def test():
GPIO.setmode(GPIO.BOARD)
pins = get_pins()
left_motor = SmartMotor(pins["left motor"], pins["left encoder"], 20, 3,
True)
right_motor = SmartMotor(pins["right motor"], pins["right encoder"], 20, 3,
True)
updater = Updater(0.01)
updater.add(left_motor.update)
updater.add(right_motor.update)
print("Testing SmartMotor")
time.sleep(1)
print("Move forward in a straight line by giving the motors equal speeds")
left_motor.set_velocity(15)
right_motor.set_velocity(15)
updater.reset_timer()
while updater.timer < 2:
updater.update()
left_motor.set_velocity(0)
right_motor.set_velocity(0)
time.sleep(1)
print("Rotate on the spot by giving the motors opposite speeds")
left_motor.set_velocity(15)
right_motor.set_velocity(-15)
updater.reset_timer()
while updater.timer < 2:
updater.update()
left_motor.set_velocity(0)
right_motor.set_velocity(0)
time.sleep(1)
print("Varying the speed of left motor")
start_speed = 0
end_speed = 40
updater.add(lambda dt: left_motor.set_velocity(start_speed + (
end_speed - start_speed) * (updater.timer / 3)))
updater.reset_timer()
while updater.timer < 3:
updater.update()
updater.remove(-1)
updater.add(lambda dt: left_motor.set_velocity(end_speed - (
end_speed - start_speed) * (updater.timer / 3)))
updater.reset_timer()
while updater.timer < 3:
updater.update()
updater.remove(-1)
left_motor.set_velocity(0)
print("Finished")
GPIO.cleanup()
def test():
GPIO.setmode(GPIO.BOARD)
pins = get_pins()
car = Car(pins["car"])
updater = Updater(0.01)
updater.add(car.update)
print("Moving straight forward")
car.set_velocities(15, 0)
updater.reset_timer()
while updater.timer < 2:
updater.update()
print("Rotating on the spot at 90 degrees per second")
car.set_velocities(0, -90)
updater.reset_timer()
while updater.timer < 2:
updater.update()
print("Reversing and turning left with turning radius 20cm")
car.set_velocities(-20, math.degrees(1))
updater.reset_timer()
while updater.timer < 2:
updater.update()
car.set_velocities(0, 0)
print("Finished")
GPIO.cleanup()