class Motor:
def __init__(self, address=RC_ADDRESS):
self.rc = Roboclaw(COMPORT, 115200)
self.rc.Open()
logger.info('Opened Roboclaw')
self.address = address
self.dir = None
self.speed = INITIAL_SPEED
self.throttle(Throttle.NEUTRAL)
self.rc.TurnRightMixed(address, 0)
def set_speed(self, speed: int) -> None:
self.speed = speed
logger.info('Set motor speed to %d' % speed)
def throttle(self, dir: Throttle) -> None:
if dir != self.dir:
self.dir = dir
logger.debug('Throttling into direction: %s' % dir)
if dir == Throttle.FORWARD:
try:
self.rc.BackwardMixed(self.address, self.speed)
except:
pass
elif dir == Throttle.NEUTRAL:
try:
self.rc.ForwardMixed(self.address, 0)
except:
pass
elif dir == Throttle.REVERSE:
try:
self.rc.ForwardMixed(self.address, self.speed)
except:
pass
class MotorController(object):
def __init__(self):
# Initialize addresses = [0x80, 0x81]
self.addresses = [0x80, 0x81]
# Connect to roboclaw
serial_port = "/dev/ttyS0"
baudrate = 38400
self.roboclaw = Roboclaw(serial_port, baudrate)
self.roboclaw.Open()
self.robotspeed = 10
def forward(self, drivetime):
for address in self.addresses:
self.roboclaw.ForwardMixed(address, self.robotspeed)
sleep(drivetime)
for address in self.addresses:
self.roboclaw.ForwardMixed(address, 0)
def backward(self, drivetime):
for address in self.addresses:
self.roboclaw.BackwardMixed(address, self.robotspeed)
sleep(drivetime)
for address in self.addresses:
self.roboclaw.BackwardMixed(address, 0)
def right(self, drivetime):
self.roboclaw.TurnRightMixed(self.addresses[0], self.robotspeed)
self.roboclaw.TurnLeftMixed(self.addresses[1], self.robotspeed)
sleep(drivetime)
self.roboclaw.TurnRightMixed(self.addresses[0], 0)
self.roboclaw.TurnLeftMixed(self.addresses[1], 0)
def left(self, drivetime):
self.roboclaw.TurnLeftMixed(self.addresses[0], self.robotspeed)
self.roboclaw.TurnRightMixed(self.addresses[1], self.robotspeed)
sleep(drivetime)
self.roboclaw.TurnLeftMixed(self.addresses[0], 0)
self.roboclaw.TurnRightMixed(self.addresses[1], 0)
def diagonals(self, direction, drivetime):
if direction == 'northeast' or direction == "wd":
for address in self.addresses:
self.roboclaw.ForwardM1(address, self.robotspeed)
sleep(drivetime)
elif direction == 'northwest' or direction == "wa":
for address in self.addresses:
self.roboclaw.ForwardM2(address, self.robotspeed)
sleep(drivetime)
elif direction == 'southeast' or direction == "sd":
for address in self.addresses:
self.roboclaw.BackwardM2(address, self.robotspeed)
sleep(drivetime)
elif direction == 'southwest' or direction == "sa":
for address in self.addresses:
self.roboclaw.BackwardM1(address, self.robotspeed)
sleep(drivetime)
def rotate(self, direction, drivetime):
if direction == 'clockwise' or direction == 'e':
for address in self.addresses:
self.roboclaw.TurnLeftMixed(address, self.robotspeed)
sleep(drivetime)
elif direction == 'counter-clockwise' or direction == 'q':
for address in self.addresses:
self.roboclaw.TurnRightMixed(address, self.robotspeed)
sleep(drivetime)
if command.strip() == 'THROTTLE REVERSE':
rc.BackwardMixed(address, 32)
if input() == 'c':
conn.close()
# Windows comport name
comport = "COM5"
rc = Roboclaw(comport, 115200)
rc.Open()
address = 0x80
rc.ForwardMixed(address, 0)
rc.TurnRightMixed(address, 0)
serv = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
serv.bind(('10.24.178.220', 8080))
serv.listen(5)
while True:
conn, addr = serv.accept()
from_client = ''
while True:
data = conn.recv(4096)
if not data:
break
from_client = data.decode()
print(from_client.strip())
if from_client.strip() == "HANDSHAKE":