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<section id="faq">
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<h1>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading"></a></h1>
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<section id="was-ist-das-passwort-fur-die-entwicklungsumgebung">
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<h2>Was ist das Passwort für die Entwicklungsumgebung?<a class="headerlink" href="#was-ist-das-passwort-fur-die-entwicklungsumgebung" title="Permalink to this heading"></a></h2>
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<div class="section" id="faq">
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<h1>FAQ<a class="headerlink" href="#faq" title="Permalink to this heading">¶</a></h1>
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<div class="section" id="was-ist-das-passwort-fur-die-entwicklungsumgebung">
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<h2>Was ist das Passwort für die Entwicklungsumgebung?<a class="headerlink" href="#was-ist-das-passwort-fur-die-entwicklungsumgebung" title="Permalink to this heading">¶</a></h2>
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<p><code class="docutils literal notranslate"><span class="pre">compair</span></code></p>
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</section>
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<section id="wie-verbinde-ich-mich-zur-entwicklungsumgebung">
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<h2>Wie verbinde ich mich zur Entwicklungsumgebung?<a class="headerlink" href="#wie-verbinde-ich-mich-zur-entwicklungsumgebung" title="Permalink to this heading"></a></h2>
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<div class="section" id="wie-verbinde-ich-mich-zur-entwicklungsumgebung">
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<h2>Wie verbinde ich mich zur Entwicklungsumgebung?<a class="headerlink" href="#wie-verbinde-ich-mich-zur-entwicklungsumgebung" title="Permalink to this heading">¶</a></h2>
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<p>See <a class="reference internal" href="gettingStarted/codeServer.html#gettingstarted-codeserver"><span class="std std-ref">Programmierumgebung</span></a></p>
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</section>
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<section id="was-ist-der-benutzername-und-das-passwort-fur-den-raspberry-pi">
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<h2>Was ist der Benutzername und das Passwort für den Raspberry Pi?<a class="headerlink" href="#was-ist-der-benutzername-und-das-passwort-fur-den-raspberry-pi" title="Permalink to this heading"></a></h2>
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</div>
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<div class="section" id="was-ist-der-benutzername-und-das-passwort-fur-den-raspberry-pi">
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<h2>Was ist der Benutzername und das Passwort für den Raspberry Pi?<a class="headerlink" href="#was-ist-der-benutzername-und-das-passwort-fur-den-raspberry-pi" title="Permalink to this heading">¶</a></h2>
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<p><code class="docutils literal notranslate"><span class="pre">compair</span></code> <code class="docutils literal notranslate"><span class="pre">compair</span></code></p>
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<span id="gettingstarted-codeserver"></span><h1>Programmierumgebung<a class="headerlink" href="#programmierumgebung" title="Permalink to this heading">¶</a></h1>
|
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<p>Als Umgebung zur Programmierung des Roboters wird <a class="reference external" href="https://github.com/coder/code-server">code-server</a> eingesetzt, welche bereits am Roboter vorinstalliert ist.</p>
|
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|
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<p>Am Roboter wird die IP-Adresse des Raspberry Pi angezeigt. Um nun die Verbindung herzustellen, muss man in einem Web-Browser einfach <code class="docutils literal notranslate"><span class="pre"><roboter_ip>:8080</span></code> eingeben.
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<h1>Mein zweites Programm<a class="headerlink" href="#mein-zweites-programm" title="Permalink to this heading"></a></h1>
|
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<section id="motoren-ansteuern">
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<h2>Motoren ansteuern<a class="headerlink" href="#motoren-ansteuern" title="Permalink to this heading"></a></h2>
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<div class="section" id="motoren-ansteuern">
|
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<h2>Motoren ansteuern<a class="headerlink" href="#motoren-ansteuern" title="Permalink to this heading">¶</a></h2>
|
||||
<p>Um die Motoren des Roboters zu steuern, müssen wir zunächst das entsprechende Python-Modul am Anfang der Datei importieren. Dann können wir Motor.power(port, power) verwenden, um den Motor zu steuern.
|
||||
Dies ist auch ein guter Punkt, um sich mit der Dokumentation vertraut zu machen: Besuchen wir <a class="reference external" href="https://lib.comp-air.at/lib/Motor.html#compLib.Motor.Motor.power">https://lib.comp-air.at/lib/Motor.html#compLib.Motor.Motor.power</a>. Hier werden die beiden relevanten Parameter beschrieben.</p>
|
||||
<p>Als Beispiel wollen wir den rechten Motor für fünf Sekunden auf volle Geschwindigkeit setzen:</p>
|
||||
|
|
@ -105,9 +191,9 @@ Dies ist auch ein guter Punkt, um sich mit der Dokumentation vertraut zu machen:
|
|||
<span class="linenos">6</span><span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">5</span><span class="p">)</span>
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</pre></div>
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<h2>Gerade fahren<a class="headerlink" href="#gerade-fahren" title="Permalink to this heading"></a></h2>
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<div class="section" id="gerade-fahren">
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<h2>Gerade fahren<a class="headerlink" href="#gerade-fahren" title="Permalink to this heading">¶</a></h2>
|
||||
<p>Um geradeaus zu fahren, müssen wir beide Motoren auf dieselbe Geschwindigkeit einstellen.
