def __init__(self):
super(ArduinoController, self).__init__()
self.arduino_serial_interface = Arduino(config.arduino_address)
self.output_pins = config.arduino_output_pins #Motor output numbers
self.input_pins = config.arduino_input_pins #Sensor input numbers
#declare output pins as a list/tuple
self.arduino_serial_interface.output(self.output_pins)
try:
self.motor_normalisation_values = config.motor_normalisation_values
except:
self.motor_normalisation_values = None
try:
self.sensor_normalisation_values = config.sensor_normalisation_values
except:
self.sensor_normalisation_values = None
def __init__(self):
super(ArduinoController, self).__init__()
self.arduino_serial_interface = Arduino(config.arduino_address)
self.output_pins = config.arduino_output_pins #Motor output numbers
self.input_pins = config.arduino_input_pins #Sensor input numbers
#declare output pins as a list/tuple
self.arduino_serial_interface.output(self.output_pins)
try:
self.motor_normalisation_values = config.motor_normalisation_values
except:
self.motor_normalisation_values = None
try:
self.sensor_normalisation_values = config.sensor_normalisation_values
except:
self.sensor_normalisation_values = None
class ArduinoController(object):
"""Arduino Controller"""
def __init__(self):
super(ArduinoController, self).__init__()
self.arduino_serial_interface = Arduino(config.arduino_address)
self.output_pins = config.arduino_output_pins #Motor output numbers
self.input_pins = config.arduino_input_pins #Sensor input numbers
#declare output pins as a list/tuple
self.arduino_serial_interface.output(self.output_pins)
try:
self.motor_normalisation_values = config.motor_normalisation_values
except:
self.motor_normalisation_values = None
try:
self.sensor_normalisation_values = config.sensor_normalisation_values
except:
self.sensor_normalisation_values = None
def get_random_sensor(self):
return random.randint(0,len(self.input_pins)-1)
def get_sensor_value(self,s):
try:
sensor_value = float(self.arduino_serial_interface.analogRead(self.input_pins[s]))
except:
sensor_value = 0.0
time.sleep(0.1)
if self.sensor_normalisation_values is not None:
return self.get_normalised_sensor_value(s,sensor_value)
else:
return sensor_value
def get_random_motor(self):
return random.randint(0,len(self.output_pins)-1)
def move_servo(self,motor,value):
if config.arduino_limit:
value = self.limit_value(value)
elif config.arduino_normalise:
value = self.get_real_motor_value(motor,value)
self.arduino_serial_interface.moveServo(motor, int(value))
time.sleep(0.1)
def get_normalised_sensor_value(self,s,value):
_min = self.sensor_normalisation_values[s][0]
_max = self.sensor_normalisation_values[s][1]
return self._normalise(_min,_max,value)
def get_normalised_motor_value(self,m,value):
_min = self.motor_normalisation_values[m][0]
_max = self.motor_normalisation_values[m][1]
return self._normalise(_min,_max,value)
def get_real_motor_value(self,m,normalised_value):
_min = self.motor_normalisation_values[m][0]
_max = self.motor_normalisation_values[m][1]
return self._denormalise(_min,_max,normalised_value)
def _limit_value(self,motor,value):
try:
limits = self.motor_normalisation_values[motor]
except:
return value
hi = limits[0]
lo = limits[1]
if value > hi:
value = hi
elif value < lo:
value = lo
return value
def _normalise(self,_min,_max,value):
return (value + (-1*_min))/((-1*_min)+_max)
def _denormalise(self,_min,_max,value):
return (value*((-1*_min)+_max)) - (-1*_min)
class ArduinoController(object):
"""Arduino Controller"""
def __init__(self):
super(ArduinoController, self).__init__()
self.arduino_serial_interface = Arduino(config.arduino_address)
self.output_pins = config.arduino_output_pins #Motor output numbers
self.input_pins = config.arduino_input_pins #Sensor input numbers
#declare output pins as a list/tuple
self.arduino_serial_interface.output(self.output_pins)
try:
self.motor_normalisation_values = config.motor_normalisation_values
except:
self.motor_normalisation_values = None
try:
self.sensor_normalisation_values = config.sensor_normalisation_values
except:
self.sensor_normalisation_values = None
def get_random_sensor(self):
return random.randint(0, len(self.input_pins) - 1)
def get_sensor_value(self, s):
try:
sensor_value = float(
self.arduino_serial_interface.analogRead(self.input_pins[s]))
except:
sensor_value = 0.0
time.sleep(0.1)
if self.sensor_normalisation_values is not None:
return self.get_normalised_sensor_value(s, sensor_value)
else:
return sensor_value
def get_random_motor(self):
return random.randint(0, len(self.output_pins) - 1)
def move_servo(self, motor, value):
if config.arduino_limit:
value = self.limit_value(value)
elif config.arduino_normalise:
value = self.get_real_motor_value(motor, value)
self.arduino_serial_interface.moveServo(motor, int(value))
time.sleep(0.1)
def get_normalised_sensor_value(self, s, value):
_min = self.sensor_normalisation_values[s][0]
_max = self.sensor_normalisation_values[s][1]
return self._normalise(_min, _max, value)
def get_normalised_motor_value(self, m, value):
_min = self.motor_normalisation_values[m][0]
_max = self.motor_normalisation_values[m][1]
return self._normalise(_min, _max, value)
def get_real_motor_value(self, m, normalised_value):
_min = self.motor_normalisation_values[m][0]
_max = self.motor_normalisation_values[m][1]
return self._denormalise(_min, _max, normalised_value)
def _limit_value(self, motor, value):
try:
limits = self.motor_normalisation_values[motor]
except:
return value
hi = limits[0]
lo = limits[1]
if value > hi:
value = hi
elif value < lo:
value = lo
return value
def _normalise(self, _min, _max, value):
return (value + (-1 * _min)) / ((-1 * _min) + _max)
def _denormalise(self, _min, _max, value):
return (value * ((-1 * _min) + _max)) - (-1 * _min)
