cb_velocity_reached(x, dc)) # Enable motor power dc.enable()