def loop_for(seconds, *args):
endtime = datetime.datetime.now() + datetime.timedelta(seconds=seconds)
while True:
if datetime.datetime.now() >= endtime:
break
pwm.set_duty_cycle(*args)
pwm2.set_duty_cycle(*args)
pwm3.set_duty_cycle(*args)
pwm4.set_duty_cycle(*args)
def callback(data):
print("servo incoming data:{0}".format(data))
scaled = data.data
# clip the range
if (scaled > PWM_MAX):
scaled = PWM_MAX
if (scaled < PWM_MIN):
scaled = PWM_MIN
# get the corresponding value
scaled = (1.0 * scaled - 1.0 * PWM_MIN) / (
1.0 * PWM_MAX - 1.0 * PWM_MIN) * (TIME_MAX - TIME_MIN) + TIME_MIN
print("scaled output:{0}".format(scaled))
pwm.set_duty_cycle(scaled)
def motor_speed_loop():
if Motor_currentSpeed == 0:
Motor_curentSpeed = Motor_Neutral
while (True):
pwm.set_duty_cycle(Motor_currentSpeed)
import sys
import time
import navio.pwm
import navio.util
navio.util.check_apm()
PWM_OUTPUT = 0
SERVO_MIN = 1.250 #ms
SERVO_MAX = 1.750 #ms
with navio.pwm.PWM(PWM_OUTPUT) as pwm:
pwm.set_period(50)
pwm.enable()
while (True):
pwm.set_duty_cycle(SERVO_MIN)
time.sleep(1)
pwm.set_duty_cycle(SERVO_MAX)
time.sleep(1)
def write(inc):
signal = (inc / 90.0) + 1.5 # convertimos grados a señal pwm
pwm.set_duty_cycle(signal)
# These are just some good values to know when seting the motor power
SERVO_MIN = 1.250 #ms
SERVO_MAX = 1.750 #ms
# Now every time we want to use a motor, we have to enable it first
# Let's enable all 4 (they're numbered 0-3)
pwmArray = []
for num in range(0,3+1): # This loops over 0,1,2,3
pwm = navio.pwm.PWM(num)
pwm.set_period(50)
pwmArray.append(pwm)
cycles = 3; # How many cycles you want to spin the rotors for
# Otherwise it'll keep spinning forever
while (cycles > 0):
cycles -= 1
# Now we alternate all motors between fast and slow
for pwm in pwmArray:
pwm.set_duty_cycle(SERVO_MIN)
# They will keep spinning until we send a new signal
time.sleep(1)
for pwm in pwmArray:
pwm.set_duty_cycle(SERVO_MAX)
time.sleep(1)
# So even if you terminate the script, they will keep spinning
# We have to send a stop signal to every motor before we leave
for pwm in pwmArray:
pwm.set_duty_cycle(0)
import sys
import time
import navio.pwm
import navio.util
navio.util.check_apm()
PWM_OUTPUT = 0
SERVO_MIN = 1.250 #ms
SERVO_MAX = 1.750 #ms
with navio.pwm.PWM(PWM_OUTPUT) as pwm:
pwm.set_period(50)
pwm.enable()
# while (True):
# pwm.set_duty_cycle(SERVO_MIN)
# time.sleep(1)
# pwm.set_duty_cycle(SERVO_MAX)
# time.sleep(1)
pwm.set_duty_cycle(1.600)
print("Motor started")
time.sleep(10)
pwm.set_duty_cycle(1.500)
pwm.disable()
def _min_pwm():
pwm.set_duty_cycle(self.min_pwm)
def callback(pwm, val):
pwm.set_duty_cycle(val)
navio.util.check_apm()
PWM_OUTPUT = 0
SERVO_MIN = 1.200 #ms
SERVO_MAX = 1.800 #ms