|
||||
Aber Achtung! Der rechte Motor muss umgedreht werden! Das liegt daran, dass einer nach rechts und einer nach links zeigt, sie sind also technisch gesehen gespiegelt.
|
||||
Wenn wir nun diesen Code ausführen, wird der Roboter 5 Sekunden lang vorwärts fahren:</p>
|
||||
|
|
@ -129,8 +215,8 @@ Wenn wir nun diesen Code ausführen, wird der Roboter 5 Sekunden lang vorwärts
|
|||
<div class="line">In <code class="docutils literal notranslate"><span class="pre">Zeile</span> <span class="pre">7</span></code> müssen wir warten, bis der Roboter die Fahrbefehle tatsächlich ausführt. In diesem Fall warten wir <code class="docutils literal notranslate"><span class="pre">5</span></code> Sekunden lang.</div>
|
||||
</div>
|
||||
<p>Danach wird das Programm beendet und der Roboter bleibt stehen.</p>
|
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<section id="mehr-fahren">
|
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<h3>Mehr fahren<a class="headerlink" href="#mehr-fahren" title="Permalink to this heading"></a></h3>
|
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|
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<h3>Mehr fahren<a class="headerlink" href="#mehr-fahren" title="Permalink to this heading">¶</a></h3>
|
||||
<p>Jetzt ist es Zeit für einige komplexere Bewegungen. Um unseren Code modular und leicht lesbar zu halten, werden wir jede Aktion in eine eigene Funktion packen.</p>
|
||||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">1</span><span class="kn">import</span> <span class="nn">time</span>
|
||||
<span class="linenos">2</span><span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
|
||||
|
|
@ -349,39 +435,64 @@ Nun werden wir uns einige weitere Optimierungen und bewährte Verfahren ansehen.
|
|||
<p>Wenn du die Fahrgeschwindigkeit auf eine sehr kleine Zahl einstellst, kann es sein, dass sich der Roboter gar nicht mehr bewegt, weil die Motoren eine bestimmte Menge an Energie benötigen, um den Roboter überhaupt zu bewegen.</p>
|
||||
<p><strong>3. Fahren Sie nicht zu schnell.</strong></p>
|
||||
<p>Wenn du die Fahrgeschwindigkeit auf eine sehr hohe Zahl einstellst (z. B. <code class="docutils literal notranslate"><span class="pre">100</span></code>), könnte dein Roboter zu schnell für seine Sensoren sein. Dies wird später wichtig sein, wenn wir versuchen, eine schwarze Linie zu erkennen, aber zu schnell über sie fahren.</p>
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|
||||
|
||||
|
||||
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||||
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|
||||
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||||
<section id="mein-drittes-programm">
|
||||
<h1>Mein drittes Programm<a class="headerlink" href="#mein-drittes-programm" title="Permalink to this heading"></a></h1>
|
||||
|
||||
<div class="section" id="mein-drittes-programm">
|
||||
<h1>Mein drittes Programm<a class="headerlink" href="#mein-drittes-programm" title="Permalink to this heading">¶</a></h1>
|
||||
<p>Der offizielle compAIR-Bot ist mit einer Reihe von Sensoren ausgestattet. Die wichtigsten sind die Infrarotsensoren und -sender, die an der Vorderseite des Roboters angebracht sind. Insgesamt gibt es fünf IR-Sensoren.</p>
|
||||
<p>Um loszulegen, muss man zunächst das entsprechende Modul wie folgt importieren:</p>
|
||||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos">1</span><span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
|
||||
|
|
@ -133,37 +219,62 @@ Um den IR-Sensor zu testen, kannst du deinen Roboter auf eine schwarze Linie ste
|
|||
<div class="line">In <code class="docutils literal notranslate"><span class="pre">Zeile</span> <span class="pre">6</span></code> lesen wir den Sensor Nummer <code class="docutils literal notranslate"><span class="pre">2</span></code> aus und prüfen, ob der Wert über dem von uns definierten Schwellenwert von <code class="docutils literal notranslate"><span class="pre">900</span></code> liegt. Wenn das der Fall ist, hat der IR-Sensor eine schwarze Linie erkannt.</div>
|
||||
</div>
|
||||
<p>Wir werden nun das Programm so ändern, dass es alle <code class="docutils literal notranslate"><span class="pre">0.1</span></code> Sekunden prüft, ob sich eine schwarze Linie unter dem Roboter befindet, und wenn dies der Fall ist, eine Meldung ausgibt.</p>
|
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<li class="toctree-l2"><a class="reference internal" href="wifi.html">WLAN-Verbindung herstellen</a></li>
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@ -58,70 +104,135 @@
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<div class="section" id="software-updaten">
|
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<h1>Software Updaten<a class="headerlink" href="#software-updaten" title="Permalink to this heading">¶</a></h1>
|
||||
<p>Da wir die <code class="docutils literal notranslate"><span class="pre">compLib</span></code>, und die andere Software, welche auf dem Roboter läuft, laufend weiterentwickeln, solltet ihr immer wieder euren Roboter auf die neuste Version updaten. Dazu müsst ihr einfach den Roboter mit dem Internet verbinden und dann diesen Befehl in der Kommandozeile des Roboters eingeben:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo apt update <span class="o">&&</span> sudo apt upgrade
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>Am einfachsten kann das über die Webseite gemacht werden, auf der ihr auch euren Code schreibt. Dazu müsst ihr einfach nur das Terminal (= Konsole) öffnen, dann den Befehl dort hineinkopieren und Enter drücken.
