示例#1
0
def back():
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_SET_MORTOR1_DIR, CON_DOWN))
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_SET_MORTOR2_DIR, CON_DOWN))
示例#2
0
def init_pysical_status():
    pu.i2c_write(ADDRESS_PIC,
                 com_and_data(COM_SET_SERVO1_MAX, CON_DS939MG_MAX_ANGLE))
    pu.i2c_write(ADDRESS_PIC,
                 com_and_data(COM_SET_SERVO2_MAX, CON_DS939MG_MAX_ANGLE))
    pu.i2c_write(ADDRESS_PIC,
                 com_and_data(COM_SET_SERVO1_MIN, CON_DS939MG_MIN_ANGLE))
    pu.i2c_write(ADDRESS_PIC,
                 com_and_data(COM_SET_SERVO2_MIN, CON_DS939MG_MIN_ANGLE))
    pu.i2c_write(ADDRESS_PIC,
                 com_and_data(COM_SET_SERVO1_POW, CON_DS939MG_POWER_MODERATE))
    pu.i2c_write(ADDRESS_PIC,
                 com_and_data(COM_SET_SERVO2_POW, CON_DS939MG_POWER_MODERATE))

    global current_gear
    #current_gear = CON_POWER_STEP / 2
    current_gear = CON_POWER_STEP - 1
    pu.i2c_write(
        ADDRESS_PIC,
        com_and_data(COM_SET_MORTOR_POW, CON_MORTOR_POWERS[current_gear]))

    #init arm
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_MOV_SERVO1, CON_DOWN))
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_MOV_SERVO2, CON_DOWN))
    time.sleep(3)
    pass
示例#3
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def forward():
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_SET_MORTOR1_DIR, CON_UP))
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_SET_MORTOR2_DIR, CON_UP))
示例#4
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def down_arm2():
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_MOV_SERVO2, CON_UP))
    pass
示例#5
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def stop_arm2():
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_MOV_SERVO2, CON_MIDDLE))
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_MOV_SERVO2, CON_MIDDLE))
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_MOV_SERVO2, CON_MIDDLE))
    pass
示例#6
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def down_arm1():
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_MOV_SERVO1, CON_DOWN))
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_MOV_SERVO2, CON_DOWN))
    pass
示例#7
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def up_arm2():
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_MOV_SERVO2, CON_DOWN))
    pass
示例#8
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def up_arm1():
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_MOV_SERVO1, CON_UP))
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_MOV_SERVO2, CON_UP))
    pass
示例#9
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def stop():
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_SET_MORTOR1_DIR, CON_MIDDLE))
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_SET_MORTOR2_DIR, CON_MIDDLE))
示例#10
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def speed_down():
    global current_gear
    current_gear = max(0, current_gear - 1)
    pu.i2c_write(
        ADDRESS_PIC,
        com_and_data(COM_SET_MORTOR_POW, CON_MORTOR_POWERS[current_gear]))
示例#11
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def speed_up():
    global current_gear
    current_gear = min(CON_POWER_STEP - 1, current_gear + 1)
    pu.i2c_write(
        ADDRESS_PIC,
        com_and_data(COM_SET_MORTOR_POW, CON_MORTOR_POWERS[current_gear]))
示例#12
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def left_turn():
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_SET_MORTOR1_DIR, CON_UP))
    pu.i2c_write(ADDRESS_PIC, com_and_data(COM_SET_MORTOR2_DIR, CON_DOWN))