def __init__(self, BLE_MAC_ADDR, BLE_ADAPTOR_ID):
from m2controller import m2controller
from m2controller import m2Const
import signal
import time
# Initialise
self.m_telemetry = None
self.throttle = 0
self.steering = 0
self.m_BLE_MAC_ADDR = BLE_MAC_ADDR
self.m_BLE_ADAPTOR_ID = BLE_ADAPTOR_ID
self.controller = m2controller.BleCtrller(m2Const.etDebian, None,
self.m_BLE_MAC_ADDR,
self.m_BLE_ADAPTOR_ID)
self.controller.clearPreviousCmd()
self.controller.setPWM_n_pm1(0, 0)
self.controller.setPWM_n_pm1(2, 0)
self.controller.SendCmdTransBlking()
time.sleep(0.1)
if usrCfg.ctrlType == CONST.etAndroid:
print("maneuver command needs to be sent from PC or internet")
quit()
requestExit = False
def signal_handler(sig, frame):
global requestExit
print('user Ctrl-C exit request')
quit()
signal.signal(signal.SIGINT, signal_handler)
controller = m2controller.BleCtrller(None)
controller.connect()
def stopEverything():
controller.motorHbridgeCtrl_pm1(CONST.spiderPWMchSpeed, 0.0)
controller.motorHbridgeCtrl_pm1(CONST.spiderPWMchSteer, 0.0)
controller.SendCmdTransBlking(False, True)
def on_press(key):
global requestExit
#print('%s key pressed'%key)
if key == keyboard.Key.left:
controller.motorHbridgeCtrl_pm1(CONST.spiderPWMchSteer, -1.0)
elif key == keyboard.Key.right:
iSMstep = 0
iSMsubstep = 0
def move2nextSMstate():
global iSMstep, iSMsubstep
iSMstep += 1
iSMsubstep = 0
if usrCfg.ctrlType != CONST.etAndroid and usrCfg.ctrlType != CONST.etInternet:
print(
"microscope needs phone camera to take sample images for further computer vision processing"
)
sys.exit()
controller = m2controller.BleCtrller("", callbackfunc)
#controller = m2controller.BleCtrller(usrCfg.BleMACaddress,callbackfunc)
controller.connect()
if sanityCheck():
print("controller HW setting error")
else:
while True:
if requestExit:
controller.stop()
break
iLoopCnt += 1
if iLoopCnt == 50:
break
print("step(%d,%d)" % (iSMstep, iSMsubstep))
controller.setSeqID(iSMstep)
return True
if (not hardware_settings['CH2dutyCycleMode']):
return True
if (not hardware_settings['CH3dutyCycleMode']):
return True
if (not hardware_settings['CH01_merged2be_H_bridge']):
return True
if (not hardware_settings['CH23_merged2be_H_bridge']):
return True
return False
bUseCallBack = True #True False, choose to exituse callback or explicit read request for telemetry data retrieval
#controller = m2controller.BleCtrller("",callbackfunc)
if bUseCallBack:
controller = m2controller.BleCtrller(usrCfg.BleMACaddress, callbackfunc)
else:
controller = m2controller.BleCtrller(usrCfg.BleMACaddress, None)
controller.connect()
if sanityCheck():
print("controller HW setting error")
return
controller.setTime0()
while True:
time.sleep(0.1)
if danceStepii >= len(DanceSeq):
break
if requestExit:
break