def send_pwm_continuesly(self):
with navio.pwm.PWM(self.rc_channel) as pwm:
pwm.enable()
pwm.set_period(50)
def _max_pwm():
pwm.set_duty_cycle(self.max_pwm)
def send_max_pwm():
rospy.loginfo("Sending max pwm ({}) to {}. channel...".format(
self.min_pwm, self.rc_channel))
try:
_max_pwm()
except:
rospy.logerr("Error occured while sending max pwm...")
rospy.loginfo("Sent")
self.pub_stat.publish("open")
def _min_pwm():
pwm.set_duty_cycle(self.min_pwm)
def send_min_pwm():
rospy.loginfo("Sending max pwm ({}) to {}. channel...".format(
self.min_pwm, self.rc_channel))
try:
_min_pwm()
except:
rospy.logerr("Error occured while sending min pwm...")
rospy.loginfo("Sent")
self.pub_stat.publish("close")
while (True):
if self.next_state == self.state:
if self.state == "open":
rospy.loginfo("STILL open")
send_min_pwm()
elif self.state == "close":
rospy.loginfo("STILL close")
send_max_pwm()
else:
rospy.logerr(
"States are the same but... unknown error happend..."
)
else:
if self.next_state == "open":
rospy.loginfo("RECEIVED open")
send_min_pwm()
self.change_state("open")
elif self.next_state == "close":
rospy.loginfo("RECEIVED close")
send_max_pwm()
self.change_state("close")
else:
rospy.logerr("Ooo!")
rospy.spin()
def main():
pwm = navio.pwm.PWM(PWM_OUTPUT)
pwm.initialize()
pwm.set_period(50)
pwm.enable()
loop_for(2, pwm.set_duty_cycle, SERVO_MAX)
loop_for(2, pwm.set_duty_cycle, SERVO_MIN)
loop_for(2, pwm.set_duty_cycle, SERVO_NOM)
while (True):
loop_for(1, pwm.set_duty_cycle, 1.3)
#Spower = Decimal((1300.000 + (a * 700.000 / 640.000))/1000.000) #Spower = round(Spower, 3) #print Spower pwm = navio.pwm.PWM(PWM_OUTPUT) pwm2 = navio.pwm.PWM(PWM_OUTPUT2) pwm3 = navio.pwm.PWM(PWM_OUTPUT3) pwm4 = navio.pwm.PWM(PWM_OUTPUT4) pwm.initialize() pwm2.initialize() pwm3.initialize() pwm4.initialize() pwm.set_period(50) pwm2.set_period(50) pwm3.set_period(50) pwm4.set_period(50) pwm.enable() pwm2.enable() pwm3.enable() pwm4.enable() t1 = threading.Thread(target=servo, args=[]) t1.start() stream = io.BytesIO() print "*****Command*****"
import navio.pwm
import navio.util
navio.util.check_apm()
PWM_OUTPUT = 0
# These are just some good values to know when seting the motor power
SERVO_MIN = 1.250 #ms
SERVO_MAX = 1.750 #ms
# Now every time we want to use a motor, we have to enable it first
# Let's enable all 4 (they're numbered 0-3)
pwmArray = []
for num in range(0,3+1): # This loops over 0,1,2,3
pwm = navio.pwm.PWM(num)
pwm.set_period(50)
pwmArray.append(pwm)
cycles = 3; # How many cycles you want to spin the rotors for
# Otherwise it'll keep spinning forever
while (cycles > 0):
cycles -= 1
# Now we alternate all motors between fast and slow
for pwm in pwmArray:
pwm.set_duty_cycle(SERVO_MIN)
# They will keep spinning until we send a new signal
time.sleep(1)
for pwm in pwmArray:
pwm.set_duty_cycle(SERVO_MAX)
time.sleep(1)
import sys
import time
import navio.pwm
import navio.util
navio.util.check_apm()
PWM_OUTPUT = 0
SERVO_MIN = 1.200 #ms
SERVO_MAX = 1.800 #ms
sequence = [1.500, 1, 1.600, 1]
with navio.pwm.PWM(PWM_OUTPUT) as pwm:
pwm.disable()
pwm.set_period(20)
time.sleep(3)
pwm.enable()
for v, i in enumerate(sequence):
if v % 2 == 0:
pwm.set_duty_cycle(i)
print("set:{0}".format(i))
else:
time.sleep(i)
print("wait:{0}".format(i))
while True:
pwm.set_duty_cycle(1.6)
#print("Turning on")
#time.sleep(5)
#pwm.set_duty_cycle(1.700) # Give it a kick at first
#print("Giving it a boost")
import navio.pwm
import navio.adc
import navio.util
navio.util.check_apm()
adc = navio.adc.ADC()
results = [0] * adc.channel_count
PWM_OUTPUT = 0
SERVO_MIN = 1.000 #ms
SERVO_MAX = 1.500 #ms
pwm = navio.pwm.PWM(PWM_OUTPUT)
pwm.set_period(400)
#pwm.set_duty_cycle(SERVO_MIN)
#time.sleep(10)
while (True):
results[5] = adc.read(5)
duty=0.001*int(1000+900*results[5]/5000) #ms
pwm.set_duty_cycle(duty)
print duty
time.sleep(0.1)
# pwm.set_duty_cycle(SERVO_MAX)
# time.sleep(0.2)