else: steps = random.randint(-5000, -1000) # steps (backward) print("Driving backward: " + str(steps) + " steps") vel = random.randint(200, 2000) # steps/s acc = random.randint(100, 1000) # steps/s^2 dec = random.randint(100, 1000) # steps/s^2 print("Configuration (vel, acc, dec): " + str((vel, acc, dec))) stepper.set_speed_ramping(acc, dec) stepper.set_max_velocity(vel) stepper.set_steps(steps) if __name__ == "__main__": ipcon = IPConnection() # Create IP connection stepper = BrickStepper(UID, ipcon) # Create device object ipcon.connect(HOST, PORT) # Connect to brickd # Don't use device before ipcon is connected # Register position reached callback to function cb_position_reached stepper.register_callback(stepper.CALLBACK_POSITION_REACHED, lambda x: cb_position_reached(x, stepper)) stepper.enable() # Enable motor power stepper.set_steps(1) # Drive one step forward to get things going raw_input("Press key to exit\n") # Use input() in Python 3 stepper.disable() ipcon.disconnect()
stepper.set_step_mode(8) stepper.set_motor_current(1000) stepper.set_max_velocity(3000) stepper.set_speed_ramping(1000, 50000) stepper.set_current_position(0) time.sleep(1) o_clear() print("Callbacks werden registriert") o_write(1, 5, "Callbacks") o_write(1, 3, "werden registriert") dcb.register_callback(dcb.CALLBACK_VELOCITY_REACHED, lambda x: cb_dcb_velocity(x, dcb)) stepper.register_callback(BrickStepper.CALLBACK_UNDER_VOLTAGE, cb_stepper_undervoltage) ropoti.register_callback(BrickletRotaryPoti.CALLBACK_POSITION, cb_rotary_fancontrol) poti.register_callback(BrickletLinearPoti.CALLBACK_POSITION, cb_linearpoti_controller) irsensor.register_callback(BrickletDistanceIR.CALLBACK_DISTANCE, cb_irsensor_distance) o_clear() print("Bricks werden gestartet") o_write(1, 6, "Bricks") o_write(1, 3, "werden aktiviert") stepper.enable() dcb.enable()