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|
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<li class="toctree-l2 current"><a class="current reference internal" href="#">WLAN-Verbindung herstellen</a><ul>
|
||||
|
|
@ -64,35 +110,75 @@
|
|||
<li class="toctree-l1"><a class="reference internal" href="../other/hardware.html">Hardware</a></li>
|
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|
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<section id="wlan-verbindung-herstellen">
|
||||
<span id="gettingstarted-wifi"></span><h1>WLAN-Verbindung herstellen<a class="headerlink" href="#wlan-verbindung-herstellen" title="Permalink to this heading"></a></h1>
|
||||
<section id="schritt-fur-schritt-macos">
|
||||
<h2>Schritt für Schritt - macOS<a class="headerlink" href="#schritt-fur-schritt-macos" title="Permalink to this heading"></a></h2>
|
||||
|
||||
<div class="section" id="wlan-verbindung-herstellen">
|
||||
<span id="gettingstarted-wifi"></span><h1>WLAN-Verbindung herstellen<a class="headerlink" href="#wlan-verbindung-herstellen" title="Permalink to this heading">¶</a></h1>
|
||||
<div class="section" id="schritt-fur-schritt-macos">
|
||||
<h2>Schritt für Schritt - macOS<a class="headerlink" href="#schritt-fur-schritt-macos" title="Permalink to this heading">¶</a></h2>
|
||||
<ol class="arabic">
|
||||
<li><p>SD-Karte aus dem Raspberry Pi bzw. Roboter entnehmen.</p></li>
|
||||
<li><p>Einstecken der SD-Karte in den Computer</p></li>
|
||||
|
|
@ -115,20 +201,20 @@
|
|||
<li><p>Starten des Roboters</p></li>
|
||||
<li><p>Die IP-Adresse sollte nun am Roboter angezeigt werden</p></li>
|
||||
</ol>
|
||||
</section>
|
||||
<section id="weitere-informationen">
|
||||
<h2>Weitere Informationen<a class="headerlink" href="#weitere-informationen" title="Permalink to this heading"></a></h2>
|
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</div>
|
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<div class="section" id="weitere-informationen">
|
||||
<h2>Weitere Informationen<a class="headerlink" href="#weitere-informationen" title="Permalink to this heading">¶</a></h2>
|
||||
<p>Die „wpa_supplicant.conf“ Datei wird beim Start des Rpasberry Pi automatisch an den richtigen Ort kopiert, damit sich der Roboter zum Wlan verbindet.
|
||||
Eine genauere Anleitung wird vom Hersteller des Raspberry Pi <a class="reference external" href="https://www.raspberrypi.com/documentation/computers/configuration.html#configuring-networking-2">hier</a> bereitgestellt.</p>
|
||||
</section>
|
||||
<section id="windows">
|
||||
<h2>Windows……<a class="headerlink" href="#windows" title="Permalink to this heading"></a></h2>
|
||||
</div>
|
||||
<div class="section" id="windows">
|
||||
<h2>Windows……<a class="headerlink" href="#windows" title="Permalink to this heading">¶</a></h2>
|
||||
<p>Je nach Betriebssystem und Editor, mit dem Sie die Datei erstellen, könnte die Datei falsche Zeilenumbrüche oder eine falsche Dateierweiterung haben; stellen Sie also sicher, dass Sie einen Editor verwenden, der dies berücksichtigt. Linux erwartet das Zeilenumbruchzeichen LF (Line Feed).
|
||||
Beispielsweise kann <a class="reference external" href="https://notepad-plus-plus.org/downloads/">Notepad++</a> verwendet werden, um die Datei richtig zu speichern.
|
||||
<img alt="notepadImage" src="../_images/08_notepad.png" /></p>
|
||||
</section>
|
||||
<section id="fehlerbehandlung">
|
||||
<h2>Fehlerbehandlung<a class="headerlink" href="#fehlerbehandlung" title="Permalink to this heading"></a></h2>
|
||||
</div>
|
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<div class="section" id="fehlerbehandlung">
|
||||
<h2>Fehlerbehandlung<a class="headerlink" href="#fehlerbehandlung" title="Permalink to this heading">¶</a></h2>
|
||||
<p>Sollte es dazu kommen, dass der Roboter nicht automatisch die Verbindung mit dem Netzwerk herstellt, kann eine Kabelgebundene Verbindung zur Diagnose von Fehlern genutzt werden.
