class ESC(object):
'''
This class is made to use ESC device in Raspberry Pi.
Becareful when you connect ESC to your Raspberry Pi board.
It needs very large current, it can make broken your circuit.
'''
def __init__(self, bus_number=None, address=0x40, frequency = 60, drive = 0, steer = 1, drive_n = 369, steer_c = 390):
''' This is very important part of set ESC.
If you want to drive motor by this source, you have to use pca9685 drive.
Because the ESC circuit is connected with PCA9685 PWM circuit board's channel pins
Argument
bus_number : bus type of raspberry Pi. If it doesn't set, pca9685 module set value as default.
address : I2C slave address
frequency : driving motor(forward/backward motor) PWM frequency.
driver : pca9685 channel number of driving motor
steer : pca9685 channel number of steering motor
'''
self.pwm = PWM(bus_number, address)
self.pwm.frequency = frequency
self.pwm.setup()
self.drive = drive
self.steer = steer
#self.steer_NEUTRAL = 390 #default value. It needs to calibrate
self.steer_NEUTRAL = steer_c
self.steer_MIN = 280
self.steer_MAX = 500
#self.drive_NEUTRAL = 369 #default value. It needs to calibrate
self.drive_NEUTRAL = drive_n
self.drive_MIN = 280
self.drive_MAX = 450
self.steer_val = self.steer_NEUTRAL
self.drive_val = self.drive_NEUTRAL
self.speed_forward = self.steer_NEUTRAL
self.speed_backward = self.steer_NEUTRAL
self.steer_diff = 35
self.drive_diff = 5
self.is_stop = True
def calibrate_drive_NEUTRAL(self, cal_value = 390):
if cal_value > self.drive_MAX or cal_value < self.drive_MIN:
print "Calibration value Fail"
else:
print "Drive Calib set to %d" % cal_value
self.drive_NEUTRAL = cal_value
def calibrate_steer_NEUTRAL(self, cal_value = 390):
if cal_value > self.steer_MAX or cal_value < self.steer_MIN:
print "Stree Calibration value Fail"
else:
print "Steer Calib set to %d" % cal_value
self.steer_NEUTRAL = cal_value
def set_steer_strength(self, strength = 35):
if strength > (self.steer_MAX - self.steer_NEUTRAL):
strength = self.steer_MAX - self.steer_NEUTRAL
elif strength < (self.steer_NEUTRAL - self.steer_NEUTRAL):
strength = self.steer_NEUTRAL - self.steer_NEUTRAL
self.steer_diff = strength
class WheelCalibration(object):
'''
This class is made to use ESC device in Raspberry Pi.
Becareful when you connect ESC to your Raspberry Pi board.
It needs very large current, it can make broken your circuit.
'''
def __init__(self, drive, steer, bus_number=None, address=0x40, frequency = 60, drive_ch = 0, steer_ch = 1):
''' This is very important part of set ESC.
If you want to drive motor by this source, you have to use pca9685 drive.
Because the ESC circuit is connected with PCA9685 PWM circuit board's channel pins
Argument
bus_number : bus type of raspberry Pi. If it doesn't set, pca9685 module set value as default.
address : I2C slave address
frequency : driving motor(forward/backward motor) PWM frequency.
