def __init__(self):
self.m1 = 0.0
self.m2 = 0.0
self.m3 = 0.0
self.speed = 0.0
self.TB1 = ThunderBorg.ThunderBorg()
self.TB1.i2cAddress = 10
self.TB1.Init()
self.TB2 = ThunderBorg.ThunderBorg()
self.TB2.i2cAddress = 11
self.TB2.Init()
def TBCheck(image):
TB1 = ThunderBorg.ThunderBorg()
TB1.printFunction = TB1.NoPrint
TB1.i2cAddress = 10
TB1.Init()
image = TB(TB1.foundChip, image, 1)
TB2 = ThunderBorg.ThunderBorg()
TB2.printFunction = TB2.NoPrint
TB2.i2cAddress = 11
TB2.Init()
image = TB(TB1.foundChip, image, 2)
return image
def _init_thunderborg(self):
import ThunderBorg3 as ThunderBorg
# Init the Thunderborg connection:
self.TB = ThunderBorg.ThunderBorg()
self.TB.Init()
self.TB.MotorsOff()
self.TB.SetLedShowBattery(True)
# Setup the ThunderBorg
if not self.TB.foundChip:
boards = ThunderBorg.ScanForThunderBorg()
if len(boards) == 0:
print("[CONTROLLER] No ThunderBorg found,"
" check you are attached :)")
else:
print("[CONTROLLER] No ThunderBorg at address"
" %02X, but we did find boards:" % (self.TB.i2cAddress))
for board in boards:
print(" %02X (%d)" % (board, board))
print("[CONTROLLER] If you need to change the I�C address"
" change the setup line so it is correct, e.g.")
print("[CONTROLLER] TB.i2cAddress = 0x%02X" % (boards[0]))
def __init__(self):
self.NebSpeed = 1
self.ultraBackRightSide = Ultra(18, 27)
self.ultraBackRight = Ultra(4, 17)
self.ultraFrontRight = Ultra(22, 23)
self.ultraFrontRightSide = Ultra(25, 5)
self.ultraBackLeftSide = Ultra(26, 21)
self.ultraBackLeft = Ultra(20, 19)
self.ultraFrontLeft = Ultra(6, 16)
self.ultraFrontLeftSide = Ultra(13, 12)
self.ZB = ThunderBorg3.ThunderBorg()
self.ZB.Init()
self.reverse = 0
print(self.ZB.GetBatteryReading())
self.leftSpeed = 0
self.rightSpeed = 0
print("waiting for remote")
while True:
try:
self.controller = xbox.Joystick()
break
#self.controller.startstart()
except:
time.sleep(0.5)
# remove this just to not have to have remote
self.camera = Camera()
print("waiting for compass")
self.compass = Compass()
self.compass.Start() #remove if no compass
print("blasting sensors")
for i in range(1000):
print(i)
self.simRead([
self.ultraFrontRight,
self.ultraFrontLeft,
self.ultraBackRight,
self.ultraBackLeft,
self.ultraFrontRightSide,
self.ultraFrontLeftSide,
self.ultraBackRightSide,
self.ultraBackLeftSide,
])
self.compass.Heading()
# Bill Harvey 16 Feb 2021
# Last update 18 May 2021
from time import sleep
from approxeng.input.selectbinder import ControllerResource # Import Approx Eng Controller libraries
import ThunderBorg3 as ThunderBorg
import UltraBorg3 as UltraBorg
#import os
import sys
global launcher
global TB
launcher = False
# Setup the ThunderBorg
TB = ThunderBorg.ThunderBorg()
#TB.i2cAddress = 0x15 # Uncomment and change the value if you have changed the board address
TB.Init()
if not TB.foundChip:
boards = ThunderBorg.ScanForThunderBorg()
if len(boards) == 0:
print("No ThunderBorg found, check you are attached :)")
else:
print("No ThunderBorg at address %02X, but we did find boards:" %
(TB.i2cAddress))
for board in boards:
print(" %02X (%d) " % (board, board))
print(
"If you need to change the I2C address change the setup line so it is correct, e.g."
