h3n3/darkwater_python_escape
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Updated class

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This commit is contained in:
shrkey
2016-08-15 20:53:47 +01:00
parent be274990aa
commit c761cb6f76
2 changed files with 38 additions and 67 deletions
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95
darkwater_escape/darkwater_escape.py
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@@ -23,31 +23,18 @@ class dw_Motor:
self.servo_zero = math.trunc( ( self.servo_min + self.servo_max ) / 2 ) # halfway = 0 degrees
if (num == 0):
self.pin = 9
elif (num == 1):
self.pin = 8
self.pin = 8
elif (num == 2):
self.pin = 10
self.pin = 10
elif (num == 3):
self.pin = 11
self.pin = 11
elif (num == 4):
self.pin = 12
self.pin = 12
elif (num == 5):
self.pin = 13
elif (num == 6):
self.pin = 0
elif (num == 7):
self.pin = 1
elif (num == 8):
self.pin = 2
elif (num == 9):
self.pin = 3
elif (num == 10):
self.pin = 5
elif (num == 11):
self.pin = 4
self.pin = 13
else:
raise NameError('Motors must be between 1 and 12 inclusive')
@@ -64,40 +51,28 @@ class dw_Motor:
def setPWM(self, value):
if(value > 0):
self.MC._pwm.setPWM(self.pin, 0, int(value) )
self.MC._pwm.set_pwm(self.pin, 0, int(value) )
if(value == 0):
self.off()
def setPWMmS(self, length_ms):
self.setPWM( round( length_ms * 4096 ) / ( 1000 / self.freq ) )
self.setPWM( math.trunc( ( length_ms * 4096 ) / ( 1000.0 / self.freq ) ) - 1 )
def setPWMuS(self, length_us):
self.setPWM( round( length_us * 4096 ) / ( 1000000 / self.freq ) )
self.setPWM( math.trunc( ( length_us * 4096 ) / ( 1000000.0 / self.freq ) ) -1 )
def setMotorSpeed(self, value):
# Check for PWM values
if(value > 1000) and (value < 2000):
self.setPWMmS(value)
self.setPWMuS(value)
# Translate for motor values
if(value > 0) and (value <= 255):
self.setPWMmS( round(translate(value, 0, 255, 1500, 2000)))
self.setPWMuS( round(translate(value, 0, 255, 1500, 2000)))
if(value == 0):
self.setPWMmS(1500)
self.setPWMuS(1500)
if(value < 0) and (value >= -255):
self.setPWMmS(round(translate(abs(value), 0, 255, 1500, 1000)))
self.setPWMuS(round(translate(abs(value), 0, 255, 1500, 1000)))
def run(self, command, speed = 0):
if not self.MC:
return
if (command == dw_Controller.FORWARD):
self.MC.setPin(self.PHpin, 0)
self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
if (command == dw_Controller.BACKWARD):
self.MC.setPin(self.PHpin, 1)
self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
if (command == dw_Controller.RELEASE):
self.MC.setPin(self.PHpin, 0)
self.MC.setPin(self.ENpin, 0)
class dw_Servo:
def __init__(self, controller, num, freq):
@@ -119,28 +94,16 @@ class dw_Servo:
if (num == 0):
self.pin = 9
elif (num == 1):
self.pin = 8
elif (num == 2):
self.pin = 10
elif (num == 3):
self.pin = 11
elif (num == 4):
self.pin = 12
elif (num == 5):
self.pin = 13
elif (num == 6):
self.pin = 0
elif (num == 7):
elif (num == 1):
self.pin = 1
elif (num == 8):
elif (num == 2):
self.pin = 2
elif (num == 9):
elif (num == 3):
self.pin = 3
elif (num == 10):
elif (num == 4):
self.pin = 5
elif (num == 11):
elif (num == 5):
self.pin = 4
else:
raise NameError('Port must be between 1 and 12 inclusive')
@@ -158,19 +121,27 @@ class dw_Servo:
def setPWM(self, value):
if(value > 0):
self.MC._pwm.setPWM(self.pin, 0, int(value) )
self.MC._pwm.set_pwm(self.pin, 0, int(value) )
if(value == 0):
self.off()
def setPWMmS(self, length_ms):
self.setPWM( round( length_ms * 4096 ) / ( 1000 / self.freq ) )
self.setPWM( math.trunc( ( length_ms * 4096 ) / ( 1000.0 / self.freq ) ) - 1 )
def setPWMuS(self, length_us):
self.setPWM( round( length_us * 4096 ) / ( 1000000 / self.freq ) )
self.setPWM( math.trunc( ( length_us * 4096 ) / ( 1000000.0 / self.freq ) ) -1 )
def run(self, command, speed = 0):
if not self.MC:
return
def setMotorSpeed(self, value):
# Check for PWM values
if(value > 1000) and (value < 2000):
self.setPWMuS(value)
# Translate for motor values
if(value > 0) and (value <= 255):
self.setPWMuS( round(translate(value, 0, 255, 1500, 2000)))
if(value == 0):
self.setPWMuS(1500)
if(value < 0) and (value >= -255):
self.setPWMuS(round(translate(abs(value), 0, 255, 1500, 1000)))
class dw_Controller:
@@ -183,8 +154,8 @@ class dw_Controller:
self._pwm.set_pwm_freq(self._frequency, correctionFactor)
# Just gonna default to high for now
self.servo = [ dw_PWM(self, m, freq) for m in range(6) ]
self.esc = [ dw_PWM(self, m, freq) for m in range(6, 12) ]
self.motors = [ dw_Motor(self, m, freq) for m in range(6) ]
self.servos = [ dw_Servo(self, m, freq) for m in range(6) ]
def setPin(self, pin, value):
if (pin < 0) or (pin > 15):