def SetPosPID(motor_sel, position): AccessRoboclaw() speed, accel = 1000,2000 # maybe fine tune these if motor_sel[1] == 1: # SetM1PositionPID(motor_sel[0], kp, ki, kd, kimax, deadzone, limits[0], limits[1]) roboclaw.SpeedAccelDeccelPositionM1(motor_sel[0], accel, speed, accel, position, 1) elif motor_sel[1] == 2: roboclaw.SpeedAccelDeccelPositionM2(motor_sel[0], accel, speed, accel, position, 1) else: raise NotImplementedError
def drive_position(self, motor, position, buffer=False):
if self.motor_num[motor] == 1:
out = roboclaw_driver.SpeedAccelDeccelPositionM1(
self.address[motor], self.acceleration[motor],
self.speed[motor], self.decceleration[motor], position, buffer)
else:
out = roboclaw_driver.SpeedAccelDeccelPositionM2(
self.address[motor], self.acceleration[motor],
self.speed[motor], self.decceleration[motor], position, buffer)
return out