driver : pca9685 channel number of driving motor
steer : pca9685 channel number of steering motor
'''
#mode - 0 : forward, 1 : backward, 2 : Neutral, 3 : None
self.set_mode = 3
self.steer_value_loaded = False
self.drive_value_loaded = False
self.current_mode = ["Forward", "Backward", "Neutral", "None"]
#Set Channel
self.drive_ch = drive_ch
self.steer_ch = steer_ch
#Default values for steer
#self.steer_NEUTRAL = 390
self.steer_center = steer
self.steer_MIN = 280
self.steer_MAX = 500
self.steer_val = 0
self.steer_diff = 15
#Default values for drive(engine)
#self.drive_NEUTRAL = 369
self.drive_neutral = drive
self.drive_MIN = 280
self.drive_MAX = 450
#self.drive_val = self.drive_neutral
self.speed_forward = 0
self.speed_backward = 0
self.drive_diff = 5
# PWM init
self.pwm = PWM(bus_number, address)
self.pwm.frequency = frequency
self.pwm.setup()
time.sleep(0.1)
self.pwm.write(self.drive_ch,0,0)
self.pwm.write(self.steer_ch,0,0)
"""
def left(self):
if(self.steer_value_loaded == True):
if self.steer_val < self.steer_MAX:
self.steer_val += self.steer_diff
if self.steer_val > self.steer_MAX:
self.steer_val = self.steer_MAX
self.pwm.write(self.steer_ch,0,self.steer_val)
def right(self):
if(self.steer_value_loaded == True):
if self.steer_val > self.steer_MIN:
self.steer_val -= self.steer_diff
if self.steer_val < self.steer_MIN :
self.steer_val = self.steer_MIN
self.pwm.write(self.steer_ch,0,self.steer_val)
"""
def left(self):
if(self.steer_value_loaded == True):
self.steer_val += self.steer_diff
if self.steer_val >= self.steer_MAX:
self.steer_val = self.steer_MAX
else:
self.pwm.write(self.steer_ch,0,self.steer_val)
def right(self):
if(self.steer_value_loaded == True):
self.steer_val -= self.steer_diff
if self.steer_val <= self.steer_MIN :
self.steer_val = self.steer_MIN
else:
self.pwm.write(self.steer_ch,0,self.steer_val)
def set_steer_center(self):
self.steer_val = self.steer_center
self.pwm.write(self.steer_ch,0,self.steer_val)
time.sleep(0.1)
self.pwm.write(self.steer_ch,0,0)
self.steer_value_loaded = True
def increase_speed(self):
if(self.set_mode == 0): #if forward
if self.speed_forward < self.drive_MAX:
self.speed_forward += self.drive_diff
if self.speed_forward > self.drive_MAX:
self.speed_forward = self.drive_MAX
self.pwm.write(self.drive_ch, 0, self.speed_forward)
elif(self.set_mode == 1): #if backward
if self.speed_backward > self.drive_MIN:
self.speed_backward -= self.drive_diff
if self.speed_backward < self.drive_MIN :
self.speed_backward = self.drive_MIN
self.pwm.write(self.drive_ch, 0, self.speed_backward)
else:
pass
def decrease_speed(self):
if(self.set_mode == 0): #if forward
"""
if self.speed_forward > self.drive_neutral:
self.speed_forward -= self.drive_diff
if self.speed_forward < self.drive_neutral:
self.speed_forward = self.drive_neutral
"""
if self.speed_forward > self.drive_MIN:
self.speed_forward -= self.drive_diff
self.pwm.write(self.drive_ch, 0, self.speed_forward)
elif(self.set_mode == 1): #if backward
"""
if self.speed_backward < self.drive_neutral:
self.speed_backward += self.drive_diff
if self.speed_backward > self.drive_neutral :
self.speed_backward = self.drive_neutral
"""
if self.speed_backward < self.drive_MAX:
self.speed_backward += self.drive_diff
self.pwm.write(self.drive_ch, 0, self.speed_backward)
else:
pass
def set_drive_forward(self):
if(self.drive_value_loaded == True):
if(self.set_mode == 2 or self.set_mode == 3):
self.set_mode = 0
def set_drive_backward(self):
if(self.drive_value_loaded == True):
if(self.set_mode == 2 or self.set_mode == 3):
self.set_mode = 1
def set_drive_neutral(self):
self.set_mode = 2
self.pwm.write(self.drive_ch, 0,self.drive_neutral)
self.speed_forward = self.drive_neutral
self.speed_backward = self.drive_neutral
self.drive_value_loaded = True
"""
def set_speed_manually(self,speed):
self.pwm.write(self.drive_ch, 0,speed)
def set_steer_manually(self,steer):
self.pwm.write(self.drive_ch, 0,steer)
"""
def pwm_off(self):
self.pwm.write(self.drive_ch, 0,0)
self.pwm.write(self.steer_ch, 0,0)
self.set_mode = 3
class ESC(object):
'''
This class is made to use ESC device in Raspberry Pi.
Becareful when you connect ESC to your Raspberry Pi board.
It needs very large current, it can make broken your circuit.
'''
def __init__(self,
bus_number=None,
address=0x40,
frequency=60,
drive=0,
steer=1):
''' This is very important part of set ESC.
If you want to drive motor by this source, you have to use pca9685 drive.
