Exemplo n.º 1
0
	def get_y(self):
		return(self.pos_y)

	def get_way(self):
		return(self.pos_way)

	def finish(self):
		self.__init__()

#End class loc



if __name__ == "__main__":
	from i2cDev import i2c_devices 
	i2cDevs = i2c_devices()
	i2cDevs.start()
	i2cDevs.set_speed(20,20)
	MyLoc = loc()
	MyLoc.start()

	GPIO.setup(pinLeftA, GPIO.IN, pull_up_down=GPIO.PUD_UP)
	GPIO.setup(pinLeftB, GPIO.IN, pull_up_down=GPIO.PUD_UP)
	GPIO.setup(pinRightA, GPIO.IN, pull_up_down=GPIO.PUD_UP) 
	GPIO.setup(pinRightB, GPIO.IN, pull_up_down=GPIO.PUD_UP)
	
	def test_kv(Motors):
		def test_value(value_pwm):
			i2cDevs.set_speed(value_pwm, value_pwm)
			sleep(0.01)
			t = time()
Exemplo n.º 2
0
#!/usr/bin/python3.4
# -*-coding:utf-8 -*

from constants import *
import time
from i2cDev import i2c_devices
import localisation
import automation as Z
import sys
import signal
import math

myI2cDev = i2c_devices()
myI2cDev.save_gyro_offset(500)
myLoc = localisation.loc()
myI2cDev.start()
myLoc.start()

edit_file = False
if edit_file:
	import os
	os.chdir("/home/pi/Documents/results")
	print ("File open at ",os.getcwd())
	my_file = open(time.strftime("%B_%d_%H_%M_%S") + "txt", 'w' )
	my_file.write("time(s)\tmpu6050\testimated_incl\tU_mot\tpos_way")

time.sleep(0.2)

# PI inclinaison, the value proposed are are the robust ones (half the limit ones) by 12V
kva = 0.0      	#30.0
kpa = 4000.     	#1000