def feedback_Ramp(desiredValue):
pid = PID()
ser2 = serial.Serial("/dev/ttyUSB0", 115200) #ser2 for consistency
count2 = 0
currentcount2 = 0
desiredcount2 = 33
# prevcount2 = 0
initialcount2 = 0
pid.SetKp(1.1)
pid.SetDesired(desiredValue)
while True:
delta2 = encoder2.get_delta()
if delta2 != 0:
count2 = count2 + delta2
currentcount2 = count2
print ('{:15}{count}'.format('enc count2', count = count2))
if abs(currentcount2-initialcount2) > desiredcount2:
print ('Reached end, exiting count function')
currentcount2 = 0
break
def feedback_Turn(desiredValue):
pid = PID()
ser2 = serial.Serial("/dev/ttyUSB0", 115200) #ser2 for consistency
count1 = 0
currentcount1 = 0
desiredcount1 = 33
# prevcount1 = 0
initialcount1 = 0
pid.SetKp(1.1)
pid.SetDesired(desiredValue)
while True:
delta1 = encoder1.get_delta()
if delta1 != 0:
count1 = count1 + delta1
currentcount1 = count1
error = pid.desired-abs(currentcount1)
if abs(currentcount1-initialcount1) > desiredcount1:
print ('{:15}{count}'.format('enc count1', count = count1))
print ('Reached end, exiting count function')
currentcount1 = 0
break
