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test.py
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test.py
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#!/home/arthur/.virtualenvs/ev3py27/bin/python
# a test script for basic motion model
from ev3.ev3dev import Motor
from ev3.lego import GyroSensor
import unittest
import time
class Mover():
# Moving motors
left=None;
right=None;
# Sensors
gyro=None;
# Paras
Rrio=2.15; # 60/28=2.14285
# Configs
angle=240;
rmp_sp=200;
run_sp=500; # running speed
t_sp=400; # turning speed
def __init__(self):
self.left=Motor(port=Motor.PORT.B);
self.right=Motor(port=Motor.PORT.C);
self.left.reset();
self.right.reset();
self.gyro=GyroSensor();
def readAngle(self,RESET=0):
if(RESET==1):
self.gyro.rate;
return self.gyro.ang;
def reset(self):
self.left.reset();
self.right.reset();
def runForward(self):
self.reset();
self.left.setup_forever(self.run_sp,speed_regulation = True);
self.right.setup_forever(self.run_sp,speed_regulation = True);
self.left.start();
self.right.start();
def runBackward(self):
self.reset();
self.left.setup_forever(-self.run_sp,speed_regulation = True);
self.right.setup_forever(-self.run_sp,speed_regulation = True);
self.left.start();
self.right.start();
def stop(self):
self.left.stop();
self.right.stop();
def turnRightbyAngle(self, ang):
angtruth = 0;
angtmp = ang;
# adjust loop
while (abs(angtmp)>3):
angtruth=self.oneAngleTurnRight(angtmp);
angtmp=angtmp-angtruth;
#print "Diff: "+str(angtmp);
def oneAngleTurnRight(self, ang):
before=self.readAngle(RESET=1);
#print "Before right turn: "+str(before);
self.reset();
self.left.position=0;
self.left.setup_position_limited(position_sp=int(ang*self.Rrio), speed_sp=self.t_sp,
stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp);
self.right.position=0;
self.right.setup_position_limited(position_sp=-int(ang*self.Rrio), speed_sp=self.t_sp,
stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp);
self.left.start();
self.right.start();
time.sleep(2);
self.stop();
after=self.readAngle();
#print "After right turn: "+str(after);
return after - before;
def turnLeftbyAngle(self, ang):
angtruth = 0;
angtmp = ang;
# adjust loop
while (abs(angtmp)>3):
angtruth=self.oneAngleTurnLeft(angtmp);
angtmp=angtmp+angtruth;
print "Diff: "+str(angtmp);
def oneAngleTurnLeft(self, ang):
before=self.readAngle(RESET=1);
print "Before right turn: "+str(before);
self.reset();
self.right.position=0;
self.right.setup_position_limited(position_sp=int(ang*self.Rrio), speed_sp=self.t_sp,
stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp);
self.left.position=0;
self.left.setup_position_limited(position_sp=-int(ang*self.Rrio), speed_sp=self.t_sp,
stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=self.rmp_sp, ramp_down_sp=self.rmp_sp);
self.right.start();
self.left.start();
time.sleep(2);
self.stop();
after=self.readAngle();
print "After right turn: "+str(after);
return after - before;
if __name__ == '__main__':
run=1;
firstTime=1;
k = Mover();
pre_mode = "w";
try:
mode=str(raw_input("command:"));
except ValueError:
print "Wrong key in";
while (run == 1):
print "pre="+pre_mode+" mode="+mode+" firstTime="+str(firstTime)+" run="+str(run);
if(firstTime==1 and mode == "w"):
k.runForward();
firstTime=0;
elif(firstTime == 1 and mode == "s"):
k.runBackward();
firstTime=0;
elif(firstTime == 1 and mode == "d"):
k.stop();
k.turnRightbyAngle(90);
mode = pre_mode;
elif(firstTime == 1 and mode == "a"):
k.stop();
k.turnLeftbyAngle(90);
mode = pre_mode;
elif(firstTime == 1 and mode == "z"):
k.stop();
break;
firstTime=0;
elif(firstTime == 1 and mode == "p"):
k.stop();
firstTime=0;
elif(firstTime == 1):
firstTime=0;
print "Wrong input"
if (firstTime != 1):
new_mode = str(raw_input());
if(new_mode != mode):
pre_mode = mode;
mode = new_mode;
firstTime=1;
print "Bye~"