|
||||
Dabei wird automatisch die IP-Adresse der Verbindung „eth“ am Roboter angezeigt. Nach der erfolgreichen Verbindung zum Roboter mittels SSH kann die „wpa_cli“ zur Fehlerbehandlung verwendet werden:</p>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="o">></span> <span class="n">wpa_cli</span>
|
||||
|
|
@ -169,38 +255,63 @@ Dabei wird automatisch die IP-Adresse der Verbindung „eth“ am Roboter angeze
|
|||
<span class="o">></span>
|
||||
</pre></div>
|
||||
</div>
|
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</section>
|
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</section>
|
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167
index.html
167
index.html
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@ -1,16 +1,33 @@
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<html class="writer-html5" lang="de" >
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<title>Dokumentation des Roboters — CompLib 0.2.3 Dokumentation</title>
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<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
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<link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
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<!--[if lt IE 9]>
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<script src="_static/js/html5shiv.min.js"></script>
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<![endif]-->
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<script type="text/javascript" id="documentation_options" data-url_root="./" src="_static/documentation_options.js"></script>
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<script src="_static/jquery.js"></script>
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<script src="_static/underscore.js"></script>
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@ -18,20 +35,38 @@
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<script src="_static/doctools.js"></script>
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</head>
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<body class="wy-body-for-nav">
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<body class="wy-body-for-nav">
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@ -49,36 +95,75 @@
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<section id="dokumentation-des-roboters">
|
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<h1>Dokumentation des Roboters<a class="headerlink" href="#dokumentation-des-roboters" title="Permalink to this heading"></a></h1>
|
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|
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<div class="section" id="dokumentation-des-roboters">
|
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<h1>Dokumentation des Roboters<a class="headerlink" href="#dokumentation-des-roboters" title="Permalink to this heading">¶</a></h1>
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<div class="toctree-wrapper compound">
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<li class="toctree-l1"><a class="reference internal" href="gettingStarted/index.html">Erste Schritte</a></li>
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@ -89,37 +174,61 @@
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<li class="toctree-l1"><a class="reference internal" href="other/hardware.html">Hardware</a></li>
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<section id="double-elimination">
|
||||
<span id="lib-doubleelim"></span><h1>Double Elimination<a class="headerlink" href="#double-elimination" title="Permalink to this heading"></a></h1>
|
||||
<section id="dokumentation-des-double-elimination-moduls">
|
||||
<h2>Dokumentation des Double Elimination Moduls<a class="headerlink" href="#dokumentation-des-double-elimination-moduls" title="Permalink to this heading"></a></h2>
|
||||
|
||||
<div class="section" id="double-elimination">
|
||||
<span id="lib-doubleelim"></span><h1>Double Elimination<a class="headerlink" href="#double-elimination" title="Permalink to this heading">¶</a></h1>
|
||||
<div class="section" id="dokumentation-des-double-elimination-moduls">
|
||||
<h2>Dokumentation des Double Elimination Moduls<a class="headerlink" href="#dokumentation-des-double-elimination-moduls" title="Permalink to this heading">¶</a></h2>
|
||||
<dl class="py class">
|
||||
<dt class="sig sig-object py" id="compLib.DoubleElimination.Position">
|
||||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compLib.DoubleElimination.</span></span><span class="sig-name descname"><span class="pre">Position</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">degrees</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.DoubleElimination.Position" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compLib.DoubleElimination.</span></span><span class="sig-name descname"><span class="pre">Position</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">degrees</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.DoubleElimination.Position" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Datenstruktur, welche eine Position representiert.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Variablen</dt>
|
||||
|
|
@ -110,11 +196,11 @@
|
|||
|
||||
<dl class="py class">
|
||||
<dt class="sig sig-object py" id="compLib.DoubleElimination.DoubleElim">
|
||||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compLib.DoubleElimination.</span></span><span class="sig-name descname"><span class="pre">DoubleElim</span></span><a class="headerlink" href="#compLib.DoubleElimination.DoubleElim" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compLib.DoubleElimination.</span></span><span class="sig-name descname"><span class="pre">DoubleElim</span></span><a class="headerlink" href="#compLib.DoubleElimination.DoubleElim" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Klasse für die Kommunikation mit Double Elimination Api</p>
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.DoubleElimination.DoubleElim.get_goal">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">get_goal</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.DoubleElimination.Position" title="compLib.DoubleElimination.Position"><span class="pre">Position</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.DoubleElimination.DoubleElim.get_goal" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">get_goal</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.DoubleElimination.Position" title="compLib.DoubleElimination.Position"><span class="pre">Position</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.DoubleElimination.DoubleElim.get_goal" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Führt den /api/getGoal Aufruf an die API aus.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Rückgabe</dt>
|
||||
|
|
@ -128,7 +214,7 @@
|
|||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.DoubleElimination.DoubleElim.get_items">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">get_items</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.DoubleElimination.DoubleElim.get_items" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">get_items</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.DoubleElimination.DoubleElim.get_items" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Führt den /api/getItems Aufruf an die API aus.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Rückgabe</dt>
|
||||
|
|
@ -142,7 +228,7 @@
|