Because the ESC circuit is connected with PCA9685 PWM circuit board's channel pins
Argument
bus_number : bus type of raspberry Pi. If it doesn't set, pca9685 module set value as default.
address : I2C slave address
frequency : driving motor(forward/backward motor) PWM frequency.
driver : pca9685 channel number of driving motor
steer : pca9685 channel number of steering motor
'''
self.pwm = PWM(bus_number, address)
self.pwm.frequency = frequency
self.pwm.setup()
self.drive = drive
self.steer = steer
self.steer_NEUTRAL = 390 #default value. It needs to calibrate
self.steer_MIN = 280
self.steer_MAX = 500
self.drive_NEUTRAL = 390 #default value. It needs to calibrate
self.drive_MIN = 280
self.drive_MAX = 450
self.steer_val = self.steer_NEUTRAL
self.drive_val = self.drive_NEUTRAL
self.speed_forward = self.steer_NEUTRAL
self.speed_backward = self.steer_NEUTRAL
self.steer_diff = 35
self.drive_diff = 5
self.is_stop = True
def calibrate_drive_NEUTRAL(self, cal_value=390):
if cal_value > self.drive_MAX or cal_value < self.drive_MIN:
print "Calibration value Fail"
else:
self.drive_NEUTRAL = cal_value
def calibrate_steer_NEUTRAL(self, cal_value=390):
if cal_value > self.steer_MAX or cal_value < self.steer_MIN:
print "Stree Calibration value Fail"
else:
self.steer_NEUTRAL = cal_value
def set_steer_strength(self, strength=35):
if strength > (self.steer_MAX - self.steer_NEUTRAL):
strength = self.steer_MAX - self.steer_NEUTRAL
elif strength < (self.steer_NEUTRAL - self.steer_NEUTRAL):
strength = self.steer_NEUTRAL - self.steer_NEUTRAL
self.steer_diff = strength
def left(self):
if self.steer_val < self.steer_MAX:
self.steer_val += self.steer_diff
if self.steer_val > self.steer_MAX:
self.steer_val = self.steer_MAX
self.pwm.write(self.steer, 0, self.steer_val)
def right(self):
if self.steer_val > self.steer_MIN:
self.steer_val -= self.steer_diff
if self.steer_val < self.steer_MIN:
self.steer_val = self.steer_MIN
self.pwm.write(self.steer, 0, self.steer_val)
def center(self):
self.steer_val = self.steer_NEUTRAL
self.pwm.write(self.steer, 0, self.steer_val)
time.sleep(0.1)
self.pwm.write(self.steer, 0, 0)
def increase_speed(self):
if self.speed_forward < self.drive_MAX:
self.speed_forward += self.drive_diff
if self.speed_forward > self.drive_MAX:
self.speed_forward = self.drive_MAX
if self.speed_backward > self.drive_MIN:
self.speed_backward -= self.drive_diff
if self.speed_backward < self.drive_MIN:
self.speed_backward = self.drive_MIN
print "set_speed === fwd : ", self.speed_forward, "bwd : ", self.speed_backward
def decrease_speed(self):
if self.speed_forward > self.drive_NEUTRAL:
self.speed_forward -= self.drive_diff
if self.speed_forward < self.drive_NEUTRAL:
self.speed_forward = self.drive_NEUTRAL
if self.speed_backward < self.drive_NEUTRAL:
self.speed_backward += self.drive_diff
if self.speed_backward > self.drive_NEUTRAL:
self.speed_backward = self.drive_NEUTRAL
print "set_speed === fwd : ", self.speed_forward, "bwd : ", self.speed_backward
def set_speed(self, speed_val=1):
'''
speed_val : it should set number between 1 to 12
'''
if speed_val > 12:
speed_val = 12
self.speed_forward = self.drive_NEUTRAL + self.drive_diff * speed_val
self.speed_backward = self.drive_NEUTRAL - self.drive_diff * speed_val
print "set_speed === fwd : ", self.speed_forward, "bwd : ", self.speed_backward
def forward(self):
if self.is_stop:
self.pwm.write(self.drive, 0, self.steer_NEUTRAL)
time.sleep(0.1)
self.is_stop = False
self.pwm.write(self.drive, 0, self.speed_forward)
def backward(self):
if self.is_stop:
self.pwm.write(self.drive, 0, self.steer_NEUTRAL)
time.sleep(0.1)
self.is_stop = False
self.pwm.write(self.drive, 0, self.speed_backward)
def stop(self):
self.pwm.write(self.drive, 0, 0)
self.is_stop = True
