class Initiator:
# Here we wire all the components together
def __init__(self):
logging.basicConfig(filename='freecopter.log', level=logging.INFO)
self.motors = AdafruitPwmControlledMotors(debug_flag=True)
self.controlLoop = ControlLoop(self.motors, PIDController)
self.sensor_fusion = SensorFusionMaster()
self.highLevelLogic = HighLevelLogic(self.controlLogic)
# Will be set on the first update.
self.time_of_last_update = None
def update(self):
now = datetime.now()
if self.time_of_last_update is None:
# some very small time Delta for the start
time_delta = 0.000001
else:
time_delta = (now - self.time_of_last_update).total_seconds()
# gather sensor information
vehicle_state = self.sensor_fusion.readState()
# high level logic updates the other systems
self.highLevelLogic.update(time_delta)
# save time for next iteration
self.time_of_last_update = now
def __init__(self):
logging.basicConfig(filename='freecopter.log', level=logging.INFO)
self.motors = AdafruitPwmControlledMotors(debug_flag=True)
self.controlLoop = ControlLoop(self.motors, PIDController)
self.sensor_fusion = SensorFusionMaster()
self.highLevelLogic = HighLevelLogic(self.controlLogic)
# Will be set on the first update.
self.time_of_last_update = None