sequence = [1.500, 1, 1.600, 1]
with navio.pwm.PWM(PWM_OUTPUT) as pwm:
pwm.disable()
pwm.set_period(20)
time.sleep(3)
pwm.enable()
for v, i in enumerate(sequence):
if v % 2 == 0:
pwm.set_duty_cycle(i)
print("set:{0}".format(i))
else:
time.sleep(i)
print("wait:{0}".format(i))
while True:
pwm.set_duty_cycle(1.6)
#print("Turning on")
#time.sleep(5)
#pwm.set_duty_cycle(1.700) # Give it a kick at first
#print("Giving it a boost")
#time.sleep(5)
#pwm.set_duty_cycle(1.5)
#print("Print starting initialisation, set 1500")
#time.sleep(15)
#print("End of initialisation")
def callback(data):
pwm.set_duty_cycle()
import navio.pwm
import navio.adc
import navio.util
navio.util.check_apm()
adc = navio.adc.ADC()
results = [0] * adc.channel_count
PWM_OUTPUT = 0
SERVO_MIN = 1.000 #ms
SERVO_MAX = 1.500 #ms
pwm = navio.pwm.PWM(PWM_OUTPUT)
pwm.set_period(400)
#pwm.set_duty_cycle(SERVO_MIN)
#time.sleep(10)
while (True):
results[5] = adc.read(5)
duty=0.001*int(1000+900*results[5]/5000) #ms
pwm.set_duty_cycle(duty)
print duty
time.sleep(0.1)
# pwm.set_duty_cycle(SERVO_MAX)
# time.sleep(0.2)
PWM_MIN = rospy.get_param("~val_min", 0.0)
TIME_MAX = rospy.get_param("~time_max", 2.00) # in ms
TIME_MIN = rospy.get_param("~time_min", 1.00)
PRIME_REQUIRED = rospy.get_param("~prime", False)
topic = rospy.get_param("~topic", "thrust")
print(rospy.get_param("~topic"))
rospy.sleep(2 * PWM_OUTPUT) # to resolve priming errors
with navio.pwm.PWM(PWM_OUTPUT) as pwm:
pwm.set_period(50)
pwm.enable()
if (PRIME_REQUIRED):
# perform a priming sequence, by setting to zero, 0.5, 0 for some time.
rate = rospy.Rate(50)
for i in range(100):
pwm.set_duty_cycle((TIME_MAX + TIME_MIN) / 2)
rate.sleep()
for i in range(100):
pwm.set_duty_cycle((TIME_MAX * 1.5 + TIME_MIN * 0.5) / 2)
rate.sleep()
for i in range(100):
pwm.set_duty_cycle((TIME_MAX + TIME_MIN) / 2)
rate.sleep()
#priming done!
def callback(data):
print("servo incoming data:{0}".format(data))
scaled = data.data
# clip the range
def stop(
): #This will stop every action your Pi is performing for ESC ofcourse.
pwm.set_duty_cycle(0)
pwm2.set_duty_cycle(0)
pwm3.set_duty_cycle(0)
pwm4.set_duty_cycle(0)
import sys
import time
import navio.pwm
import navio.util
navio.util.check_apm()
PWM_OUTPUT = 1
SERVO_MIN = 1.250 #ms
SERVO_MAX = 1.750 #ms
with navio.pwm.PWM(PWM_OUTPUT) as pwm:
pwm.set_period(50)
pwm.enable()
# while (True):
# pwm.set_duty_cycle(SERVO_MIN)
# time.sleep(1)
# pwm.set_duty_cycle(SERVO_MAX)
# time.sleep(1)
pwm.set_duty_cycle(SERVO_MIN)
time.sleep(5)
pwm.set_duty_cycle(1.5)
pwm.disable()
def speed(x):
pwm.set_duty_cycle(x)
pwm2.set_duty_cycle(x)
pwm3.set_duty_cycle(x)
pwm4.set_duty_cycle(x)
def _max_pwm():
pwm.set_duty_cycle(self.max_pwm)
