def _movement_ctrl_th_tf(self):
"""Target function of movement control thread. Responsive for navigation engines work (forward/backward)"""
try:
while self._keep_thread_alive:
if self._allow_movement:
if time.time() - self._start_time > self._moving_time:
self._ser.write(pyvesc.encode(pyvesc.SetRPM(0)))
self._last_stop_time = time.time()
self._allow_movement = False
continue
if time.time() > self._next_alive_time:
self._next_alive_time = time.time() + self._alive_freq
self._ser.write(pyvesc.encode(pyvesc.SetAlive))
time.sleep(self._check_freq)
except serial.SerialException as ex:
print(ex)
def apply_rpm(self, rpm):
if self._rpm != rpm: # TODO: bug to fix: if rpm was set by set_rpm - it won't be applied on vesc
self._rpm = rpm
self._ser.write(pyvesc.encode(pyvesc.SetRPM(self._rpm)))
def stop_moving(self):
self._allow_movement = False
self._last_stop_time = time.time()
self._ser.write(pyvesc.encode(pyvesc.SetRPM(0)))
def start_moving(self):
self._start_time = self._next_alive_time = time.time()
self._ser.write(pyvesc.encode(pyvesc.SetRPM(self._rpm)))
self._allow_movement = True
def disconnect(self):
self._ser.write(pyvesc.encode(pyvesc.SetRPM(0)))
self._keep_thread_alive = False
self._ser.close()