|||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.DoubleElimination.DoubleElim.get_opponent">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">get_opponent</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.DoubleElimination.Position" title="compLib.DoubleElimination.Position"><span class="pre">Position</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.DoubleElimination.DoubleElim.get_opponent" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">get_opponent</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.DoubleElimination.Position" title="compLib.DoubleElimination.Position"><span class="pre">Position</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.DoubleElimination.DoubleElim.get_opponent" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Führt den /api/getOp Aufruf an die API aus.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Rückgabe</dt>
|
||||
|
|
@ -156,7 +242,7 @@
|
|||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.DoubleElimination.DoubleElim.get_pos">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">get_pos</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.DoubleElimination.Position" title="compLib.DoubleElimination.Position"><span class="pre">Position</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.DoubleElimination.DoubleElim.get_pos" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">get_pos</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="#compLib.DoubleElimination.Position" title="compLib.DoubleElimination.Position"><span class="pre">Position</span></a><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.DoubleElimination.DoubleElim.get_pos" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Führt den /api/getPos Aufruf an die API aus.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Rückgabe</dt>
|
||||
|
|
@ -170,7 +256,7 @@
|
|||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.DoubleElimination.DoubleElim.get_scores">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">get_scores</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.DoubleElimination.DoubleElim.get_scores" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">get_scores</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">Dict</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.DoubleElimination.DoubleElim.get_scores" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Führt den /api/getScores Aufruf an die API aus.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Rückgabe</dt>
|
||||
|
|
@ -184,38 +270,63 @@
|
|||
|
||||
</dd></dl>
|
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<section id="encoder">
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||||
<span id="lib-encoder"></span><h1>Encoder<a class="headerlink" href="#encoder" title="Permalink to this heading"></a></h1>
|
||||
<section id="dokumentation-der-klasse">
|
||||
<h2>Dokumentation der Klasse<a class="headerlink" href="#dokumentation-der-klasse" title="Permalink to this heading"></a></h2>
|
||||
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||||
<div class="section" id="encoder">
|
||||
<span id="lib-encoder"></span><h1>Encoder<a class="headerlink" href="#encoder" title="Permalink to this heading">¶</a></h1>
|
||||
<div class="section" id="dokumentation-der-klasse">
|
||||
<h2>Dokumentation der Klasse<a class="headerlink" href="#dokumentation-der-klasse" title="Permalink to this heading">¶</a></h2>
|
||||
<dl class="py class">
|
||||
<dt class="sig sig-object py" id="compLib.Encoder.Encoder">
|
||||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compLib.Encoder.</span></span><span class="sig-name descname"><span class="pre">Encoder</span></span><a class="headerlink" href="#compLib.Encoder.Encoder" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compLib.Encoder.</span></span><span class="sig-name descname"><span class="pre">Encoder</span></span><a class="headerlink" href="#compLib.Encoder.Encoder" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Klasse zum Zugriff auf die Encoder der einzelnen Motoren</p>
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.Encoder.Encoder.read_all_positions">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">read_all_positions</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.read_all_positions" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">read_all_positions</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.read_all_positions" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Lesen aller absoluten Positionen der einzelnen Encoder</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Rückgabe</dt>
|
||||
|
|
@ -109,7 +195,7 @@
|
|||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.Encoder.Encoder.read_all_velocities">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">read_all_velocities</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.read_all_velocities" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">read_all_velocities</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Encoder.Encoder.read_all_velocities" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Lesen der Geschwindigkeit aller angeschlossenen Motoren.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Rückgabe</dt>
|
||||
|
|
@ -120,38 +206,63 @@
|
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</dd></dl>
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<section id="infrarot-sensoren">
|
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<span id="lib-irsensor"></span><h1>Infrarot Sensoren<a class="headerlink" href="#infrarot-sensoren" title="Permalink to this heading"></a></h1>
|
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<section id="dokumentation-der-klasse">
|
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<h2>Dokumentation der Klasse<a class="headerlink" href="#dokumentation-der-klasse" title="Permalink to this heading"></a></h2>
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<span id="lib-irsensor"></span><h1>Infrarot Sensoren<a class="headerlink" href="#infrarot-sensoren" title="Permalink to this heading">¶</a></h1>
|
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<div class="section" id="dokumentation-der-klasse">
|
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<h2>Dokumentation der Klasse<a class="headerlink" href="#dokumentation-der-klasse" title="Permalink to this heading">¶</a></h2>
|
||||
<dl class="py class">
|
||||
<dt class="sig sig-object py" id="compLib.IRSensor.IRSensor">
|
||||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compLib.IRSensor.</span></span><span class="sig-name descname"><span class="pre">IRSensor</span></span><a class="headerlink" href="#compLib.IRSensor.IRSensor" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compLib.IRSensor.</span></span><span class="sig-name descname"><span class="pre">IRSensor</span></span><a class="headerlink" href="#compLib.IRSensor.IRSensor" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Ermöglicht den Zugriff auf die einzelnen IRSensoren des Roboters</p>
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.IRSensor.IRSensor.disable">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">disable</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.IRSensor.IRSensor.disable" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">disable</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.IRSensor.IRSensor.disable" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Deaktivieren der Infrarot-Sender</p>
|
||||
</dd></dl>
|
||||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.IRSensor.IRSensor.enable">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">enable</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.IRSensor.IRSensor.enable" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">enable</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.IRSensor.IRSensor.enable" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Aktivieren Infrarot-Sender. Muss bei jedem Programmstart ausgeführt werden.</p>
|
||||
</dd></dl>
|
