Mise à jour de 'PWMDriver.py'

PWMDriver.py

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