def main(self):
self.UDP_start()
self.FLmotor = motor(PWM1A)
while (1):
try:
self.UDP_get()
self.FLmotor.drive(self.throttle)
except KeyboardInterrupt:
break
def __init__(self, wheelBase, maxAngle, halfLength, increment, servo_mid, servo_dif):
self.wheelBase = wheelBase
self.increment = increment
self.maxAngle = maxAngle
self.halfLength = halfLength
self.currentDifferential = 0 #start rover in straight line
self.angle = 0 #start rover in straight line
logger.debug('Timers configured for PWM')
self.motor1 = motor(1, servo_mid, servo_dif) # Front Left
self.motor2 = motor(2, servo_mid, servo_dif) # Front Right
self.motor3 = motor(3, servo_mid, servo_dif) # Back Left
self.motor4 = motor(4, servo_mid, servo_dif) # Back Right
logger.debug('Motors created')
driver.setup_pwm()
logger.debug('PWM Setup')
logger.debug('Motor Settings:'
+ '\n\t Wheelbase \t' + str(self.wheelBase)
+ '\n\t Increment \t' + str(self.increment)
+ '\n\t Current Diff \t' + str(self.currentDifferential)
+ '\n\t Current Angle \t' + str(self.angle))
def main():
mass = 1#kg
gForce = mass*9.98
initaialForce = gForce
motor1 = motor()
motor2 = motor()
motor3 = motor()
motor4 = motor()
def start():
torquePerMoyor = initialForce/4;
motor1.setTorque(torquePerMotor);
motor2.setTorque(torquePerMotor)
motor3.setTorque(torquePerMotor)
motor4.setTorque(torquePerMotor)
def land():
return
def howerAt(meter):
return
def __init__(self, wheelBase, maxAngle, halfLength, increment, servo_mid,
servo_dif):
self.wheelBase = wheelBase
self.increment = increment
self.maxAngle = maxAngle
self.halfLength = halfLength
self.currentDifferential = 0 #start rover in straight line
self.angle = 0 #start rover in straight line
logger.debug('Timers configured for PWM')
self.motor1 = motor(1, servo_mid, servo_dif) # Front Left
self.motor2 = motor(2, servo_mid, servo_dif) # Front Right
self.motor3 = motor(3, servo_mid, servo_dif) # Back Left
self.motor4 = motor(4, servo_mid, servo_dif) # Back Right
logger.debug('Motors created')
driver.setup_pwm()
logger.debug('PWM Setup')
logger.debug('Motor Settings:' + '\n\t Wheelbase \t' +
str(self.wheelBase) + '\n\t Increment \t' +
str(self.increment) + '\n\t Current Diff \t' +
str(self.currentDifferential) + '\n\t Current Angle \t' +
str(self.angle))
def _init_(self):
"""Read Submarine Configuration"""
self.config = [];
if os.path.exists("../sub.config"):
with open("../sub.config", 'r') as file:
"""Will Need to add validation later"""
for line in file:
pair = line.split('=')
config[count(config)] = pair
"""Begin Motor Configuration"""
self.motors = [];
i = 1
while i < 7:
new_motor = motor(i)
self.motors[i] = (new_motor)
def main():
arguments = sys.argv #pull in arguments
counter = 0
numExpected = False
for item in arguments:
if (numExpected):
data = item.split('/')
times.append(float(data[1]))
myDe.debugPrint(times)
mtrNum = int(data[0])
motors.append(motor(motorPins[mtrNum - 1], myDe, mtrNum))
print(times)
print(mtrNum)
numExpected = False
#print(item)
if (item == "-D" or item == "-d"):
myDe.activate()
myDe.debugPrint(item, "input " + str(counter))
counter = counter + 1
if (item.startswith("-t")):