||||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.IRSensor.IRSensor.read_all">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">read_all</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.IRSensor.IRSensor.read_all" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">read_all</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.IRSensor.IRSensor.read_all" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Auslesen aller Sensoren gleichzeitig</p>
|
||||
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|
||||
<dt class="field-odd">Rückgabe</dt>
|
||||
|
|
@ -121,38 +207,63 @@
|
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|
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|
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<li class="breadcrumb-item active">Motoren</li>
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<section id="motoren">
|
||||
<span id="lib-motor"></span><h1>Motoren<a class="headerlink" href="#motoren" title="Permalink to this heading"></a></h1>
|
||||
<section id="dokumentation-der-klasse">
|
||||
<h2>Dokumentation der Klasse<a class="headerlink" href="#dokumentation-der-klasse" title="Permalink to this heading"></a></h2>
|
||||
|
||||
<div class="section" id="motoren">
|
||||
<span id="lib-motor"></span><h1>Motoren<a class="headerlink" href="#motoren" title="Permalink to this heading">¶</a></h1>
|
||||
<div class="section" id="dokumentation-der-klasse">
|
||||
<h2>Dokumentation der Klasse<a class="headerlink" href="#dokumentation-der-klasse" title="Permalink to this heading">¶</a></h2>
|
||||
<dl class="py class">
|
||||
<dt class="sig sig-object py" id="compLib.Motor.Motor">
|
||||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compLib.Motor.</span></span><span class="sig-name descname"><span class="pre">Motor</span></span><a class="headerlink" href="#compLib.Motor.Motor" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compLib.Motor.</span></span><span class="sig-name descname"><span class="pre">Motor</span></span><a class="headerlink" href="#compLib.Motor.Motor" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Klasse zum Ansteuern der Motoren</p>
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.Motor.Motor.multiple_power">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">multiple_power</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">arguments</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.multiple_power" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">multiple_power</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">arguments</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.multiple_power" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Mehrere Motoren auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Parameter</dt>
|
||||
|
|
@ -121,7 +207,7 @@
|
|||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.Motor.Motor.multiple_pulse_width">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">multiple_pulse_width</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">arguments</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.multiple_pulse_width" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">multiple_pulse_width</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">arguments</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.multiple_pulse_width" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Setzen den Pulsbreite mehrerer Motoren in Prozent der Periode</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Parameter</dt>
|
||||
|
|
@ -135,7 +221,7 @@
|
|||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.Motor.Motor.multiple_speed">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">multiple_speed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">arguments</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.multiple_speed" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">multiple_speed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">arguments</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.multiple_speed" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Geschwindigkeit mehrerer Motoren einstellen</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Parameter</dt>
|
||||
|
|
@ -149,7 +235,7 @@
|
|||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.Motor.Motor.power">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">power</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">percent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.power" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">power</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">percent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.power" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Motor auf eine prozentuale Leistung der Höchstgeschwindigkeit einstellen</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Parameter</dt>
|
||||
|
|
@ -166,7 +252,7 @@
|
|||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.Motor.Motor.pulse_width">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">pulse_width</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">percent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.pulse_width" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">pulse_width</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">percent</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.pulse_width" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Setzen den Pulsbreite eines Motors in Prozent der Periode</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Parameter</dt>
|
||||
|
|
@ -183,13 +269,13 @@
|
|||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.Motor.Motor.speed">
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">speed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">speed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.speed" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">speed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">port</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">speed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Motor.Motor.speed" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Geschwindigkeit des Motors einstellen</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Parameter</dt>
|
||||
<dd class="field-odd"><ul class="simple">
|
||||
<li><p><strong>port</strong> – Port, an welchen der Motor angesteckt ist. 0-3</p></li>
|
||||
<li><p><strong>speed</strong> – Drehzahl, mit der sich ein Motor dreht, in Radianten pro Sekunde (rad/s)</p></li>
|
||||
<li><p><strong>speed</strong> – Drehzahl, mit der sich ein Motor dreht, in Centimeter pro Sekunde (cm/s)</p></li>
|
||||
</ul>
|
||||
</dd>
|
||||
<dt class="field-even">Raises</dt>
|
||||
|
|
@ -200,11 +286,11 @@
|
|||
|
||||
</dd></dl>
|
||||
|
||||
</section>
|
||||
<section id="genauere-informationen">
|
||||
<h2>Genauere Informationen<a class="headerlink" href="#genauere-informationen" title="Permalink to this heading"></a></h2>
|
||||
<section id="power-vs-speed-vs-pulsewidth">
|
||||
<h3>Power vs Speed vs PulseWidth<a class="headerlink" href="#power-vs-speed-vs-pulsewidth" title="Permalink to this heading"></a></h3>
|
||||
</div>
|
||||
<div class="section" id="genauere-informationen">
|
||||
<h2>Genauere Informationen<a class="headerlink" href="#genauere-informationen" title="Permalink to this heading">¶</a></h2>
|
||||
<div class="section" id="power-vs-speed-vs-pulsewidth">
|
||||
<h3>Power vs Speed vs PulseWidth<a class="headerlink" href="#power-vs-speed-vs-pulsewidth" title="Permalink to this heading">¶</a></h3>
|
||||
<p>Zur ansteuerung der Motoren kann entweder <code class="docutils literal notranslate"><span class="pre">Motor.power(...)</span></code>, <code class="docutils literal notranslate"><span class="pre">Motor.speed(...)</span></code> oder <code class="docutils literal notranslate"><span class="pre">Motor.pulse_width(...)`</span></code> verwendet werden.
