def main():
Frontal.ResetEncoders(address)
Trasero.ResetEncoders(address)
time.sleep(1)
with open("csvMAX.csv", "wb") as f:
writer = csv.writer(f, delimiter=',', quotechar='"', quoting=csv.QUOTE_ALL)
writer.writerow(['Tiempo', 'EncA', 'EncB', 'EncC', 'EncD', 'vA', 'vB', 'vC', 'vD','iA','iB', 'iC', 'iD', 'pwmA', 'pwmB', 'pwmC', 'pwmD'])
rep=0
#try:
while(rep<1):
#while (Ein[0]<1 and Ein[1]<1 and Ein[2] <1 and Ein[3] <1):
start = time.time()
last = start
while(time.time()-start< 2.0):
inicio = time.time()
if (inicio-last)>=0.05:
savelast = last
last = inicio
LM.Adelante2x()
LM.writeCSV(start,savelast)
print("\n--- %s seconds ---\n" % (time.time()-start))
start = time.time()
LM.Detenerse()
time.sleep(2)
print("\n--- %s seconds ---\n" % (time.time()-start))
rep = rep + 1
def main():
Frontal.ResetEncoders(address)
Trasero.ResetEncoders(address)
time.sleep(3)
with open("csvFile.csv", "wb") as f:
writer = csv.writer(f, delimiter=',', quotechar='"',quoting=csv.QUOTE_ALL)
writer.writerow(['Tiempo', 'EncA', 'EncB', 'EncC', 'EncD', 'vA', 'vB', 'vC', 'vD','iA','iB', 'iC', 'iD', 'pwmA', 'pwmB', 'pwmC', 'pwmD'])
rep=0
while(rep<1):
start_time = time.time()
ee = displayspeed()
Ein = [abs(ee[0]), abs(ee[1]), abs(ee[2]), abs(ee[3])]
while (Ein[0]<10*4800 and Ein[1]< 10*4800 and Ein[2] < 10*4800 and Ein[3] < 10*4800):
LM.Motor1()
LM.Motor2()
LM.Motor3()
LM.Motor4()
iAB = Frontal.ReadCurrents(address)
iCD = Trasero.ReadCurrents(address)
pwmAB = Frontal.ReadPWMs(address)
pwmCD = Trasero.ReadPWMs(address)
lectura = displayspeed()
print(lectura)
writer.writerow([(time.time()- start_time), lectura[0], lectura[1], lectura[2], lectura[3], lectura[4], lectura[5], lectura[6], lectura[7], float(iAB[1])/100, float(iAB[2])/100, float(iCD[1])/100, float(iCD[2])/100, pwmAB[1], pwmAB[2], pwmCD[1], pwmCD[2]])
time.sleep(0.01)
Ein =[abs(lectura[0]), abs(lectura[1]), abs(lectura[2]), abs(lectura[3])]
print("\n--- %s seconds ---\n" % (time.time() - start_time))
start_time = time.time()
LM.Detenerse()
time.sleep(2)
print("\n--- %s seconds ---\n" % (time.time() - start_time))
rep = rep + 1
def SE():
print("\nSE ⇘\n")
rep = 0
while (rep < 1):
LM.SE2x()
time.sleep(2)
LM.Detenerse()
time.sleep(0.5)
rep = rep + 1
def NO():
print("\nNO ⇖\n")
rep = 0
while (rep < 1):
LM.NO2x()
time.sleep(2)
LM.Detenerse()
time.sleep(0.5)
rep = rep + 1
def CCW():
print("\nCCW ↺\n")
rep = 0
while (rep < 1):
LM.CCW2x()
time.sleep(2)
LM.Detenerse()
time.sleep(0.5)
rep = rep + 1
def LEFT():
print("\nLEFT ⇦\n")
rep = 0
while (rep < 1):
LM.LEFT2x()
time.sleep(2)
LM.Detenerse()
time.sleep(0.5)
rep = rep + 1
def RIGHT():
print("\nRIGHT ⇨\n")
rep = 0
while (rep < 1):
LM.RIGHT2x()
time.sleep(2)
LM.Detenerse()
time.sleep(0.5)
rep = rep + 1
def REVERSE():
print("\nREVERSE ⇩\n")
rep = 0
while (rep < 1):
LM.Atras2x()
time.sleep(2)
LM.Detenerse()
time.sleep(0.5)
rep = rep + 1
def FORWARD():
print("\nFORWARD ⇧\n")
rep = 0
while (rep < 1):
LM.Adelante1x()
time.sleep(2)
LM.Detenerse()
time.sleep(0.5)
rep = rep + 1
def SO():
print("\nSO ⇙\n")
rep = 0
while (rep < 1):
LM.SO2x()
time.sleep(2)
LM.Detenerse()
time.sleep(0.5)
rep = rep + 1
def NE():
print("\nNE ⇗\n")
rep = 0
while (rep < 1):
LM.NE2x()
time.sleep(2)
LM.Detenerse()
time.sleep(0.5)
rep = rep + 1
def main():
time.sleep(1)
LM.Adelante2x()
time.sleep(2)
LM.Detenerse()
time.sleep(1)
LM.Atras2x()
time.sleep(2)
LM.Detenerse()
time.sleep(1)
LM.RIGHT3x()
time.sleep(2)
LM.Detenerse()
time.sleep(1)
LM.LEFT3x()
time.sleep(2)
LM.Detenerse()
time.sleep(1)
LM.SE3x()
time.sleep(2)
LM.Detenerse()
time.sleep(1)
LM.NO3x()
time.sleep(2)
LM.Detenerse()
time.sleep(1)
LM.SO3x()
time.sleep(2)
LM.Detenerse()
time.sleep(1)
LM.NE3x()
time.sleep(2)
LM.Detenerse()
time.sleep(1)
LM.CCW5x()
time.sleep(3)
LM.Detenerse()
time.sleep(1)
LM.CW5x()
time.sleep(3)
LM.Detenerse()
time.sleep(1)
def main():
Frontal.ResetEncoders(address)
Trasero.ResetEncoders(address)
time.sleep(2)
with open("csvMAX.csv", "wb") as f:
writer = csv.writer(f,
delimiter=',',
quotechar='"',
quoting=csv.QUOTE_ALL)
writer.writerow([
'Tiempo', 'EncA', 'EncB', 'EncC', 'EncD', 'vA', 'vB', 'vC', 'vD',
'iA', 'iB', 'iC', 'iD', 'pwmA', 'pwmB', 'pwmC', 'pwmD'
])
rep = 0
#try:
while (rep < 1):
#while (Ein[0]<1 and Ein[1]<1 and Ein[2] <1 and Ein[3] <1):
start = time.time()
while (time.time() - start < 2.0):
#LM.Adelante2x()
LM.Atras2x()
L1 = LM.EDV()
L2 = LM.display_IP()
#print((time.time()-start_time))
writer.writerow([(time.time() - start), L1[0], L1[1], L1[2],
L1[3], L1[4], L1[5], L1[6], L1[7], L2[0],
L2[1], L2[2], L2[3], L2[4], L2[5], L2[6],
L2[7]])
time.sleep(0.01)
#Ein =[abs(L1[0]), abs(L1[1]), abs(L1[2]), abs(L1[3])]
print("\n--- %s seconds ---\n" % (time.time() - start))
start = time.time()
LM.Detenerse()
time.sleep(2)
print("\n--- %s seconds ---\n" % (time.time() - start))
rep = rep + 1
def main():
Frontal.ResetEncoders(address)
Trasero.ResetEncoders(address)
time.sleep(1)
with open("Ts6.csv", "wb") as f:
writer = csv.writer(f,
delimiter=',',
quotechar='"',
quoting=csv.QUOTE_ALL)
writer.writerow([
'Tiempo', 'EncA', 'EncB', 'EncC', 'EncD', 'vA', 'vB', 'vC', 'vD',
'iA', 'iB', 'iC', 'iD', 'pwmA', 'pwmB', 'pwmC', 'pwmD'
])
rep = 0
while (rep < 1):