)
print("TB.i2cAddress = 0x%02X" % (boards[0]))
import xbox
import ThunderBorg3
joy = xbox.Joystick()
ZB = ThunderBorg3.ThunderBorg()
ZB.Init()
#ZB.SetLedShowBattery(True)
#ZB.SetBatteryMonitoringLimits(9, 12)
print(ZB.GetBatteryReading())
ZB.SetLed1(0, 0, 0)
while True:
if joy.connected():
Turn = joy.leftX()
Speed = joy.rightY()
forwardPowerL = Speed
forwardPowerR = Speed
if Turn > 0.1:
forwardPowerL -= forwardPowerL * 0.8 * Turn
if Turn < -0.1:
forwardPowerR += forwardPowerR * 0.8 * Turn
if Speed > -0.1 and Speed < 0.1:
if Turn > 0.2:
forwardPowerL = -Turn * 0.7
forwardPowerR = Turn * 0.7
if Turn < 0.2:
forwardPowerL = -Turn * 0.7
forwardPowerR = Turn * 0.7
ZB.SetMotor1(forwardPowerR)
ZB.SetMotor2(-forwardPowerL)
else:
def __init__(self): self.ZB = ThunderBorg3.ThunderBorg() self.ZB.Init() self.LeftSpeed = 0 self.RightSpeed = 0
'direct',
default=False,
messages='Record pwm applied to motor, Default=False')
ph.add_boolean_argument(ap,
'calibration',
default=False,
messages='Enter Calibration Mode, Default=False')
args = vars(ap.parse_args())
# open the output CSV file for writing
csv = open(args["output"], "w")
calibration_mode = args["calibration"]
direct_re = args["direct"]
TB = ThunderBorg.ThunderBorg()
TB.Init()
GPIO.setup(11, GPIO.IN) #SO1
GPIO.setup(9, GPIO.IN) #SO2
GPIO.setup(10, GPIO.IN) #S03
GPIO.setup(22, GPIO.IN) #SO4
GPIO.setup(27, GPIO.IN) #SO5
sleep(1)
# speed=0.3
speed = args["maxspeed"]
# dt = str(datetime.datetime.now())
listener = Listener(on_release=kh.on_release)
listener.start()
]
sequenceHold = [ # Order for stepping at holding power
[+holdingPower, +holdingPower], [+holdingPower, -holdingPower],
[-holdingPower, -holdingPower], [-holdingPower, +holdingPower]
]
stepDelay = 0.002 # Delay between steps
# Name the global variables
global step
global TB
step_count = 10 #(Steps per rev)
# Setup the ThunderBorg
global TB
TB = ThunderBorg.ThunderBorg() # Create a new ThunderBorg object
TB.i2cAddress = 0x15
# Uncomment and change the value if you have changed the board address
TB.Init() # Set the board up (checks the board is connected)
if not TB.foundChip:
boards = ThunderBorg.ScanForThunderBorg()
if len(boards) == 0:
print('No ThunderBorg found, check you are attached :)')
else:
print('No ThunderBorg at address %02X, but we did find boards:' %
(TB.i2cAddress))
for board in boards:
print(' %02X (%d)' % (board, board))
print(
'If you need to change the I²C address change the setup line so it is correct, e.g.'
)
def __init__(self,robot):
self.robot=robot
self.ZB=ThunderBorg3.ThunderBorg()
self.initiate()
import time
import ThunderBorg3 as tb
dev = tb.ThunderBorg()
dev.Init()
def move(motor, dir):
if motor == 0:
dev.SetMotor1(0.35 * dir)
time.sleep(1.5)
dev.SetMotor1(0)
if motor == 1:
dev.SetMotor2(0.45 * dir)
time.sleep(1.5)
dev.SetMotor2(0)
def do():
for x in range(100):
move(0, 1)
move(0, -1)
move(1, 1)
move(1, -1)
time.sleep(2.5)
do()
print('Libraries loaded')
# Global values
global running
global TB
global camera
global processor
global debug
global colour
running = True
debug = False
colour = 'red'
# Setup the ThunderBorg
TB = ThunderBorg3.ThunderBorg(
) # Edited 01 Mar 2018 Bill Harvey - changed ThunderBorg to ThunderBorg3
# TB.i2cAddress = 0x15 # Uncomment and change the value if you have changed the board address
TB.Init()
if not TB.foundChip:
boards = ThunderBorg.ScanForThunderBorg()
if len(boards) == 0:
print('No ThunderBorg found, check you are attached :)')
else:
print('No ThunderBorg at address %02X, but we did find boards:' %
(TB.i2cAddress))
for board in boards:
print(' %02X (%d)' % (board, board))
print(
'If you need to change the I²C address change the setup line so it is correct, e.g.'
)
print('TB.i2cAddress = 0x%02X' % (boards[0]))
# motor controller board using Martin O'Hanlon's BlueDot app (Andoroid version used for testing)
# Written using python 3
# To use the ThunderBorg you will need to download the Python 3 version of ThunderBorg3.py
# Install on Raspberry Pi using the following command:
# wget -O ThunderBorg3.py http://old.piborg.org/downloads/thunderborg/ThunderBorg3.py.txt
import ThunderBorg3
from time import sleep
import sys
from bluedot import BlueDot
from gpiozero import Robot
from signal import pause
# Setup the ThunderBorg
global TB
TB = ThunderBorg3.ThunderBorg() # Create a new ThunderBorg object
#TB.i2cAddress = 0x15 # Uncomment and change the value if you have changed the board address
TB.Init() # Set the board up (checks the board is connected)
if not TB.foundChip:
boards = ThunderBorg.ScanForThunderBorg()
if len(boards) == 0:
print("No ThunderBorg found, check you are attached :)")
else:
print("No ThunderBorg at address %02X, but we did find boards:" %
(TB.i2cAddress))
for board in boards:
print(" %02X (%d)" % (board, board))
print(
"If you need to change the I²C address change the setup line so it is correct, e.g."
)
print("TB.i2cAddress = 0x%02X" % (boards[0]))