else:
steps = random.randint(-5000, -1000) # steps (backward)
print("Driving backward: " + str(steps) + " steps")
vel = random.randint(200, 2000) # steps/s
acc = random.randint(100, 1000) # steps/s^2
dec = random.randint(100, 1000) # steps/s^2
print("Configuration (vel, acc, dec): " + str((vel, acc, dec)))
stepper.set_speed_ramping(acc, dec)
stepper.set_max_velocity(vel)
stepper.set_steps(steps)
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
stepper = BrickStepper(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Register position reached callback to function cb_position_reached
stepper.register_callback(stepper.CALLBACK_POSITION_REACHED,
lambda x: cb_position_reached(x, stepper))
stepper.enable() # Enable motor power
stepper.set_steps(1) # Drive one step forward to get things going
raw_input("Press key to exit\n") # Use input() in Python 3
stepper.disable()
ipcon.disconnect()
stepper.set_step_mode(8)
stepper.set_motor_current(1000)
stepper.set_max_velocity(3000)
stepper.set_speed_ramping(1000, 50000)
stepper.set_current_position(0)
time.sleep(1)
o_clear()
print("Callbacks werden registriert")
o_write(1, 5, "Callbacks")
o_write(1, 3, "werden registriert")
dcb.register_callback(dcb.CALLBACK_VELOCITY_REACHED,
lambda x: cb_dcb_velocity(x, dcb))
stepper.register_callback(BrickStepper.CALLBACK_UNDER_VOLTAGE,
cb_stepper_undervoltage)
ropoti.register_callback(BrickletRotaryPoti.CALLBACK_POSITION,
cb_rotary_fancontrol)
poti.register_callback(BrickletLinearPoti.CALLBACK_POSITION,
cb_linearpoti_controller)
irsensor.register_callback(BrickletDistanceIR.CALLBACK_DISTANCE,
cb_irsensor_distance)
o_clear()
print("Bricks werden gestartet")
o_write(1, 6, "Bricks")
o_write(1, 3, "werden aktiviert")
stepper.enable()
dcb.enable()
