initial commit

beta/Driver.py

@@ -0,0 +1,28 @@
+from Adafruit_PCA9685 import PCA9685
+
+class PWMDriver:
+  def __init__(self):
+    self.driver = PCA9685()
+    self.driver.set_pwm_freq(50)
+
+  def set_pwm(self, slot, off, on):
+    self.driver.set_pwm(slot, off, on)
+  
+  # comme map() dans arduino
+  def mappyt(self, x, inMin, inMax, outMin, outMax):
+    return (x - inMin) * (outMax - outMin) / (inMax - inMin) + outMin
+
+  def init_esc(self, slot):
+      self.set_pwm(slot, 0, 307)
+
+  def set_esc(self, slot, speed):
+      self.set_pwm(
+        slot,
+        0,
+        self.convert_speed_to_esc(speed)
+      )
+
+  def convert_speed_to_esc(self, speed):
+    return round(self.mappyt(speed, 0, 100, 210, 410))
+
+

beta/oldRobot.py

@@ -0,0 +1,55 @@
+from Driver import PWMDriver as Driver
+class driver():
+    def setvitesse(self,pin,vitesse):
+        print("le moteur avec le pin ",pin," avance à la vitesse", vitesse,".")
+        dri=Driver()
+        dri.set_esc(pin,vitesse)
+class Robot():
+    d = [1,2]
+    g = [3,4]
+    motors = [d[0],d[1],g[0],g[1]]
+    class Translation():
+        motors = []
+        def init(self,v):
+            self.motors = v
+        def droit(self,v):
+            rb = driver().setvitesse
+            m = self.motors
+            for i in range(len(m)):
+                rb(m[i],v)
+        def trv(self,v,d):
+            rb = driver().setvitesse
+            m = self.motors
+            if d:
+                rb(m[0],v)
+                rb(m[3],v)
+            else:
+                rb(m[1],v)
+                rb(m[2],v)
+        def sd(self,v):
+            rb = driver().setvitesse
+            m = self.motors
+            rb(m[0],v)
+            rb(m[3],v)
+            rb(m[1],v*-1)
+            rb(m[2],v*-1)
+    def Rotation(self,v):
+        m = self.motors
+        rb = driver().setvitesse
+        rb(m[0],v)
+        rb(m[1],v)
+        rb(m[2],v*-1)
+        rb(m[3],v*-1)
+    Translation = Translation()
+    Translation.init(motors)
+
+
+"""
+r = Robot()
+r.Translation.droit(1)
+r.Translation.trv(2,True)
+r.Translation.sd(5)
+r.Translation.sd(-5)
+r.Rotation(5)
+r.Rotation(-5)
+"""

beta/robottest.py

@@ -0,0 +1,17 @@
+import Robot
+x=""
+r=Robot.Robot()
+t  = r.Translation
+rot = r.Rotation
+while x!="q":
+    x=input('command: ')
+    if x=="rotation":
+        rot(10)
+    elif x=="droit":
+        t.droit(10)
+    elif x=="diagonal":
+        t.trv(10, True)
+    elif x=="side":
+        t.sd(10)
+    else:
+        print('available commands: rotation , droit , diagonal , side')