def initSetup(self):
##init all modules
self.displayModul = display.display()
self.motorModul = motor.motor()
self.motorModul.start()
self.i2c = i2cHandler.I2cHandler()
self.i2c.start()
self.cameraModul = camera.camera(self.i2c)
self.cameraModul.start()
i = init.initActivity(self, self.i2c)
from time import sleep
from common import drivingUtilities
from modul import i2cHandler
from modul import motor
motorDriver = None
handler = None
testPattern = 1
try:
handler = i2cHandler.I2cHandler()
handler.start()
motorDriver = motor.motor()
motorDriver.start()
motorDriver.startLogging()
utilities = drivingUtilities.DrivingUtilities(handler, motorDriver)
# Simple drive forward, turn, forward, turn
if (testPattern == 1):
for x in range(0, 1):
sleep(0.5)
utilities.accelerate(60)
sleep(1)
utilities.accelerate(100)
utilities.stop()
utilities.turn(180)
utilities.accelerate(100)
sleep(1)
from time import sleep
from common import velocityUtilities
from modul import i2cHandler
from modul import motor
try:
i2cHandler = i2cHandler.I2cHandler()
i2cHandler.start()
motor = motor.motor()
motor.start()
velocityUtilities = velocityUtilities.velocityUtilities(i2cHandler)
while (True):
velocity = velocityUtilities.getVelocity()
print(velocity)
motor.setVelocityLeft(velocity)
motor.setVelocityRight(velocity)
sleep(0.1)
i2cHandler.terminate()
except KeyboardInterrupt:
i2cHandler.terminate()
motor.terminate()
print("Goodbye!")
except:
i2cHandler.terminate()
from time import sleep
from modul import motor
controller = None
try:
controller = motor.motor()
controller.start()
controller.startLogging()
print("1")
controller.setVelocityLeft(100.0)
controller.setVelocityRight(100.0)
sleep(1)
print("2")
controller.setVelocityLeft(50.0)
controller.setVelocityRight(-50.0)
sleep(1)
print("3")
controller.setVelocityLeft(-50.0)
controller.setVelocityRight(50.0)
sleep(1)
print("4")
controller.setVelocityLeft(-100.0)
controller.setVelocityRight(-100.0)
sleep(1)
print("Stop Logging")
controller.stopLogging()
controller.terminate()
