Mise à jour de 'PWMDriver.py'

PWMDriver.py

@@ -12,6 +12,20 @@ class PWMDriver:
                 'rev': {'range': 270, 'min': 95, 'max': 600}, # 552
                 }
 
+
+    #définir la fréquence du signal de sortie à 50hz
+    def ini_esc(slot):
+        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():
+        HZ = 50     #fréquence du signal vers les ESC
+        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:
@@ -30,9 +44,8 @@ class PWMDriver:
         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': 12, # 7
+            'slot': 1, # 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(220, 250, 1):
+        for i in range(240, 250, 1):
             drive.setPwm(v['slot'], 0, i)
-            sleep(0.04)
+            sleep(0.02)
         drive.setPwm(v['slot'], 0, 0)
         print("drive init stop")
 

robot_manual.py

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

test_by_motor.py

@@ -0,0 +1,13 @@
+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})