myDe.debugPrint("found timer input in minutes")
numExpected = True
count = 0
for tm in times:
newTimer = timer(tm, myDe, motors[count])
timers.append(newTimer)
count += 1
#myDe.debugPrint("Debugger Activated")
for i in range(0, len(timers)):
t = threading.Thread(target=beginTimer, args=(i, ))
t.daemon = True
t.start()
activeTimers = True
time.sleep(3)
while (activeTimers):
activeTimers = False
for tmr in timers:
print(tmr.isRunning())
if (tmr.isRunning()):
activeTimers = True
time.sleep(1)
def __init__(self, M11, M12, M21, M22):
self.rightMotor = motor(M11, M12, False)
self.leftMotor = motor(M21, M22, False)
def execute_menu(self, screen, conf): pygame.font.init() engine = motor() running = True keys = [False, False, False] if self.gameMode > 0: timer = timerObject() USEREVENT = 31 pygame.time.set_timer(USEREVENT, 10) if self.gameMode == 1: timer.setTime(241) self.createBar(11) elif self.gameMode == 2: timer.setTime(211) self.createBar(9) elif self.gameMode == 3: timer.setTime(181) self.createBar(5) elif self.gameMode == 4: timer.setTime(161) self.createBar(5) elif self.gameMode == 5: timer.setTime(131) self.createBar(5) elif self.gameMode == 6: timer.setTime(101) self.createBar(5) elif self.gameMode == 7: timer.setTime(71) self.createBar(5) elif self.gameMode == 8: timer.setTime(41) self.createBar(5) elif self.gameMode == 9: timer.setTime(21) self.createBar(5) else: self.createBar(30) self.createGround([[0, screen.get_height()], \ [screen.get_width(), screen.get_height()]]) self.grounds[0].genSupport(70, 1) self.grounds[1].genSupport(10, 0) self.generateBonds() try: timer.start() except: pass while True: screen.fill(0) self.print_stage(screen, conf) self.print_ground(screen) self.print_bars(screen) engine.printResult(screen) command = self.detect_button() if running: objectList = self.detectBar() for event in pygame.event.get(): try: if event.type == USEREVENT: timer.updateTime() except: pass if event.type == pygame.MOUSEBUTTONDOWN: if not command == None: if not command == 2: try: timer.finish() except: pass if command == 5: running = False objectList = [] elements = [] else: return command if event.button == 1: keys[0] = True if event.button == 2: keys[1] = True if event.button == 3: keys[2] = True if event.type == pygame.QUIT: game.ex() if event.type == pygame.MOUSEBUTTONUP: if event.button == 1: keys[0] = False if event.button == 2: keys[1] = False if event.button == 3: keys[2] = False try: if timer.checkEnd(): timer.finish() running = False objectList = [] except: pass if not running: engine.genMatriz(self.bonds, self.numberBonds) engine.solution() cursor = pygame.mouse.get_pos() if len(objectList) > 0: if keys[0]: objectList[0].move(cursor) if keys[1]: if objectList[1].change_bond_status(self.bonds): self.numberBonds -= 1 else: self.numberBonds += 1 keys[1] = False if keys[2]: objectList[0].rotate(cursor) try: timer.printTime(screen, [screen.get_width() - 10, 50]) except: pass pygame.display.flip()
def __init__(self, pi, enable, cw, ccw):
wheeler = motor(pi, enable, cw, ccw)
polarity = -1
enc_A_chan_B = pyb.Pin('X2', pyb.Pin.AF_PP, pull=pyb.Pin.PULL_UP, af=pyb.Pin.AF1_TIM2)
