def setMotorSpeed(sp, pwm, pwmPair=[0, 1]): if sp == 1: accel.adjustPwmDuty(pwm, pwmPair[0], 0.5, 0.0, 1) accel.adjustPwmDuty(pwm, pwmPair[1], 0.5, 0.0, 0) if sp == -1: accel.adjustPwmDuty(pwm, pwmPair[0], 0.5, 0.0, 0) accel.adjustPwmDuty(pwm, pwmPair[1], 0.5, 0.0, 1) elif sp > 0: accel.adjustPwmDuty(pwm, pwmPair[0], sp, 0.0, 2) accel.adjustPwmDuty(pwm, pwmPair[1], sp, 0.0, 0) elif sp < 0: accel.adjustPwmDuty(pwm, pwmPair[0], abs(sp), 0.0, 0) accel.adjustPwmDuty(pwm, pwmPair[1], abs(sp), 0.0, 2) else: accel.adjustPwmDuty(pwm, pwmPair[0], 0.5, 0.0, 1) accel.adjustPwmDuty(pwm, pwmPair[1], 0.5, 0.0, 1)
def setLightIntensity(sp, pwm, pwmNum=8): if sp <= 1 and sp >= 0: accel.adjustPwmDuty(pwm, pwmNum, sp, 0.0)
#z = magField.reverseByteOrder(magField.readU16(0x5)) print "%s %s %s %s" % (t, x, y, z) a = linAccel.readList(0x28,1) b = linAccel.readList(0x29,1) c = linAccel.readList(0x28,2) print " %s %s %s" % (a,b,c) #time.sleep(1) s = 2.4 - (2.4-0.5)/2 accel.adjustPwmOnTime(pwm,15,PWM_HZ,s,0.4) print "middle?" #Stime.sleep(3) sp = 0.1 accel.adjustPwmDuty(pwm,0,sp,0.0,0) accel.adjustPwmDuty(pwm,1,sp,0.0,2) while sp > -1.0 and sp < 1.0: if sp > 0: accel.adjustPwmDuty(pwm,0,sp,0.0,2) accel.adjustPwmDuty(pwm,1,sp,0.0,0) elif sp < 0: accel.adjustPwmDuty(pwm,0,abs(sp),0.0,0) accel.adjustPwmDuty(pwm,1,abs(sp),0.0,2) else: accel.adjustPwmDuty(pwm,0,0.5,0.0,1) accel.adjustPwmDuty(pwm,1,0.5,0.0,1) sp = input("Enter Speed: ") accel.adjustPwmDuty(pwm,0,0.5,0.0,1) accel.adjustPwmDuty(pwm,1,0.5,0.0,1)