def main():
whill = ComWHILL(port='COM4')
while True:
time.sleep(3)
whill.send_power_off()
time.sleep(3)
whill.send_power_on()
def main():
whill = ComWHILL(port='COM6')
count = 0
side = -50
whill.hold_joy(front=int(0), side=side, timeout=30000)
while True:
count += 1
print(count)
if count >= 10:
count = 0
side *= -1
print('Reverse turning direction')
whill.hold_joy(front=int(0), side=side, timeout=30000)
time.sleep(1)
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
# コース１のスクリプト
import time
from whill import ComWHILL
from command_forward import CommandForward
from command_turn_left import CommandTurnLeft
from command_turn_right import CommandTurnRight
from command_stop import CommandStop
from command_http import CommandHttp
from measure import Measure
whill = ComWHILL(port='/dev/tty.usbserial-FT2K21HW')
request_speed_mode = 0
measure = Measure()
commands = [
CommandForward(whill, measure, 1.2),
CommandTurnRight(whill, measure, 45.0),
CommandHttp("http://192.168.21.214:3000/change1"),
CommandStop(whill, measure, 5000),
CommandTurnLeft(whill, measure, 90.0),
CommandForward(whill, measure, 1.0),
CommandTurnRight(whill, measure, 45.0),
CommandHttp("http://192.168.21.214:3000/change2"),
CommandStop(whill, measure, 5000),
CommandTurnLeft(whill, measure, 135.0),
CommandForward(whill, measure, 1.0),
CommandTurnRight(whill, measure, 45.0),
def main():
whill = ComWHILL(port='/dev/ttyUSB0')
whill.register_callback('power_on', power_on_callback)
while True:
whill.sleep(3)
whill.send_power_off()
whill.sleep(3)
whill.send_power_on()
#!/usr/bin/env python3
# whill module example package
# Copyright (c) 2018 WHILL, Inc.
# This software is released under the MIT License.
import time
from whill import ComWHILL
whill = ComWHILL(port='COM4')
request_speed_mode = 0
whill.start_data_stream(1000, 0, request_speed_mode)
while True:
time.sleep(1)
is_refreshed = whill.refresh()
if whill.latest_received_data_set == 0:
print(whill.speed_profile[request_speed_mode])
whill.start_data_stream(1000, 1, request_speed_mode)
else:
level, current = whill.battery.values()
print(whill.joy)
print(
'Battery Status: remaining capacity {level}%, current draiwng {current}mA'
.format(level=level, current=current))
print('Motor Status')
request_speed_mode = (request_speed_mode + 1) % 6
whill.start_data_stream(1000, 0, request_speed_mode)
#!/usr/bin/env python3
# whill module example package
# Copyright (c) 2018 WHILL, Inc.
# This software is released under the MIT License.
import time
from whill import ComWHILL
whill = ComWHILL(port='COM6')
request_speed_mode = 0
while True:
for request_speed_mode in range(6):
whill.start_data_stream(750, 0, request_speed_mode)
time.sleep(1)
is_refreshed = whill.refresh()
print('{request_speed_mode}: {profile}'.format(request_speed_mode=request_speed_mode+1,
profile=whill.speed_profile[request_speed_mode]))
print('All 6 speed profiles have been read. Enter [1-4] which you want to apply to 5 (CR).')
print('Enter "0" to exit')
key_input = -1
acceptable_index = [1, 2, 3, 4]
while key_input not in acceptable_index:
key_input = int(input('>>> '))
if key_input == 0:
exit()
whill.set_speed_profile_via_dict(4, whill.speed_profile[key_input - 1])
#!/usr/bin/env python3
# whill module example package
# Copyright (c) 2018 WHILL, Inc.
# This software is released under the MIT License.
import time
from whill import ComWHILL
whill = ComWHILL(port='COM4')
while True:
whill.send_joystick(int(10), int(0))
time.sleep(1)
#!/usr/bin/env python3
# whill module example package
# Copyright (c) 2018 WHILL, Inc.
# This software is released under the MIT License.
import time
from whill import ComWHILL
whill = ComWHILL(port='/dev/tty.usbserial-FT1HNPEN')
while True:
whill.send_joystick(int(10), int(0))
time.sleep(0.05)
#!/usr/bin/env python3
# whill module example package
# Copyright (c) 2018 WHILL, Inc.
# This software is released under the MIT License.
import time
from datetime import datetime
from whill import ComWHILL
whill = ComWHILL(port='COM5')
request_speed_mode = 0
interval_msec = 50
whill.start_data_stream(interval_msec, 0, request_speed_mode)
filename = datetime.now().strftime('%Y-%m-%d-%H-%M-%S')
pathname = f'data/{filename}.csv'
f = open(pathname, 'w')
f.close()
while True:
print()
time.sleep(interval_msec / 1000)
is_refreshed = whill.refresh()
if whill.latest_received_data_set == 0:
# print('speed_profile:', whill.speed_profile[request_speed_mode])
whill.start_data_stream(interval_msec, 1, request_speed_mode)
else:
level, current = whill.battery.values()
# print('accelerometer:', whill.accelerometer)
# print('gyro:', whill.gyro)
#!/usr/bin/env python3
# whill module example package
# Copyright (c) 2018 WHILL, Inc.
# This software is released under the MIT License.
import time
from whill import ComWHILL
request_speed_mode = 0
whill = ComWHILL(port='COM4')
def callback0():
global request_speed_mode, whill
print('callback 0')
print(whill.speed_profile[request_speed_mode])
whill.start_data_stream(1000, 1, request_speed_mode)
def callback1():
global request_speed_mode, whill
print('callback 1')
level, current = whill.battery.values()
print(whill.accelerometer)
print(whill.gyro)
print(whill.joy)
print(
'Battery Status: remaining capacity {level}%, current draiwng {current}mA'
.format(level=level, current=current))
print('Motor Status')
#!/usr/bin/env python3
# whill module example package
# Copyright (c) 2018 WHILL, Inc.
# This software is released under the MIT License.
import time
from whill import ComWHILL
whill = ComWHILL(port='COM5')
interval_msec = 1000
interval_sec = interval_msec / 1000
joys = []
with open('data/2019-08-15-04-31-45.csv', 'r') as f:
line = f.readline()
while line:
joy = line.strip().split(',')
joys.insert(0, joy)
line = f.readline()
for joy in joys:
print(joy)
front = -1 * int(joy[0])
side = -1 * int(joy[1])
whill.hold_joy(front, side, interval_msec)
time.sleep(interval_sec)
#!/usr/bin/env python3
# whill module example package
# Copyright (c) 2018 WHILL, Inc.
# This software is released under the MIT License.
import time
from whill import ComWHILL
whill = ComWHILL(port='COM5')
interval_msec = 1000
interval_sec = interval_msec / 1000
with open('data/2019-08-15-05-41-37.csv', 'r') as f:
line = f.readline()
while line:
joy = list(map(int, line.strip().split(',')))
print(joy)
whill.hold_joy(int(joy[0]), int(joy[1]), interval_msec)
time.sleep(interval_sec)
line = f.readline()
#!/usr/bin/env python3 # whill module example package # Copyright (c) 2018 WHILL, Inc. # This software is released under the MIT License. import time from whill import ComWHILL whill = ComWHILL(port='COM5') whill.hold_joy(int(10), int(0)) # whill.unhold_joy() # result = whill.send_power_on() # result = whill.receive_data() # print(result) # while True: # whill.send_joystick(int(100), int(0)) # time.sleep(1) # whill.send_joystick(int(100), int(0))