rc.ResetEncoderCnts(0x81)
# start all motors
rc.M2Forward(r1_address,speed)
rc.M1Forward(r2_address,speed)
rc.M1Forward(r3_address,speed)
time.sleep(seconds)
# stop all motors
rc.M2Forward(r1_address,0)
rc.M1Forward(r2_address,0)
rc.M1Forward(r3_address,0)
r1_ticks_per_second = rc.readM2encoder(r1_address)[0]/seconds
r2_ticks_per_second = rc.readM1encoder(r2_address)[0]/seconds
r3_ticks_per_second = rc.readM1encoder(r3_address)[0]/seconds
print speed, r1_ticks_per_second, r2_ticks_per_second, r3_ticks_per_second
# speed ticks/second (r1, r2, r3)
# 5 6565 7316 7206
# 10 14103 15410 15189
# 15 21744 23391 23160
# 20 29412 31361 31187
# 25 37284 38919 39325
# 30 45164 46916 47410
# 35 53177 55065 55714
# 40 61693 63290 64199
# 45 70002 71671 72669
# 50 78266 80219 81127
print starting
# stop all motors
rc.M2Forward(r1_address,0)
rc.M1Forward(r2_address,0)
rc.M1Forward(r3_address,0)
rc.ResetEncoderCnts(0x80)
rc.ResetEncoderCnts(0x81)
# start all motors
rc.M2Forward(r1_address,speed)
rc.M1Forward(r2_address,speed)
rc.M1Forward(r3_address,speed)
while rc.readM1encoder(r2_address)[0] <= stop_ticks:
continue
# stop all motors
rc.M2Forward(r1_address,0)
rc.M1Forward(r2_address,0)
rc.M1Forward(r3_address,0)
rc.ResetEncoderCnts(0x80)
rc.ResetEncoderCnts(0x81)
print rc.readM1encoder(0x81)[0] - circle_ticks * num_circles
# speed splipage
# 15 179, 187, 129 11
# 50 648, 616, 524 11.92
# 100 1067, 955, 885 9.69
import roboclaw as rc
import serial
#rc.M1Forward(0x80,0)
# rc.M1Forward(0x81,0)
# rc.M2Forward(0x80,0)
# rc.M1Forward(0x80,0)
while 1:
print rc.readM1encoder(0x81)
# rc.M2Forward(0x80, 10)
#Get version string
# rc.sendcommand(128,21)
# rcv = port.read(32)
# print repr(rcv)
#
# rc.sendcommand(129,90)
# rcv = port.read(1)
# print repr(rcv)
