created distribution

examples/escapeimutest.py

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+"""
+MS5611 driver code is placed under the BSD license.
+Copyright (c) 2014, Emlid Limited, www.emlid.com
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+	* Redistributions of source code must retain the above copyright
+	notice, this list of conditions and the following disclaimer.
+	* Redistributions in binary form must reproduce the above copyright
+	notice, this list of conditions and the following disclaimer in the
+	documentation and/or other materials provided with the distribution.
+	* Neither the name of the Emlid Limited nor the names of its contributors
+	may be used to endorse or promote products derived from this software
+	without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+"""
+
+import spidev
+import time
+import sys
+from darkwater_640 import MPU9250
+
+imu = MPU9250()
+
+if imu.testConnection():
+    print("Connection established: True")
+else: 
+    sys.exit("Connection established: False")
+
+imu.initialize()
+
+time.sleep(1)
+
+while True:
+	# imu.read_all()
+	# imu.read_gyro()
+	# imu.read_acc()
+	# imu.read_temp()
+	# imu.read_mag()
+
+	# print "Accelerometer: ", imu.accelerometer_data
+	# print "Gyroscope:     ", imu.gyroscope_data
+	# print "Temperature:   ", imu.temperature
+	# print "Magnetometer:  ", imu.magnetometer_data
+
+	# time.sleep(0.1)
+
+	m9a, m9g, m9m = imu.getMotion9()
+
+	print("Acc:", "{:+7.3f}".format(m9a[0]), "{:+7.3f}".format(m9a[1]), "{:+7.3f}".format(m9a[2]), end=" ")
+	print(" Gyr:", "{:+8.3f}".format(m9g[0]), "{:+8.3f}".format(m9g[1]), "{:+8.3f}".format(m9g[2]), end=" ")
+	print(" Mag:", "{:+7.3f}".format(m9m[0]), "{:+7.3f}".format(m9m[1]), "{:+7.3f}".format(m9m[2]) )
+
+	time.sleep(0.5)

examples/escapemotortest.py

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+import time
+from darkwater_escape import dw_Controller, dw_Motor
+
+dw = dw_Controller( addr=0x61 )
+m1 = dw.getMotor(1)
+m2 = dw.getMotor(2)
+m3 = dw.getMotor(3)
+m4 = dw.getMotor(4)
+m5 = dw.getMotor(5)
+m6 = dw.getMotor(6)
+
+m1.off()
+m2.off()
+m3.off()
+m4.off()
+m5.off()
+m6.off()
+time.sleep(1)
+
+print("Set forward - ")
+print("Motor 1")
+m1.setMotorSpeed(2000)
+time.sleep(1)
+print("Motor 2")
+m2.setMotorSpeed(2000)
+time.sleep(1)
+print("Motor 3")
+m3.setMotorSpeed(2000)
+time.sleep(1)
+print("Motor 4")
+m4.setMotorSpeed(2000)
+time.sleep(1)
+print("Motor 5")
+m5.setMotorSpeed(2000)
+time.sleep(1)
+print("Motor 6")
+m6.setMotorSpeed(2000)
+time.sleep(1)
+print("Stopping - ")
+print("Motor 1")
+m1.setMotorSpeed(1500)
+time.sleep(1)
+print("Motor 2")
+m2.setMotorSpeed(1500)
+time.sleep(1)
+print("Motor 3")
+m3.setMotorSpeed(1500)
+time.sleep(1)
+print("Motor 4")
+m4.setMotorSpeed(1500)
+time.sleep(1)
+print("Motor 5")
+m5.setMotorSpeed(1500)
+time.sleep(1)
+print("Motor 6")
+m6.setMotorSpeed(1500)
+time.sleep(1)
+print("Set reverse - ")
+print("Motor 1")
+m1.setMotorSpeed(1000)
+time.sleep(1)
+print("Motor 2")
+m2.setMotorSpeed(1000)
+time.sleep(1)
+print("Motor 3")
+m3.setMotorSpeed(1000)
+time.sleep(1)
+print("Motor 4")
+m4.setMotorSpeed(1000)
+time.sleep(1)
+print("Motor 5")
+m5.setMotorSpeed(1000)
+time.sleep(1)
+print("Motor 6")
+m6.setMotorSpeed(1000)
+time.sleep(1)
+print("All off")
+m1.off()
+m2.off()
+m3.off()
+m4.off()
+m5.off()
+m6.off()

examples/escapeservotest.py

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+import time
+from darkwater_escape import dw_Controller, dw_Servo
+
+dw = dw_Controller( addr=0x61 )
+s1 = dw.getServo(1)
+s2 = dw.getServo(2)
+s3 = dw.getServo(3)
+s4 = dw.getServo(4)
+s5 = dw.getServo(5)
+s6 = dw.getServo(6)
+
+s1.off()
+s2.off()
+s3.off()
+s4.off()
+s5.off()
+s6.off()
+time.sleep(1)
+
+print "Set 2000uS - "
+print "Servo 1"
+s1.setPWMuS(2000)
+time.sleep(1)
+print "Servo 2"
+s2.setPWMuS(2000)
+time.sleep(1)
+print "Servo 3"
+s3.setPWMuS(2000)
+time.sleep(1)
+print "Servo 4"
+s4.setPWMuS(2000)
+time.sleep(1)
+print "Servo 5"
+s5.setPWMuS(2000)
+time.sleep(1)
+print "Servo 6"
+s6.setPWMuS(2000)
+time.sleep(1)
+print "Set 1500uS - "
+print "Servo 1"
+s1.setPWMuS(1500)
+time.sleep(1)
+print "Servo 2"
+s2.setPWMuS(1500)
+time.sleep(1)
+print "Servo 3"
+s3.setPWMuS(1500)
+time.sleep(1)
+print "Servo 4"
+s4.setPWMuS(1500)
+time.sleep(1)
+print "Servo 5"
+s5.setPWMuS(1500)
+time.sleep(1)
+print "Servo 6"
+s6.setPWMuS(1500)
+time.sleep(1)
+print "Set 1000uS - "
+print "Servo 1"
+s1.setPWMuS(1000)
+time.sleep(1)
+print "Servo 2"
+s2.setPWMuS(1000)
+time.sleep(1)
+print "Servo 3"
+s3.setPWMuS(1000)
+time.sleep(1)
+print "Servo 4"
+s4.setPWMuS(1000)
+time.sleep(1)
+print "Servo 5"
+s5.setPWMuS(1000)
+time.sleep(1)
+print "Servo 6"
+s6.setPWMuS(1000)
+time.sleep(1)
+print "All off"
+s1.off()
+s2.off()
+s3.off()
+s4.off()
+s5.off()
+s6.off()