def run(self):
nodes = []
for i in range(self.config['nodes']):
nodes.append(Node(i))
comm = Communicator(nodes)
for node in nodes:
node.initPaxos(nodes, comm, self.config)
node.start()
for node in nodes:
node.join()
rc_motors = RCmotors("X8", 200, 320, 50)
leds = [LEDcommand(index, index + 1) for index in range(3)]
blue_led = BlueLEDcommand(3)
servo = ServoCommand(4, 1, start_pos=0)
motors = MotorCommand(5, rc_motors)
tilt_servo = ServoCommand(6, 2, start_pos=0)
pan_servo = ServoCommand(7, 3, start_pos=0)
encoder = RCencoder(0, rc_motors)
gps = GPS(1, 6, 4)
imu = IMU(2, 2, 11)
communicator = Communicator(*leds, blue_led, servo, motors, pan_servo, tilt_servo, uart_bus=1)
while True:
communicator.read_command()
if imu.recved_data():
sensor_updated = True
communicator.write_packet(imu)
if gps.recved_data():
sensor_updated = True
communicator.write_packet(gps)
pyb.LED(3).toggle()
# if encoder.recved_data():
# sensor_updated = True
uart = UART(6, 9600, read_buf_len=1000)
pps_pin = pyb.Pin.board.X8
extint = pyb.ExtInt(pps_pin, pyb.ExtInt.IRQ_FALLING,
pyb.Pin.PULL_UP, pps_callback)
indicator = pyb.LED(4)
increase = True
sensor_queue = SensorQueue(tmp36,
mcp9808,
accel,
gps
)
command_pool = CommandPool(servo1, motor_a)
communicator = Communicator(sensor_queue, command_pool)
while True:
if new_data:
while uart.any():
gps.update(chr(uart.readchar()))
new_data = False
communicator.write_packet()
communicator.read_command()
if increase:
indicator.intensity(indicator.intensity() + 5)
else:
indicator.intensity(indicator.intensity() - 5)
from turret.turret_objects import *
from comm import Communicator
blue_led = BlueLEDcommand(1)
lidar = LidarSensor(0, uart_bus=1)
communicator = Communicator(blue_led, uart_bus=3)
while True:
# communicator.read_command()
if lidar.recved_data():
communicator.write_packet(lidar)
print(lidar)
# pyb.delay(1)
if communicator.should_reset():
print("\nresetting")
lidar.reset()
communicator.write_packet(lidar)
if communicator.should_stop():
print("\nstopping")
lidar.stop()
while not communicator.should_reset():
communicator.read_command()
pyb.delay(5)
from turret.turret_objects import *
from comm import Communicator
blue_led = BlueLEDcommand(1)
lidar = LidarSensor(0, uart_bus=1)
communicator = Communicator(blue_led, uart_bus=3)
while True:
# communicator.read_command()
if lidar.recved_data():
communicator.write_packet(lidar)
print(lidar)
# pyb.delay(1)
if communicator.should_reset():
print("\nresetting")
lidar.reset()
communicator.write_packet(lidar)
if communicator.should_stop():
print("\nstopping")
lidar.stop()
while not communicator.should_reset():
communicator.read_command()
pyb.delay(5)
def standby():
pyb_leds[0].off()
pyb_leds[1].off()
pyb_leds[2].on()
leds = [LEDcommand(index, index + 1) for index in range(3)] # 3 normal LEDs
blue_led = BlueLEDcommand(3)
stepper = StepperCommand(4)
setting_up_sensors()
gps = GPS(1, uart_bus=2, timer_num=4)
imu = IMU(2, bus=1, reset_pin="Y7", timer_num=11)
communicator = Communicator(*leds, blue_led, stepper, uart_bus=4)
sensor_updated = False
comm_ready()
pyb.delay(500)
communicator.signal_stop() # micropython will be in standby at the start
standby()
def reset():
print("\nResetting sensors")
gps.reset()
imu.reset()
stepper.reset()
def standby():
pyb_leds[0].off()
pyb_leds[1].off()
pyb_leds[2].on()
leds = [LEDcommand(index, index + 1) for index in range(3)] # 3 normal LEDs
blue_led = BlueLEDcommand(3)
stepper = StepperCommand(4)
setting_up_sensors()
gps = GPS(1, uart_bus=2, timer_num=4)
imu = IMU(2, bus=2, reset_pin="X7", timer_num=11)
communicator = Communicator(*leds, blue_led, stepper, uart_bus=4)
sensor_updated = False
comm_ready()
pyb.delay(500)
communicator.signal_stop() # micropython will be in standby at the start
standby()
while True:
communicator.read_command()
if imu.recved_data():
sensor_updated = True
communicator.write_packet(imu)