def setup_mixers(self, rover, type):
if self.board_type is 'navio':
logging.info("Setting up Ackermann car")
throttle_driver = NavioPWM(
config.ackermann_car_navio.throttle_channel,
invert=config.ackermann_car_navio.throttle_channel_invert,
left_pulse=config.ackermann_car_navio.throttle_stopped_pwm,
right_pulse=config.ackermann_car_navio.throttle_forward_pwm)
steering_driver = NavioPWM(
config.ackermann_car_navio.steering_channel,
invert=config.ackermann_car_navio.steering_channel_invert,
left_pulse=config.ackermann_car_navio.throttle_left_pwm,
right_pulse=config.ackermann_car_navio.throttle_right_pwm)
rover.mixer = AckermannSteeringMixer(
steering_driver=steering_driver,
throttle_driver=throttle_driver)
elif self.board_type is 'navio2':
if type == 'differential':
logging.info("Setting up differential car")
left_driver = NAVIO2PWM(config.differential_car.left_channel)
right_driver = NAVIO2PWM(config.differential_car.right_channel)
rover.mixer = DifferentialSteeringMixer(
left_driver=left_driver, right_driver=right_driver)
else:
logging.info("Setting up Ackermann car")
throttle_driver = NAVIO2PWM(
config.ackermann_car.throttle_channel)
steering_driver = NAVIO2PWM(
config.ackermann_car.steering_channel)
rover.mixer = AckermannSteeringMixer(
steering_driver=steering_driver,
throttle_driver=throttle_driver)
elif self.board_type is 'adafruit':
logging.info("Setting up differential car")
left_driver = Adafruit_MotorHAT(
config.differential_car.left_channel + 1)
right_driver = Adafruit_MotorHAT(
config.differential_car.right_channel + 1)
rover.mixer = DifferentialSteeringMixer(left_driver=left_driver,
right_driver=right_driver)
else:
logging.error("No drivers found - exiting")
sys.exit()
def setUp(self):
vehicle = Rover()
vehicle.auto_pilots = [TestPilot()]
vehicle.auto_pilot_index = 0
d1 = TestDriver()
d2 = TestDriver()
mx = DifferentialSteeringMixer(left_driver=d1, right_driver=d2)
vehicle.mixer = mx
vehicle.recorder = DummyRecorder()
vehicle.vision_sensor = TestCamera()
vehicle.indicator = DummyIndicator()
self.vehicle = vehicle
def setup_mixers(self, rover):
if self.board_type is 'navio':
logging.info("Found NAVIO2 HAT - Setting up Ackermann car")
throttle_driver = NAVIO2PWM(2)
steering_driver = NAVIO2PWM(0)
rover.mixer = AckermannSteeringMixer(
steering_driver=steering_driver,
throttle_driver=throttle_driver)
elif self.board_type is 'adafruit':
logging.info(
"Found Adafruit Motor HAT - Setting up differential car")
left_driver = Adafruit_MotorHAT(config.LEFT_MOTOR_TERMINAL)
right_driver = Adafruit_MotorHAT(config.RIGHT_MOTOR_TERMINAL)
rover.mixer = DifferentialSteeringMixer(left_driver=left_driver,
right_driver=right_driver)
else:
logging.error("No drivers found - exiting")
sys.exit()