enc_B_chan_A = pyb.Pin('X9', pyb.Pin.AF_PP, pull=pyb.Pin.PULL_UP, af=pyb.Pin.AF2_TIM4)
enc_B_chan_B = pyb.Pin('X10', pyb.Pin.AF_PP, pull=pyb.Pin.PULL_UP, af=pyb.Pin.AF2_TIM4)
#Motors:
DIRA = 'Y5'
PWMA = 'Y4'
TIMA = 14
CHANA = 1
DIRB = 'Y8'
PWMB = 'Y6'
TIMB = 12
CHANB = 1
motorA = motor(PWMA, DIRA, TIMA, CHANA)
motorB = motor(PWMB, DIRB, TIMB, CHANB)
#Stopping Point 08/20/2017 -Joseph Fuentes
# Define variables for landing check
backup_timer = 5400000
altitude_concurrent_timer = 3600000
acceptable_dist_from_launch = 1000
acceptable_altitude_change = 25
# Global Flag to start GPS data Processing
new_data = False
start = pyb.millis()
# Callback Function
import os
import RPi.GPIO as GPIO # GPIO 모듈 import
import threading
from setDir import *
from sonic import *
from time import sleep # time 모듈의 sleep() 함수 사용
from motor import * # car 모듈의 모든 함수 사용
STOP = 0
FORWARD = 1
BACKWARD = 2
LEFT = 3
RIGHT = 4
presonic()
print('HI') # 소켓 리스닝 시 출력문
while True: # 무한 루프
# th=threading.Thread(target=setDir, args=())
# th.start()
drct = setDirTest()
motor(drct) # 변환된 데이터에 따라 모터 동작
print("pi :", drct) # 어떤 동작을 하는지 출력
GPIO.cleanup() # GPIO 모듈의 점유 리소스 해제
import network
import motor
SWITCH = 10
GPIO.setmode(GPIO.BCM)
GPIO.setup(SWITCH, GPIO.IN)
def hear(phrase):
print "heard:" + phrase
for a in phrase:
if a == "\r" or a == "\n":
pass # strip it
else:
if GPIO.input(SWITCH):
network.say("1")
else:
network.say("0")
while True:
print "waiting for connection"
network.wait(whenHearCall=heard)
print "connected"
while network.isconnected():
print "server is running"
time.sleep(1)
print "connection closed"
frontRight = motor(1, 2)
def __init__(self):
self.mov = motor()
def __init__(self, m1_pin, m2_pin, m3_pin, m4_pin, calibrating):
'''
Angles of the quadcopter
[ROLL,PITCH,YAW]
'''
self.angles = [0, 0, 0]
'''
Constants for the quadcopter
MIN : is the minimum speed for each of the quadcopter motors
PITCH_DES_ANGLE : is the upper limit for the speed
ROLL_DES_ANGLE : the angle of pitch desired, is is 0 degrees in idle
HOSTNAME : the broker to witch connect
'''
self.MIN = 1100
self.MAX = 1300
self.PITCH_DES_ANGLE = 0
self.ROLL_DES_ANGLE = 0
self.HOSTNAME = "localhost"
'''
Creating the pi object for interactions with motors
'''
self.pi = pigpio.pi() #object rpi
'''
The quadcopter is composed by 4 motors
'''
self.motors = [
motor(m1_pin, self.MIN, self.MAX, self.pi),
motor(m2_pin, self.MIN, self.MAX, self.pi),
motor(m3_pin, self.MIN, self.MAX, self.pi),
motor(m4_pin, self.MIN, self.MAX, self.pi)
]
self.time = 0
'''
The quadcopter balancing is done via a PID controller
The values of the PID, might be different for the ROLL and PITCH angles
'''
#ROLL
self.KR = [0.04, 0, 0]
self.pidR = PID(Kp=self.KR[0],
Ki=self.KR[1],
Kd=self.KR[2],
setpoint=self.ROLL_DES_ANGLE)
#PITCH
self.KP = [0.04, 0, 0]
self.pidP = PID(Kp=self.KP[0],
Ki=self.KP[1],
Kd=self.KP[2],
setpoint=self.PITCH_DES_ANGLE)
'''
MQTT is used as standar communication protocol between the android app and the quadcopter. It is not a big deal, but the simplest protocol i know, and for this reason the one i will use for the moment.
