elif velocity == -32767:
print('Velocity: Full speed backward, now turning forward')
dc.set_velocity(32767)
else:
print('Error') # Can only happen if another program sets velocity
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
dc = BrickDC(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# The acceleration has to be smaller or equal to the maximum
# acceleration of the DC motor, otherwise the velocity reached
# callback will be called too early
dc.set_acceleration(5000) # Slow acceleration
dc.set_velocity(32767) # Full speed forward
# Register velocity reached callback to function cb_velocity_reached
dc.register_callback(dc.CALLBACK_VELOCITY_REACHED,
lambda x: cb_velocity_reached(x, dc))
# Enable motor power
dc.enable()
raw_input("Press key to exit\n") # Use input() in Python 3
dc.disable() # Disable motor power
ipcon.disconnect()
ctrl_velostepper = 3000
ctrl_accstepper = 1000
stepper.set_step_mode(8)
stepper.set_motor_current(1000)
stepper.set_max_velocity(3000)
stepper.set_speed_ramping(1000, 50000)
stepper.set_current_position(0)
time.sleep(1)
o_clear()
print("Callbacks werden registriert")
o_write(1, 5, "Callbacks")
o_write(1, 3, "werden registriert")
dcb.register_callback(dcb.CALLBACK_VELOCITY_REACHED,
lambda x: cb_dcb_velocity(x, dcb))
stepper.register_callback(BrickStepper.CALLBACK_UNDER_VOLTAGE,
cb_stepper_undervoltage)
ropoti.register_callback(BrickletRotaryPoti.CALLBACK_POSITION,
cb_rotary_fancontrol)
poti.register_callback(BrickletLinearPoti.CALLBACK_POSITION,
cb_linearpoti_controller)
irsensor.register_callback(BrickletDistanceIR.CALLBACK_DISTANCE,
cb_irsensor_distance)
o_clear()
print("Bricks werden gestartet")
o_write(1, 6, "Bricks")
o_write(1, 3, "werden aktiviert")
stepper.enable()
dc.set_velocity(-32767)
elif velocity == -32767:
print("Velocity: Full speed backward, now turning forward")
dc.set_velocity(32767)
else:
print("Error") # Can only happen if another program sets velocity
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
dc = BrickDC(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# The acceleration has to be smaller or equal to the maximum
# acceleration of the DC motor, otherwise the velocity reached
# callback will be called too early
dc.set_acceleration(5000) # Slow acceleration
dc.set_velocity(32767) # Full speed forward
# Register velocity reached callback to function cb_velocity_reached
dc.register_callback(dc.CALLBACK_VELOCITY_REACHED, lambda x: cb_velocity_reached(x, dc))
# Enable motor power
dc.enable()
raw_input("Press key to exit\n") # Use input() in Python 3
dc.disable() # Disable motor power
ipcon.disconnect()