|
||||
Der Unterschied der 3 Funktionen liegt dabei in der Einheit des 2. Parameters.</p>
|
||||
<div class="line-block">
|
||||
|
|
@ -212,17 +298,17 @@ Der Unterschied der 3 Funktionen liegt dabei in der Einheit des 2. Parameters.</
|
|||
<div class="line"><code class="docutils literal notranslate"><span class="pre">Motor.speed()</span></code> verwendet die Encoder um die Geschwindigkeit der Motoren mittels closed-loop zu steuern. Diese Funktion sollte nur verwendet werden, wenn <code class="docutils literal notranslate"><span class="pre">Motor.power()</span></code> nicht zur Ansteuerung ausreicht.</div>
|
||||
<div class="line"><code class="docutils literal notranslate"><span class="pre">Motor.pulse_width()</span></code> stellt die Geschwindigkeit des Motors mittels der Pulsbreite der PWM-Steuerung des Motors ein. Diese Funktion ist so nah an der Hardware wie möglich und sollte auch nur verwendet werden, wenn es einen expliziten Grund dafür gibt.</div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="normal-vs-multiple">
|
||||
<h3>Normal vs Multiple<a class="headerlink" href="#normal-vs-multiple" title="Permalink to this heading"></a></h3>
|
||||
</div>
|
||||
<div class="section" id="normal-vs-multiple">
|
||||
<h3>Normal vs Multiple<a class="headerlink" href="#normal-vs-multiple" title="Permalink to this heading">¶</a></h3>
|
||||
<p>Der Aufruf der funktionen kann entweder über <code class="docutils literal notranslate"><span class="pre">Motor.power(port,</span> <span class="pre">percent)</span></code> oder <code class="docutils literal notranslate"><span class="pre">Motor.power((port,</span> <span class="pre">percent),</span> <span class="pre">(port,</span> <span class="pre">percent),</span> <span class="pre">..)</span></code> erfolgen.
|
||||
Der zweite Aufruf ermöglicht dem Entwickler dabei beide Motoren in einem Aufruf anzusteuern und bringt einen kleinen Vorteil in der Leistungsfähigkeit der Software.</p>
|
||||
</section>
|
||||
</section>
|
||||
<section id="beispiele">
|
||||
<h2>Beispiele<a class="headerlink" href="#beispiele" title="Permalink to this heading"></a></h2>
|
||||
<section id="vorwarts-fahren">
|
||||
<h3>Vorwärts fahren<a class="headerlink" href="#vorwarts-fahren" title="Permalink to this heading"></a></h3>
|
||||
</div>
|
||||
</div>
|
||||
<div class="section" id="beispiele">
|
||||
<h2>Beispiele<a class="headerlink" href="#beispiele" title="Permalink to this heading">¶</a></h2>
|
||||
<div class="section" id="vorwarts-fahren">
|
||||
<h3>Vorwärts fahren<a class="headerlink" href="#vorwarts-fahren" title="Permalink to this heading">¶</a></h3>
|
||||
<p>Mit folgenden Programm drehen sich beide Motoren mit 50% ihrer maximalen Geschwindigkeit.
|
||||
Dabei ist zu beachten, dass ein Motor in die entgegengesetzte Richtung zum aneren Motor gedreht werden muss, da diese spiegelverkehrt montiert sind.</p>
|
||||
<p>Zusätzlich ist ein <code class="docutils literal notranslate"><span class="pre">time.sleep(5)</span></code> notwendig, welches das Programm für 5 Sekunden pausiert. Diese Pause wird benötigt, da der Roboter automatisch alle Motoren beim Ende des Progammes deaktiviert.</p>
|
||||
|
|
@ -235,39 +321,64 @@ Dabei ist zu beachten, dass ein Motor in die entgegengesetzte Richtung zum anere
|
|||
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">5</span><span class="p">)</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
</section>
|
||||
</section>
|
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</div>
|
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<p>© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).</p>
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© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)
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Erstellt mit <a href="https://www.sphinx-doc.org/">Sphinx</a> mit einem
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Erstellt mit <a href="http://sphinx-doc.org/">Sphinx</a> mit einem
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<section id="seeding">
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<span id="lib-seeding"></span><h1>Seeding<a class="headerlink" href="#seeding" title="Permalink to this heading"></a></h1>
|
||||
<section id="dokumentation-des-seeding-moduls">
|
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<h2>Dokumentation des Seeding Moduls<a class="headerlink" href="#dokumentation-des-seeding-moduls" title="Permalink to this heading"></a></h2>
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<div class="section" id="seeding">
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<span id="lib-seeding"></span><h1>Seeding<a class="headerlink" href="#seeding" title="Permalink to this heading">¶</a></h1>
|
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<div class="section" id="dokumentation-des-seeding-moduls">
|
||||
<h2>Dokumentation des Seeding Moduls<a class="headerlink" href="#dokumentation-des-seeding-moduls" title="Permalink to this heading">¶</a></h2>
|
||||
<dl class="py class">
|
||||
<dt class="sig sig-object py" id="compLib.Seeding.Gamestate">
|
||||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compLib.Seeding.</span></span><span class="sig-name descname"><span class="pre">Gamestate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Seeding.Gamestate" title="Link zu dieser Definition"></a></dt>
|
||||
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compLib.Seeding.</span></span><span class="sig-name descname"><span class="pre">Gamestate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">seed</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Seeding.Gamestate" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Erstellt den Seeding „Gamestate“ für den angegebenen Seed.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Parameter</dt>
