def ArdReset():
if CF.Debug > 0:
print("send reset signal to arduino")
SC.DropPort(CF.Devices[0][0])
GPIO.output(CF.GPIOPins[0], False)
time.sleep(0.1)
GPIO.output(CF.GPIOPins[0], True)
time.sleep(1.5)
SC.InitPort()
response = None
while response != "Ready":
if CF.Debug > 0:
print("waiting Arduino boot")
SC.DropPort(CF.Devices[0][0])
SC.InitPort()
time.sleep(2)
response = SC.ReadComand(CF.Devices[0][0])
if (response != None):
response = response[:-4]
SC.SendComand("p", CF.Devices[0][0])
print(response)
if CF.Debug > 0:
print("reset complete")
def ForwardMoving(Speed, Turn): #принимаем скорость и обороты колеса
Direction = ['1', '1', '1', '1']
comand = BuildMovingComand(Speed, Turn, Direction)
SC.SendComand(comand, MovingArduino)
if CF.Debug > 0:
print(comand)
def TurnLeftMoving(Speed, Turn):
Direction = ['0', '1', '0', '1']
comand = BuildMovingComand(Speed, Turn, Direction)
SC.SendComand(comand, MovingArduino)
if CF.Debug > 0:
print(comand)
def BackRightMoving(Speed, Turn):
Direction = ['2', '0', '0', '2']
comand = BuildMovingComand(Speed, Turn, Direction)
SC.SendComand(comand, MovingArduino)
if CF.Debug > 0:
print(comand)