def main():
global speed, direction, timeout, ser
rospy.init_node('ros_servo')
ipcon = IPConnection() # Create IP connection
servo = BrickServo(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT)
rospy.Subscriber("/cmd_vel", Twist, callback)
r = rospy.Rate(100) # Hz
vel_tp = [0] * 50 # 50 sample low-pass for speed
dir_tp = [0] * 10 # 10 sample low-pass for steering
while not rospy.is_shutdown():
vel_tp[len(vel_tp) - 1] = speed #if not timeout > TIMEOUT else 0
vel_tp[:-1] = vel_tp[1:]
dir_tp[len(dir_tp) - 1] = direction
dir_tp[:-1] = dir_tp[1:]
tx_speed = (sum(vel_tp) / len(vel_tp)) * 18000
tx_dir = (sum(dir_tp) / len(dir_tp)) * -90000
rospy.loginfo("Speed: %f", tx_speed)
rospy.loginfo("Steering: %f", tx_dir)
#motorR = tx_speed + tx_dir
#motorL= tx_speed - tx_dir
servo.set_degree(0, -9000, 9000)
servo.set_velocity(0, 65535)
servo.set_position(0, tx_dir)
servo.enable(0)
servo.set_degree(1, -9000, 9000)
servo.set_velocity(1, 65535)
servo.set_position(1, tx_speed)
servo.enable(1)
timeout += 1
r.sleep()
# Configure two servos with voltage 5.5V
# Servo 1: Connected to port 0, period of 19.5ms, pulse width of 1 to 2ms
# and operating angle -100 to 100°
#
# Servo 2: Connected to port 5, period of 20ms, pulse width of 0.95
# to 1.95ms and operating angle -90 to 90°
servo.set_output_voltage(5500)
servo.set_degree(0, -10000, 10000)
servo.set_pulse_width(0, 1000, 2000)
servo.set_period(0, 19500)
servo.set_acceleration(0, 1000) # Slow acceleration
servo.set_velocity(0, 65535) # Full speed
servo.set_degree(5, -9000, 9000)
servo.set_pulse_width(5, 950, 1950)
servo.set_period(5, 20000)
servo.set_acceleration(5, 65535) # Full acceleration
servo.set_velocity(5, 65535) # Full speed
servo.set_position(0, 10000) # Set to most right position
servo.enable(0)
servo.set_position(5, -9000) # Set to most left position
servo.enable(5)
raw_input("Press key to exit\n") # Use input() in Python 3
servo.disable(0)
servo.disable(5)
ipcon.disconnect()
# Configure two servos with voltage 5.5V
# Servo 1: Connected to port 0, period of 19.5ms, pulse width of 1 to 2ms
# and operating angle -100 to 100°
#
# Servo 2: Connected to port 5, period of 20ms, pulse width of 0.95
# to 1.95ms and operating angle -90 to 90°
servo.set_output_voltage(5500)
servo.set_degree(0, -10000, 10000)
servo.set_pulse_width(0, 1000, 2000)
servo.set_period(0, 19500)
servo.set_acceleration(0, 1000) # Slow acceleration
servo.set_velocity(0, 65535) # Full speed
servo.set_degree(5, -9000, 9000)
servo.set_pulse_width(5, 950, 1950)
servo.set_period(5, 20000)
servo.set_acceleration(5, 65535) # Full acceleration
servo.set_velocity(5, 65535) # Full speed
servo.set_position(0, 10000) # Set to most right position
servo.enable(0)
servo.set_position(5, -9000) # Set to most left position
servo.enable(5)
raw_input("Press key to exit\n") # Use input() in Python 3
servo.disable(0)
servo.disable(5)
ipcon.disconnect()
servo.set_position(servo_num, -9000)
elif position == -9000:
print('Position: -90°, going to 90°')
servo.set_position(servo_num, 9000)
else:
print('Error') # Can only happen if another program sets position
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
servo = BrickServo(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Register position reached callback to function cb_position_reached
servo.register_callback(servo.CALLBACK_POSITION_REACHED, cb_position_reached)
# Enable position reached callback
servo.enable_position_reached_callback()
# Set velocity to 100°/s. This has to be smaller or equal to the
# maximum velocity of the servo you are using, otherwise the position
# reached callback will be called too early
servo.set_velocity(0, 10000)
servo.set_position(0, 9000)
servo.enable(0)
raw_input("Press key to exit\n") # Use input() in Python 3
servo.disable(0)
ipcon.disconnect()
# Draw text once at beginning, the window in draw_matrix does not overwrite
# the last line of the display
oled.write_line(7, 5, "tinkerforge.com")
# We just use an endless loop here, press ctrl + c to abort the script
while True:
# With position 110 poti is at 90°
angle = poti.get_position() * 90 // 110
if angle > 90:
angle = 90
elif angle < -90:
angle = -90
# Set servo position according to angle
servo.set_position(6, angle * 100)
# Create angle text
angle_str = str(angle) + u'°'
if angle >= 0:
angle_str = ' ' + angle_str
# Draw servo position line
img = Image.new('1', (128, 64), 0)
draw = ImageDraw.Draw(img)
draw.line(line_at_angle(32, 32, angle - 90, 32), 1, 6)
# Draw bar graph
draw.line((90, 4, 90 + angle * 30 // 90, 4), 1, 6)
# Draw angle text
# Draw text once at beginning, the window in draw_matrix does not overwrite
# the last line of the display
oled.write_line(7, 5, "tinkerforge.com")
# We just use an endless loop here, press ctrl + c to abort the script
while True:
# With position 110 poti is at 90°
angle = poti.get_position()*90//110
if angle > 90:
angle = 90
elif angle < -90:
angle = -90
# Set servo position according to angle
servo.set_position(6, angle*100)
# Create angle text
angle_str = str(angle) + u'°'
if angle >= 0:
angle_str = ' ' + angle_str
# Draw servo position line
img = Image.new('1', (128, 64), 0)
draw = ImageDraw.Draw(img)
draw.line(line_at_angle(32, 32, angle - 90, 32), 1, 6)
# Draw bar graph
draw.line((90, 4, 90 + angle*30//90, 4), 1, 6)
# Draw angle text
