def GET(self, name): if len(web.input().items()) == 0: return "No parameters" (copter_is_on, copter_torque, is_kill, control_force, z_axe_control) = FileUtils.read_file_data() is_on = self.check_for_key_and_return('is_on', copter_is_on) torque = self.check_for_key_and_return('copter_torque', copter_torque) is_kill = self.check_for_key_and_return('kill', is_kill) control_force = self.check_for_key_and_return('control_force', control_force) z_axe_control = self.check_for_key_and_return('z_axe', z_axe_control) if is_on != None and torque != None and is_kill != None: FileUtils.write_file_data(is_on, torque, is_kill, control_force,z_axe_control) print (is_on, torque, is_kill, control_force, z_axe_control) return "ACK" else: return "Failed"
"echo {2}={3} > /dev/servoblaster;" "echo {4}={5} > /dev/servoblaster;" "echo {6}={7} > /dev/servoblaster;".format(int(Q1_MOTOR_ADDRESS), int(q1), int(Q2_MOTOR_ADDRESS), int(q2), int(Q3_MOTOR_ADDRESS), int(q3), int(Q4_MOTOR_ADDRESS), int(q4))) bus = smbus.SMBus(i2c_raspberry_pi_bus_number()) imu_controller = imu.IMU(bus, 0x69, 0x53, 0x1e, 0x77, "IMU") imu_controller.set_compass_offsets(72, 72, -30) motorTorques = CopterMotorTorquesResolver() while True: (copter_is_on, copter_torque, is_kill, control_force,z_axe_control) = FileUtils.read_file_data() (pitch, roll, yaw, roll_vel, pitch_vel, yaw_vel) = imu_controller.read_pitch_roll_yaw_with_speeds() (pressure, temperature) = imu_controller.read_temperature_and_pressure() (rollTorque, pitchTorque, yawTorque) = motorTorques.calculateTorques(roll, pitch, yaw, roll_vel, pitch_vel, yaw_vel, control_force) motorSpeeds = motorTorques.calculateMotorSpeeds(rollTorque, pitchTorque, yawTorque, copter_torque,z_axe_control) (q1, q2, q3, q4) = motorTorques.calculate_motor_adjusted_speeds(motorSpeeds) # print "{0} {1} {2} {3} {4} {5} {6} {7} {8} {9}".format(q1, q2, q3, q4, rollTorque, pitchTorque, yawTorque,roll,pitch,yaw) if is_kill: FileUtils.write_file_data(True, 650, False,30,1000) runMotors(MOTOR_STOPPED, MOTOR_STOPPED, MOTOR_STOPPED, MOTOR_STOPPED) exit() if copter_is_on: print "{0},{1},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},{14},{15}".format(time.time(), pressure, temperature, q1, q2, q3, q4,