def reset_elevation(self):
BrickPiOriginal.MotorEnable[PORT_B] = 1
BrickPiUpdateValues()
if (BrickPiOriginal.SensorType[PORT_2] != 1):
BrickPiOriginal.MotorSpeed[PORT_B] = 30
BrickPiUpdateValues()
while (BrickPiOriginal.Sensor[PORT_2] != 1):
BrickPiUpdateValues()
time.sleep(0.05)
BrickPiOriginal.MotorSpeed[PORT_B] = -30
BrickPiUpdateValues()
def reset_azimuth(self):
BrickPiOriginal.MotorEnable[PORT_A] = 1
BrickPiUpdateValues()
if (BrickPiOriginal.SensorType[PORT_1] != 1):
BrickPiOriginal.MotorSpeed[PORT_A] = 30
BrickPiUpdateValues()
while (BrickPiOriginal.Sensor[PORT_1] != 1):
BrickPiUpdateValues()
time.sleep(0.05)
BrickPiOriginal.MotorSpeed[PORT_A] = -30
BrickPiUpdateValues()
def reset_elevation(self): BrickPiOriginal.MotorEnable[PORT_B] = 1 BrickPiUpdateValues() if (BrickPiOriginal.SensorType[PORT_2] != 1): BrickPiOriginal.MotorSpeed[PORT_B] = 30 BrickPiUpdateValues() while(BrickPiOriginal.Sensor[PORT_2] != 1): BrickPiUpdateValues() time.sleep(0.05) BrickPiOriginal.MotorSpeed[PORT_B] = -30 BrickPiUpdateValues()
def reset_azimuth(self): BrickPiOriginal.MotorEnable[PORT_A] = 1 BrickPiUpdateValues() if (BrickPiOriginal.SensorType[PORT_1] != 1): BrickPiOriginal.MotorSpeed[PORT_A] = 30 BrickPiUpdateValues() while(BrickPiOriginal.Sensor[PORT_1] != 1): BrickPiUpdateValues() time.sleep(0.05) BrickPiOriginal.MotorSpeed[PORT_A] = -30 BrickPiUpdateValues()
def set_elevation(self, value):
self.elevation_in_progress = True
self.logger.info('\nSetting elevation to ' + (str(value)))
encoder_before = self.mypi.Encoder[PORT_B]
self.logger.info('encoder_before' + str(encoder_before))
if (value >= 90):
value = 90
if (value <= 0):
value = 0
self.logger.info('self.elevation: ' + str(self.elevation));
self.logger.info('value_to_set: ' + str(value));
rotate_value = None
action = None
if (self.elevation > value):
rotate_value = (self.elevation - value)
action = 'decrease'
self.logger.info("Current position is higher than desired degree, decreasing it")
self.logger.info("rotate_value: " + str(rotate_value))
self.elevation_motor.rotate(self.elevation_power_down, -1 * rotate_value * self.elevation_coef)
time.sleep(0.1)
self.elevation_motor.update_position()
elif (self.elevation < value):
rotate_value = (value - self.elevation)
self.logger.info("Current position is lower than desired degree, increasing it")
self.logger.info("rotate_value" + str(rotate_value))
self.elevation_motor.rotate(self.elevation_power, rotate_value * self.elevation_coef)
time.sleep(0.1)
self.elevation_motor.update_position()
time.sleep(0.1)
encoder_after = self.mypi.Encoder[PORT_B]
self.logger.info('encoder_after' + str(encoder_after))
self.elevation = self.elevation + ((encoder_after - encoder_before)/float(self.elevation_coef))/2
if (self.elevation < 0):
self.logger.info('We went under 0, reseting it to 0')
self.elevation = 0
elif (self.elevation > 90):
self.logger.info('We went over 90, reseting it to 90')
self.elevation = 90
self.logger.info('Wanted to move for ' + str(rotate_value))
self.logger.info('Moved for ' + str(((encoder_after - encoder_before)/float(self.elevation_coef))/2))
self.elevation_in_progress = False
def set_elevation(self, value):
self.elevation_in_progress = True
self.logger.info('\nSetting elevation to ' + (str(value)))
encoder_before = self.mypi.Encoder[PORT_B]
self.logger.info('encoder_before' + str(encoder_before))
if (value >= 90):
value = 90
if (value <= 0):
value = 0
self.logger.info('self.elevation: ' + str(self.elevation))
self.logger.info('value_to_set: ' + str(value))
rotate_value = None
action = None
if (self.elevation > value):
rotate_value = (self.elevation - value)
action = 'decrease'
self.logger.info(
"Current position is higher than desired degree, decreasing it"
)
self.logger.info("rotate_value: " + str(rotate_value))
self.elevation_motor.rotate(
self.elevation_power_down,
-1 * rotate_value * self.elevation_coef)
time.sleep(0.1)
self.elevation_motor.update_position()
elif (self.elevation < value):
rotate_value = (value - self.elevation)
self.logger.info(
"Current position is lower than desired degree, increasing it")
self.logger.info("rotate_value" + str(rotate_value))
self.elevation_motor.rotate(self.elevation_power,
rotate_value * self.elevation_coef)
time.sleep(0.1)
self.elevation_motor.update_position()
time.sleep(0.1)
encoder_after = self.mypi.Encoder[PORT_B]
self.logger.info('encoder_after' + str(encoder_after))
self.elevation = self.elevation + (
(encoder_after - encoder_before) / float(self.elevation_coef)) / 2
if (self.elevation < 0):
self.logger.info('We went under 0, reseting it to 0')
self.elevation = 0
elif (self.elevation > 90):
self.logger.info('We went over 90, reseting it to 90')
self.elevation = 90
self.logger.info('Wanted to move for ' + str(rotate_value))
self.logger.info('Moved for ' + str((
(encoder_after - encoder_before) / float(self.elevation_coef)) /
2))
self.elevation_in_progress = False