'''
self.mqttc = mqtt.Client()
self.mqttc.on_connect = on_connect
self.mqttc.on_message = self.on_message
self.mqttc.connect(self.HOSTNAME)
self.mqttc.loop_start()
'''
Variables for generic informations.
'''
self.power = False
'''
If one wants to calibrate it, during the creation the calibrate method is called, hence calibrating the motors
'''
if calibrating == True:
self.calibrate()
"""
Table jacks of optical table in 14ID-B end station
Friedrich Schotte, 10 Nov 2007
"""
from motor import *
TDSY = motor("14IDB:m17") # downstream vertical
TOUTY = motor("14IDB:m18") # outward vertical
TINY = motor("14IDB:m19") # inward vertical
TUSX = motor("14IDB:m20") # upstream horizontal
TDSX = motor("14IDB:m21") # downstream horizontal
TDSZ = motor("14IDB:m22") # downstream along X-ray beam (not used yet)
table_motors = [TUSX, TDSX, TOUTY, TINY, TDSY]
def reset_table():
""" This is to bring the table in a well defined state after it was moved
applying al the backlsh corrections"""
step = 0.1
for m in table_motors:
m -= step
m.wait()
for m in table_motors:
m += step
m.wait()
def __init__(self, M11, M12, M21, M22):
self.rightMotor = motor(M11, M12, trigeractive=True)
self.leftMotor = motor(M21, M22, trigeractive=True)
def main():
arguments = sys.argv #pull in arguments
counter = 0
numExpected = False
tempExpected = False
for item in arguments:
if (numExpected):
data = item.split('/')
times.append(float(data[1]))
myDe.debugPrint(times)
mtrNum = int(data[0])
motors.append(motor(motorPins[mtrNum - 1], myDe, mtrNum))
print(times)
print(mtrNum)
numExpected = False
if (tempExpected):
data = item.split('/')
temperatureHold = float(data[1])
times.append(0)
myDe.debugPrint(times)
mtrNum = int(data[0])
motors.append(
motor(motorPins[mtrNum - 1], myDe, mtrNum, True,
temperatureHold))
print(times)
print(mtrNum)
tempExpected = False
#print(item)
if (item == "-D" or item == "-d"):
myDe.activate()
myDe.debugPrint(item, "input " + str(counter))
counter = counter + 1
if (item.startswith("-t")):
myDe.debugPrint("found timer input in minutes")
numExpected = True
if (item.startswith("-a")):
myDe.debugPrint("temp Input")
tempExpected = True
count = 0
for tm in times:
if (tm == 0):
count += 1
continue
newTimer = timer(tm, myDe, motors[count])
timers.append(newTimer)
count += 1
#myDe.debugPrint("Debugger Activated")
for i in range(0, len(timers)):
t = threading.Thread(target=beginTimer, args=(i, ))
t.daemon = True
t.start()
activeTimers = True
time.sleep(3)
while (activeTimers):
activeTimers = False
message = "Current Temp = " + str(read_temp())
myDe.debugPrint(message)
for tmr in timers:
print(tmr.isRunning())
if (tmr.isRunning()):
activeTimers = True
time.sleep(1)
afterBrewHopping = True
while (afterBrewHopping):
afterBrewHopping = False
for mtr in motors:
message = "Current Temp = " + str(read_temp())
myDe.debugPrint(message)
if (mtr.testTemp() != False):
tempToFind = mtr.testTemp()
curTemp = read_temp()
if (tempToFind >= curTemp):
message = "curtemp: " + str(
read_temp()) + " <g activate temp: " + str(
mtr.testTemp())
myDe.debugPrint(message)
mtr.activate()
mtr.deactivate()
else:
afterBrewHopping = True
message = "curtemp: " + str(
read_temp()) + " > activate temp: " + str(
mtr.testTemp())
myDe.debugPrint(message)
time.sleep(1)