def __init__(self, left_motor, right_motor, polarity='inversed'):
Tank.__init__(self, left_motor, right_motor, polarity)
self.remote = RemoteControl(channel=1)
if not self.remote.connected:
log.error("%s is not connected" % self.remote)
sys.exit(1)
self.remote.on_red_up = self.make_move(self.left_motor, self.speed_sp)
self.remote.on_red_down = self.make_move(self.left_motor,
self.speed_sp * -1)
self.remote.on_blue_up = self.make_move(self.right_motor,
self.speed_sp)
self.remote.on_blue_down = self.make_move(self.right_motor,
self.speed_sp * -1)
def __init__(self,
left_motor_port,
right_motor_port,
polarity='inversed',
speed=400):
LargeMotorPair.__init__(self, left_motor_port, right_motor_port)
self.set_polarity(polarity)
left_motor = self.motors[left_motor_port]
right_motor = self.motors[right_motor_port]
self.speed_sp = speed
self.remote = RemoteControl(channel=1)
self.remote.on_red_up = self.make_move(left_motor, self.speed_sp)
self.remote.on_red_down = self.make_move(left_motor,
self.speed_sp * -1)
self.remote.on_blue_up = self.make_move(right_motor, self.speed_sp)
self.remote.on_blue_down = self.make_move(right_motor,
self.speed_sp * -1)
def __init__(self, left_motor, right_motor, polarity='inversed'):
Tank.__init__(self, left_motor, right_motor, polarity)
self.remote = RemoteControl(channel=1)
if not self.remote.connected:
log.error("%s is not connected" % self.remote)
sys.exit(1)
self.remote.on_red_up = self.make_move(self.left_motor, self.duty_cycle_sp)
self.remote.on_red_down = self.make_move(self.left_motor, self.duty_cycle_sp * -1)
self.remote.on_blue_up = self.make_move(self.right_motor, self.duty_cycle_sp)
self.remote.on_blue_down = self.make_move(self.right_motor, self.duty_cycle_sp * -1)
class RemoteControlledTank(LargeMotorPair):
def __init__(self,
left_motor_port,
right_motor_port,
polarity='inversed',
speed=400):
LargeMotorPair.__init__(self, left_motor_port, right_motor_port)
self.set_polarity(polarity)
left_motor = self.motors[left_motor_port]
right_motor = self.motors[right_motor_port]
self.speed_sp = speed
self.remote = RemoteControl(channel=1)
self.remote.on_red_up = self.make_move(left_motor, self.speed_sp)
self.remote.on_red_down = self.make_move(left_motor,
self.speed_sp * -1)
self.remote.on_blue_up = self.make_move(right_motor, self.speed_sp)
self.remote.on_blue_down = self.make_move(right_motor,
self.speed_sp * -1)
def make_move(self, motor, dc_sp):
def move(state):
if state:
motor.run_forever(speed_sp=dc_sp)
else:
motor.stop()
return move
def main(self):
try:
while True:
self.remote.process()
time.sleep(0.01)
# Exit cleanly so that all motors are stopped
except (KeyboardInterrupt, Exception) as e:
log.exception(e)
self.stop()
class RemoteControlledTank(Tank):
def __init__(self, left_motor, right_motor, polarity='inversed'):
Tank.__init__(self, left_motor, right_motor, polarity)
self.remote = RemoteControl(channel=1)
if not self.remote.connected:
log.error("%s is not connected" % self.remote)
sys.exit(1)
self.remote.on_red_up = self.make_move(self.left_motor, self.speed_sp)
self.remote.on_red_down = self.make_move(self.left_motor,
self.speed_sp * -1)
self.remote.on_blue_up = self.make_move(self.right_motor,
self.speed_sp)
self.remote.on_blue_down = self.make_move(self.right_motor,
self.speed_sp * -1)
def make_move(self, motor, dc_sp):
def move(state):
if state:
motor.run_forever(speed_sp=dc_sp)
else:
motor.stop()
return move
def main(self):
try:
while True:
self.remote.process()
time.sleep(0.01)
# Exit cleanly so that all motors are stopped
except (KeyboardInterrupt, Exception) as e:
log.exception(e)
for motor in list_motors():
motor.stop()
class RemoteControlledTank(Tank):
def __init__(self, left_motor, right_motor, polarity='inversed'):
Tank.__init__(self, left_motor, right_motor, polarity)
self.remote = RemoteControl(channel=1)
if not self.remote.connected:
log.error("%s is not connected" % self.remote)
sys.exit(1)
self.remote.on_red_up = self.make_move(self.left_motor, self.duty_cycle_sp)
self.remote.on_red_down = self.make_move(self.left_motor, self.duty_cycle_sp * -1)
self.remote.on_blue_up = self.make_move(self.right_motor, self.duty_cycle_sp)
self.remote.on_blue_down = self.make_move(self.right_motor, self.duty_cycle_sp * -1)
def make_move(self, motor, dc_sp):
def move(state):
if state:
motor.run_forever(duty_cycle_sp=dc_sp)
else:
motor.stop()
return move
def main(self):
try:
while True:
self.remote.process()
time.sleep(0.01)
# Exit cleanly so that all motors are stopped
except (KeyboardInterrupt, Exception) as e:
log.exception(e)
for motor in list_motors():
motor.stop()