##### ADELANTE1X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Adelante1x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ADELANTE 1X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ADELANTE2X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Adelante2x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ADELANTE 2X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ADELANTE3X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Adelante3x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ADELANTE 3X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ADELANTE4X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Adelante4x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ADELANTE 4X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ADELANTE5X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Adelante5x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ADELANTE 5X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ADELANTE4X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Adelante4x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ADELANTE 4X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ADELANTE3X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Adelante3x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ADELANTE 3X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ADELANTE2X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Adelante2x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ADELANTE 2X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ADELANTE1X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Adelante1x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ADELANTE 1X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### DETENERSE POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Detenerse()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE DETENERSE ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ATRAS1X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Atras1x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ATRAS 1X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ATRAS2X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Atras2x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ATRAS 2X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ATRAS3X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Atras3x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ATRAS 3X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ATRAS4X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Atras4x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ATRAS 4X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ATRAS5X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Atras5x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ATRAS 5X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ATRAS4X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Atras4x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ATRAS 4X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ATRAS3X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Atras3x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ATRAS 3X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ATRAS2X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Atras2x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ATRAS 2X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ATRAS1X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Atras1x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ATRAS 1X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### DETENERSE POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Detenerse()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE DETENERSE ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ADELANTE2X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Adelante2x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ADELANTE2X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ATRAS2X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Atras2x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ATRAS 2X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### DETENERSE POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Detenerse()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE DETENERSE ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ADELANTE4X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Adelante4x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ADELANTE4X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### DETENERSE POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Detenerse()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE DETENERSE ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ATRAS4X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Atras4x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ATRAS 4X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### DETENERSE POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Detenerse()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE DETENERSE ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ADELANTE3X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Adelante3x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ADELANTE3X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### DETENERSE POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Detenerse()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE DETENSERSE ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### ATRAS3X POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Atras3x()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE ATRAS 3X ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
##### DETENERSE POR 3 SEGUNDOS #####
start = time.time()
last = start
while (time.time() - start < 3.0):
inicio = time.time()
if (inicio - last) >= 0.05:
savelast = last
last = inicio
LM.Detenerse()
LM.writeCSV(writer, start, savelast)
print("\n--- FIN DE DETENSERSE ----")
print("\n--- %s seconds ---\n" % (time.time() - start))
### FIN DE LA PRUEBA
print("\n --- FIN DE LA PRUEBA ---")
start = time.time()
LM.Detenerse()
time.sleep(1)
print("\n--- %s seconds ---\n" % (time.time() - start))
rep = rep + 1
def main():
LM.Detenerse()