def main():
global speed, direction, timeout, ser
rospy.init_node('ros_servo')
ipcon = IPConnection() # Create IP connection
servo = BrickServo(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT)
rospy.Subscriber("/cmd_vel", Twist, callback)
r = rospy.Rate(100) # Hz
vel_tp = [0] * 50 # 50 sample low-pass for speed
dir_tp = [0] * 10 # 10 sample low-pass for steering
while not rospy.is_shutdown():
vel_tp[len(vel_tp) - 1] = speed #if not timeout > TIMEOUT else 0
vel_tp[:-1] = vel_tp[1:]
dir_tp[len(dir_tp) - 1] = direction
dir_tp[:-1] = dir_tp[1:]
tx_speed = (sum(vel_tp) / len(vel_tp)) * 18000
tx_dir = (sum(dir_tp) / len(dir_tp)) * -90000
rospy.loginfo("Speed: %f", tx_speed)
rospy.loginfo("Steering: %f", tx_dir)
#motorR = tx_speed + tx_dir
#motorL= tx_speed - tx_dir
servo.set_degree(0, -9000, 9000)
servo.set_velocity(0, 65535)
servo.set_position(0, tx_dir)
servo.enable(0)
servo.set_degree(1, -9000, 9000)
servo.set_velocity(1, 65535)
servo.set_position(1, tx_speed)
servo.enable(1)
timeout += 1
r.sleep()
def findDeviceType(id, devicetype):
global ipcon
tmp = hal.Devices.find(id)
if tmp != None:
return tmp.Device
else:
if devicetype == 13: return BrickMaster(id, ipcon)
elif devicetype == 14: return BrickServo(id, ipcon)
elif devicetype == 227: return BrickletVoltageCurrent(id, ipcon)
elif devicetype == 2105: return BrickletVoltageCurrentV2(id, ipcon)
elif devicetype == 100: return BrickletIO16(id, ipcon)
elif devicetype == 243: return BrickletColor(id, ipcon)
elif devicetype == 2128: return BrickletColorV2(id, ipcon)
elif devicetype == 26: return BrickletDualRelay(id, ipcon)
elif devicetype == 284: return BrickletIndustrialDualRelay(id, ipcon)
elif devicetype == 225: return BrickletIndustrialQuadRelay(id, ipcon)
elif devicetype == 2102:
return BrickletIndustrialQuadRelayV2(id, ipcon)
else:
print("Warning: DeviceType " + str(devicetype) + " not found")
return None
#!/usr/bin/env python
# -*- coding: utf-8 -*-
HOST = "localhost"
PORT = 4223
UID = "XXYYZZ" # Change XXYYZZ to the UID of your Servo Brick
from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_servo import BrickServo
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
servo = BrickServo(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Configure two servos with voltage 5.5V
# Servo 1: Connected to port 0, period of 19.5ms, pulse width of 1 to 2ms
# and operating angle -100 to 100°
#
# Servo 2: Connected to port 5, period of 20ms, pulse width of 0.95
# to 1.95ms and operating angle -90 to 90°
servo.set_output_voltage(5500)
servo.set_degree(0, -10000, 10000)
servo.set_pulse_width(0, 1000, 2000)
servo.set_period(0, 19500)
servo.set_acceleration(0, 1000) # Slow acceleration
servo.set_velocity(0, 65535) # Full speed
oled.write(column[i])
def line_at_angle(startx, starty, angle, length):
radian_angle = math.pi * angle / 180.0
x = startx + length * math.cos(radian_angle)
y = starty + length * math.sin(radian_angle)
return (startx, starty, x, y)
if __name__ == "__main__":
# Create Brick/Bricklet objects
ipcon = IPConnection()
oled = BrickletOLED128x64('x5U', ipcon)
poti = BrickletRotaryPoti('8Co', ipcon)
servo = BrickServo('6e8MF1', ipcon)
# Connect to brickd
ipcon.connect(HOST, PORT)
# Configure Servo so that it rotates 180°
servo.set_pulse_width(6, 650, 2350)
servo.enable(6)
# Clear display
oled.clear_display()
# Draw text once at beginning, the window in draw_matrix does not overwrite
# the last line of the display
oled.write_line(7, 5, "tinkerforge.com")