current_twist = yellow_twist current_clamp_value = latest_yellow_clamp_value current_twist_value = latest_yellow_twist_value print("\rControl changed to Yellow") elif input_key == '4': current_clamp = red_clamp current_twist = red_twist current_clamp_value = latest_red_clamp_value current_twist_value = latest_red_twist_value print("\rControl changed to Red") #movement commands elif input_key == 'a': current_twist_value -= 2 pwm.setPWM(current_twist, 0, current_twist_value) elif input_key == 'd': current_twist_value += 2 pwm.setPWM(current_twist, 0, current_twist_value) elif input_key == 'x': current_clamp_value -= 2 pwm.setPWM(current_clamp, 0, current_clamp_value) elif input_key == 'w': current_clamp_value += 2 pwm.setPWM(current_clamp, 0, current_clamp_value) elif input_key == 'f': if current_twist == 1:
whiteTwistCW = params[4] blueClampClosed = params[5] blueClampOpen = params[6] blueTwistNeutral = params[7] blueTwistCCW = params[8] blueTwistCW = params[9] yellowClampClosed = params[10] yellowClampOpen = params[11] yellowTwistNeutral = params[12] yellowTwistCCW = params[13] yellowTwistCW = params[14] redClampClosed = params[15] redClampOpen = params[16] redTwistNeutral = params[17] redTwistCCW = params[18] redTwistCW = params[19] pwm.setPWM(whiteClamp, 0, whiteClampClosed) time.sleep(0.35) pwm.setPWM(blueClamp, 0, blueClampClosed) time.sleep(0.35) pwm.setPWM(yellowClamp, 0, yellowClampClosed) time.sleep(0.35) pwm.setPWM(redClamp, 0, redClampClosed) time.sleep(0.35) else: print("\rMissing Calibration File, run calibrate.py first") pwm.softwareReset()
highest = -1 if whiteClampClosed < lowest: lowest = whiteClampClosed if blueClampClosed < lowest: lowest = blueClampClosed if yellowClampClosed < lowest: lowest = yellowClampClosed if redClampClosed < lowest: lowest = redClampClosed if whiteClampOpen > highest: highest = whiteClampOpen if blueClampOpen > highest: highest = blueClampOpen if yellowClampOpen > highest: highest = yellowClampOpen if redClampOpen > highest: highest = redClampOpen for i in range(lowest, highest, 5): pwm.setPWM(whiteClamp, 0, i) pwm.setPWM(blueClamp, 0, i) pwm.setPWM(yellowClamp, 0, i) pwm.setPWM(redClamp, 0, i) else: print("\rMissing Calibration File, run calibrate.py first") pwm.softwareReset()