Travail du 2023-04-08, ajout du telescope (servo) + controle turbine

PWMDriver.py

@@ -1,51 +1,38 @@
 from Adafruit_PCA9685 import PCA9685
 
 class PWMDriver:
-    def __init__(self):
+  def __init__(self):
-        self.driver = PCA9685()
+    self.driver = PCA9685()
-        self.driver.set_pwm_freq(50)
+    self.driver.set_pwm_freq(50)
-        self.servoProfiles = {
+    self.servoProfiles = {
-                'default': {'range': 180, 'min': 65, 'max': 530},
+      'default': {'range': 180, 'min': 65, 'max': 530},
-                'lidar': {'range': 180, 'min': 75, 'max': 510},
+      'lidar': {'range': 180, 'min': 75, 'max': 510},
-                'china': {'range': 180, 'min': 75, 'max': 510},
+      'china': {'range': 180, 'min': 75, 'max': 510},
-                'flag': {'range': 180, 'min': 100, 'max': 480},
+      'flag': {'range': 180, 'min': 100, 'max': 480},
-                'rev': {'range': 270, 'min': 95, 'max': 600}, # 552
+      'rev': {'range': 270, 'min': 95, 'max': 600}, # 552
-                }
+    }
   
+  def setAngle(self, slot, angle, profileName = 'default'):
+    profile = None
+    if type(profileName) is dict:
+      profile = profileName
+    if profile == None:
+      if profileName not in self.servoProfiles:
+        profileName = 'default'
+      profile = self.servoProfiles[profileName]
+    if 'range' not in profile:
+      profile['range'] = 180
+    if angle < 0 or angle > profile['range']:
+      print('PWMDriver: Invalid range passed ' + angle + ' but range is ' + profile['range'])
+    if slot > 15 or slot < 0:
+      print('> ERR!!! Invalid slot passed to setAngle!')
+      return
+    pulse = int(self.mappyt(angle, 0, profile['range'], profile['min'], profile['max']))
+    #print('setting slot', slot, 'to angle', angle, 'with profile', profileName, profile, pulse)
+    self.driver.set_pwm(slot, 0, pulse)
 
-    #définir la fréquence du signal de sortie à 50hz
+  def setPwm(self, slot, off, on):
-    def ini_esc(slot):
+    self.driver.set_pwm(slot, off, on)
-        slef.driver.set_pwm(slot,0,307) #307 est le signal neutre sous 50 Hz (1.5 / 20 x 4096 = 307)
-        time.sleep(1)
 
-    def initialiser_esc():
+  def mappyt(self, x, inMin, inMax, outMin, outMax):
-        HZ = 50     #fréquence du signal vers les ESC
+    return (x - inMin) * (outMax - outMin) / (inMax - inMin) + outMin
-        self.driver.set_pwm_freq(HZ)
-        LESC = (1, 13, 8, 9) #liste des ESC (avant gauche, avant droit, arrière gauche, arrière droit)
-        ini_esc(LESC[0])
-        ini_esc(LESC[1]) 
-        ini_esc(LESC[2])
-        ini_esc(LESC[3])
-    def setAngle(self, slot, angle, profileName = 'default'):
-        profile = None
-        if type(profileName) is dict:
-            profile = profileName
-        if profile == None:
-            if profileName not in self.servoProfiles:
-                profileName = 'default'
-        profile = self.servoProfiles[profileName]
-        if 'range' not in profile:
-            profile['range'] = 180
-        if angle < 0 or angle > profile['range']:
-            print('PWMDriver: Invalid range passed ' + angle + ' but range is ' + profile['range'])
-        if slot > 15 or slot < 0:
-            print('> ERR!!! Invalid slot passed to setAngle!')
-            return
-        pulse = int(self.mappyt(angle, 0, profile['range'], profile['min'], profile['max']))
-        #print('setting slot', slot, 'to angle', angle, 'with profile', profileName, profile, pulse)
-        self.driver.set_pwm(slot, 0, pulse)
-    def setPwm(self, slot, off, on):
-        #self.driver.set_pwm(slot, off, on)
-        self.driver.set_pwm(slot, off,on)
-    def mappyt(self, x, inMin, inMax, outMin, outMax):
-        return (x - inMin) * (outMax - outMin) / (inMax - inMin) + outMin

RobotCompletCode.py

@@ -16,7 +16,7 @@ class MotorizedPlatform:
     }
     escMapping = {
         'frontLeft': {
-            'slot': 1, # 7
+            'slot': 12, # 7
             'range': [307, 410]
         },
         'frontRight': {
@@ -43,9 +43,9 @@ class MotorizedPlatform:
     def init(self):
         print("drive init start")
         v = self.escMapping['turbine']
-        for i in range(240, 250, 1):
+        for i in range(220, 250, 1):
             drive.setPwm(v['slot'], 0, i)
-            sleep(0.02)
+            sleep(0.04)
         drive.setPwm(v['slot'], 0, 0)
         print("drive init stop")
 

robot_manual.py

@@ -1,4 +0,0 @@
-import RobotCompleteCOde
-r = RobotCompletCode.MotorizedPlatform()
-s = r.setSpeed
-

test_by_motor.py

@@ -1,13 +0,0 @@
-from RobotCompletCode import MotorizedPlatform
-m = MotorizedPlatform()
-def frontLeft(speed):
-    m.setSpeed({"frontLeft":speed})
-
-def frontRight(speed):
-    m.setSpeed({"frontRight":speed})
-
-def backLeft(speed):
-    m.setSpeed({"backLeft":speed})
-
-def backRight(speed):
-    m.setSpeed({"backRight":speed})