Пример #1
0
def motorTesting():
    motorSelfTest.Forward(100,75)
    motorSelfTest.Stop()
    motorSelfTest.Backward(100,75)
    motorSelfTest.Stop()
    motorSelfTest.RightTurn()
    motorSelfTest.Stop()
    motorSelfTest.LeftTurn()
    motorSelfTest.Stop()
Пример #2
0
 currentLine = float(message)
 desLat, desLong = stripString(points)
 if currentLine > 0.0:
     flag = 1
 elif currentLine < 0.0:
     flag = 2
 # ===== ANGLES ======
 anglesArray = TurnAngles()
 # ===== Turning ======
 motorSelfTest.Stop(4.0)
 Turning(flag)
 # ===== Forward Movement ======
 lat, lon = GPSdata()
 distance = distanceFormula(lat, lon, desLat, desLong)
 start_time = time.time()
 motorSelfTest.Forward(2.0, 100, 100)
 motorSelfTest.Stop(0.1)
 if flag == 1:
     motorSelfTest.LeftTurn(1.5)
 elif flag == 2:
     motorselfTest.RightTurn(1.5)
 motorSelfTest.Stop(2.0)
 # ====== TURRET CODE =======
 TurretRotation(lat, lon)
 os.system(' python /home/pi/Desktop/build/Platform/platformCCW.py')
 os.system(' python /home/pi/Desktop/build/Platform/armUp.py')
 start_time = time.time()
 while time.time() - start_time <= 4:
     os.system(' python /home/pi/Desktop/build/Platform/vibration.py')
     vibration = open("/home/pi/Desktop/build/Platform/vibration.txt", "r")
     data = vibration.readline()
Пример #3
0
        flag = 2
    
    print("flag: " + str(flag))

    Offset = CalibrateIMU(readValue)
    #==== Angles =====
    anglesArray = TurnAngles()
    #==== Turning ====
    print(anglesArray[i])
    Turning(flag, Offset, anglesArray[i], readValue)
    #==== Forward Movement ====
    lat, lon = GPSdata()
    distance = distanceFormula(lat, lon, desLat, desLong)
    
    #Motor Activates for 10 Seconds
    motorSelfTest.Forward(100,100)
    while (distance >= 0.05):
        lat, lon = GPSdata()
        boundary = checkBounds(lat, lon, LEFT_LAT, RIGHT_LAT, UP_LONG, LOW_LONG)
        if boundary == 1:
           print("Out of Bounds")
            # sys.exit()
        if lat > desLat and flag==1:
            motorSelfTest.Stop()
            Turning(flag, Offset, 90, readValue)
            lat, lon = GPSdata()
            distance = distanceFormula(lat,lon,desLat,desLong)
            motorSelfTest.Forward(random.randint(25,100),100)
        elif lat < destLat and flag==2:
            motorSelfTest.Stop()
            Turning(flag, Offset, 270, readValue)
Пример #4
0
def motorTesting():
    motorSelfTest.Forward(100, 75)
    motorSelfTest.Stop()
    motorSelfTest.Backward(100, 75)
    motorSelfTest.Stop()