def run_robot():
robot = CamJamKitRobot()
controller = Controller('/dev/input/js0', debug=True)
pos_l = 0.0
pos_r = 0.0
while True:
event_info = controller.process_event()
if event_info:
event_name, event_value = event_info
updated = False
if event_name == 'y':
pos_l = -event_value if event_value > THRESHOLD or event_value < -THRESHOLD else 0.0
updated = True
if event_name == 'ry':
pos_r = -event_value if event_value > THRESHOLD or event_value < -THRESHOLD else 0.0
updated = True
if updated:
robot.value = (pos_l, pos_r)
# Increase the seek count
seekcount += 1
# Change direction
direction = not direction
# The line wasn't found, so return False
robot.stop()
print("The line has been lost - relocate your robot")
linelost = True
return False
# Tell the program what to do with a line is seen
linesensor.when_line = lineseen
# And when no line is seen
linesensor.when_no_line = linenotseen
try:
# repeat the next indented block forever
robot.value = motorforward
while True:
if not isoverblack and not linelost:
seekline()
# If you press CTRL+C, cleanup and stop
except KeyboardInterrupt:
exit()
# connect wiimote
wiimote = connectToWiimote()
# tell wiimote to report data back
wiimote.rpt_mode = RPT_STATUS | RPT_BTN | RPT_ACC | RPT_IR | RPT_NUNCHUK | RPT_CLASSIC | RPT_BALANCE | RPT_MOTIONPLUS | RPT_EXT | MESG_STATUS | MESG_BTN | MESG_ACC | MESG_IR | MESG_NUNCHUK
wiimote.rpt_mode = cwiid.RPT_BTN | cwiid.RPT_ACC | cwiid.RPT_EXT
# wait for wiimote to detect nunchuk
print('waiting for nunchuk to be detected')
while not 'nunchuk' in wiimote.state: pass
print('nunchuk detected')
print('starting main loop')
# main loop
while True:
# get joystick position
joystickpos = getjoystickposition(wiimote)
# scale joystick position to standard coordinates
joystickpos = list(scale(joystickpos[0], joystickpos[1], 23, 36, 227, 227, 0, 0, 200, 200))
joystickpos[0] -= 100
joystickpos[1] -= 100
# get motor speeds based on joystick position
motorspeeds = list(steering(joystickpos[0], joystickpos[1]))
motorspeeds[0] /= 100
motorspeeds[1] /= 100
#print('motor speeds {0}'.format(motorspeeds))
# send motor speeds to motor controller
robot.value = motorspeeds[::-1]
# CamJam EduKit 3 - Robotics # Worksheet 7 - Controlling the motors with PWM import time # Import the Time library from gpiozero import CamJamKitRobot # Import the CamJam GPIO Zero Library robot = CamJamKitRobot() # Set the relative speeds of the two motors, between 0.0 and 1.0 leftmotorspeed = 0.5 rightmotorspeed = 0.5 motorforward = (leftmotorspeed, rightmotorspeed) motorbackward = (-leftmotorspeed, -rightmotorspeed) motorleft = (leftmotorspeed, 0) motorright = (0, rightmotorspeed) robot.value = motorforward time.sleep(1) robot.value = motorbackward time.sleep(1) # Pause for 1 second robot.value = motorleft time.sleep(1) # Pause for 1 second robot.value = motorright time.sleep(1) # Pause for 1 second robot.stop()