def set_motor_vel(vl, vr): try: motors.setSpeeds(vl, vr) except: motors.setSpeeds(0, 0) motors.disable()
def end_journey(self): print "\nStop..." motors.setSpeeds(0, 0) motors.disable() print "\nKilling Thread..." self.gpsp.stop() self.gpsp.join()
def move(args): command = args['command'] drivingSpeed = -180 if direction == 'F': motors.enable() motors.setSpeeds(-drivingSpeed, drivingSpeed) time.sleep(0.3) motors.setSpeeds(0, 0) motors.disable() print("Forward") if direction == 'B': motors.enable() motors.setSpeeds(drivingSpeed, -drivingSpeed) time.sleep(0.3) motors.setSpeeds(0, 0) motors.disable() print("Backward") if direction == 'L': motors.enable() motors.setSpeeds(drivingSpeed, drivingSpeed) time.sleep(0.3) motors.setSpeeds(0, 0) motors.disable() print("Left") if direction == 'R': motors.enable() motors.setSpeeds(-drivingSpeed, -drivingSpeed) time.sleep(0.3) motors.setSpeeds(0, 0) motors.disable() print("Right")
def move(args): command = args['command'] drivingSpeed = -180 if direction == 'F': motors.enable() motors.setSpeeds(-drivingSpeed, drivingSpeed) time.sleep(0.3) motors.setSpeeds(0, 0) motors.disable() if direction == 'B': motors.enable() motors.setSpeeds(drivingSpeed, -drivingSpeed) time.sleep(0.3) motors.setSpeeds(0, 0) motors.disable() if direction == 'L': motors.enable() motors.setSpeeds(drivingSpeed, drivingSpeed) time.sleep(0.3) motors.setSpeeds(0, 0) motors.disable() if direction == 'R': motors.enable() motors.setSpeeds(-drivingSpeed, -drivingSpeed) time.sleep(0.3) motors.setSpeeds(0, 0) motors.disable()
def move(args): command = args['button']['command'] drivingSpeed = -180 if direction == 'f': motors.enable() motors.setSpeeds(-drivingSpeed, drivingSpeed) time.sleep(0.3) motors.setSpeeds(0, 0) motors.disable() if direction == 'b': motors.enable() motors.setSpeeds(drivingSpeed, -drivingSpeed) time.sleep(0.3) motors.setSpeeds(0, 0) motors.disable() if direction == 'l': motors.enable() motors.setSpeeds(drivingSpeed, drivingSpeed) time.sleep(0.3) motors.setSpeeds(0, 0) motors.disable() if direction == 'r': motors.enable() motors.setSpeeds(-drivingSpeed, -drivingSpeed) time.sleep(0.3) motors.setSpeeds(0, 0) motors.disable()
Rspeed = Rspeed + ACC_VALUE elif Rspeed > Rtarget: Rspeed = Rspeed - ACC_VALUE # set left speed if Ltarget == 0: if Lspeed < Ltarget: Lspeed = Lspeed + STOP_VALUE elif Lspeed > Ltarget: Lspeed = Lspeed - STOP_VALUE elif Lspeed < Ltarget: Lspeed = Lspeed + ACC_VALUE elif Lspeed > Ltarget: Lspeed = Lspeed - ACC_VALUE # set speed motors.setSpeeds(-Lspeed, Rspeed) # print ("Measured Distance = %.1f cm, Current Speed = %.2f, %.2f" % (dist, Lspeed, Rspeed)) # print ("Left = %.1f cm, Right = %.1f cm" % (left, right)) # #time.sleep(.05) # Reset by pressing CTRL + C except KeyboardInterrupt: print("Program stopped by User") motors.setSpeeds(0, 0) motors.disable() GPIO.cleanup() motors.setSpeeds(0, 0) motors.disable()
from dual_mc33926_rpi import motors, MAX_SPEED import time mixer.init() sound = mixer.music.Sound('./bb8 - he he he ho.wav') def make_noise(): sound.play() while mixer.get_busy(): sleep(1) def forward(seconds): motors.setSpeeds(seconds, seconds) def reverse(seconds): motors.setSpeeds(-seconds, -seconds) try: motors.enable() make_noise() forward(10) make_noise() reverse(2) make_noise() finally: motors.setSpeeds(0,0) motors.disable()
def run(self): self.running = True motors.enable() motors.setSpeeds(0, 0) try: P = 1.2 I = 1.3 D = 0 L = 200 pid = PID.PID(P, I, D) pid.SetPoint=0 pid.setSampleTime(0.01) motor_val = 0 END = L max_out = 150.0 thresh_up = 0.3*MAX_SPEED thresh_lo = 0.15*MAX_SPEED while not self.stopped(): try: # receive data from client (data, addr) d = self.s.recvfrom(1024) except socket.error , msg: continue data = d[0] addr = d[1] if not data: continue data = data.strip().split() print data if int(data[1]) < 25: print 'Obstacle in way!' #motors.setSpeeds(0, 0) motors.motor1.setSpeed(-int(1.2*thresh_up)) motors.motor2.setSpeed(-int(thresh_up)) continue if len(data) > 2: left = int(data[3]) right = int(data[5]) if abs(left - right) < 5: motors.motor1.setSpeed(int(1.2*thresh_up)) motors.motor2.setSpeed(int(thresh_up)) print 'Move Straight' continue feedback = left - right pid.update(feedback) output = pid.output print 'output: ', output if output >= 0.0: speed = thresh_up - output/4.0 else: speed = thresh_up + output/4.0 if speed < thresh_lo: drive = int(thresh_lo) else: drive = int(speed) if output <= 0.0: motors.motor1.setSpeed(int(1.2*thresh_up)) motors.motor2.setSpeed(drive) print 'Move Right' print 'Left: ', int(1.2*thresh_up) print 'Right: ', drive else: motors.motor1.setSpeed(int(drive)) motors.motor2.setSpeed(int(thresh_up)) print 'Move Left' print 'Left: ', drive print 'Right: ', int(thresh_up) else: motors.motor1.setSpeed(int(1.2*thresh_up)) motors.motor2.setSpeed(int(thresh_up)) print 'Move Straight' continue except (KeyboardInterrupt, SystemExit): #when you press ctrl+c print "\nStop..." motors.setSpeeds(0, 0) motors.disable() self.s.close() finally: print "\nStopping..." motors.setSpeeds(0, 0) motors.disable()
def kill_motors(): motors.disable() motors.setSpeeds(0,0)
def finish(self): motors.setSpeeds(0, 0) motors.disable()
def move_disable(): motors.disable()