|
||||
|
|
@ -104,7 +190,7 @@
|
|||
</dl>
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.Seeding.Gamestate.get_heuballen">
|
||||
<span class="sig-name descname"><span class="pre">get_heuballen</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#compLib.Seeding.Gamestate.get_heuballen" title="Link zu dieser Definition"></a></dt>
|
||||
<span class="sig-name descname"><span class="pre">get_heuballen</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#compLib.Seeding.Gamestate.get_heuballen" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Die Funktion gibt entweder die Zahl „1“ oder „2“ zurück. Wenn die Funktion „1“ zurückgibt, dann liegen die Heuballen auf den gelben Linien. Wenn die Funktion „2“ zurückgibt, dann liegen sie auf den blauen Flächen.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Rückgabe</dt>
|
||||
|
|
@ -115,7 +201,7 @@
|
|||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.Seeding.Gamestate.get_logistic_plan">
|
||||
<span class="sig-name descname"><span class="pre">get_logistic_plan</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Seeding.Gamestate.get_logistic_plan" title="Link zu dieser Definition"></a></dt>
|
||||
<span class="sig-name descname"><span class="pre">get_logistic_plan</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Seeding.Gamestate.get_logistic_plan" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Die Funktion gibt den „Logistik Plan“ zurück. Also die Reihenfolge, in welcher der Roboter die Logistik Zonen Abfahren muss, um die Pakete welche dort liegen zu sortieren.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Rückgabe</dt>
|
||||
|
|
@ -126,7 +212,7 @@
|
|||
|
||||
<dl class="py method">
|
||||
<dt class="sig sig-object py" id="compLib.Seeding.Gamestate.get_material_deliveries">
|
||||
<span class="sig-name descname"><span class="pre">get_material_deliveries</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Seeding.Gamestate.get_material_deliveries" title="Link zu dieser Definition"></a></dt>
|
||||
<span class="sig-name descname"><span class="pre">get_material_deliveries</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">[</span></span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#compLib.Seeding.Gamestate.get_material_deliveries" title="Link zu dieser Definition">¶</a></dt>
|
||||
<dd><p>Die Funktion gibt die einzelnen „Material Lieferungen“ zurück. Da der Roboter immer zwei Paare an Materialien anliefern muss, gibt die Funktion eine Liste an Material Paaren zurück. Die Materialien werden dabei durch ihre Zonen-ID representiert. Also Holz ist z.B. „0“ und die Ziegelsteine sind „3“.</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Rückgabe</dt>
|
||||
|
|
@ -137,8 +223,8 @@
|
|||
|
||||
</dd></dl>
|
||||
|
||||
<section id="beispiele">
|
||||
<h3>Beispiele<a class="headerlink" href="#beispiele" title="Permalink to this heading"></a></h3>
|
||||
<div class="section" id="beispiele">
|
||||
<h3>Beispiele<a class="headerlink" href="#beispiele" title="Permalink to this heading">¶</a></h3>
|
||||
<div class="line-block">
|
||||
<div class="line">In <code class="docutils literal notranslate"><span class="pre">Zeile</span> <span class="pre">1</span></code> wird das Seeding Modul importiert.</div>
|
||||
<div class="line">In <code class="docutils literal notranslate"><span class="pre">Zeile</span> <span class="pre">2</span></code> definieren wir dann eine Variable, in der wir den „Seed“ des Gamestates den wir erstellen wollten speichern.</div>
|
||||
|
|
@ -160,39 +246,64 @@
|
|||
<span class="n">Logistic</span> <span class="n">Centers</span><span class="p">:</span> <span class="p">[[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">2</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">2</span><span class="p">,</span> <span class="mi">0</span><span class="p">]]</span>
|
||||
</pre></div>
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<section id="hardware">
|
||||
<span id="other-bardware"></span><h1>Hardware<a class="headerlink" href="#hardware" title="Permalink to this heading"></a></h1>
|
||||
<section id="sensorarray">
|
||||
<h2>Sensorarray<a class="headerlink" href="#sensorarray" title="Permalink to this heading"></a></h2>
|
||||
|
||||
<div class="section" id="hardware">
|
||||
<span id="other-bardware"></span><h1>Hardware<a class="headerlink" href="#hardware" title="Permalink to this heading">¶</a></h1>
|
||||
<div class="section" id="sensorarray">
|
||||
<h2>Sensorarray<a class="headerlink" href="#sensorarray" title="Permalink to this heading">¶</a></h2>
|
||||
<p><img alt="SensorarrayImage" src="../_images/Sensorarray.png" /></p>
|
||||
<section id="specs-v4">
|
||||
<h3>Specs V4<a class="headerlink" href="#specs-v4" title="Permalink to this heading"></a></h3>
|
||||
<div class="section" id="specs-v4">
|
||||
<h3>Specs V4<a class="headerlink" href="#specs-v4" title="Permalink to this heading">¶</a></h3>
|
||||
<div class="line-block">
|
||||
<div class="line"><strong>Processor:</strong> <a class="reference external" href="https://mou.sr/3UxW49B">STM32G030F6P6</a> - 32-bit ARM Cortex M0 CPU @ 64 MHz</div>
|
||||
<div class="line"><strong>I/O:</strong> 1x I2C, 1x SWD</div>
|
||||
<div class="line"><strong>Sensors:</strong> 5x <a class="reference external" href="https://mou.sr/3TWGYdI">QRE1113GR</a></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="specs-v2">
|
||||
<h3>Specs V2<a class="headerlink" href="#specs-v2" title="Permalink to this heading"></a></h3>
|
||||
</div>
|
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<div class="section" id="specs-v2">
|
||||
<h3>Specs V2<a class="headerlink" href="#specs-v2" title="Permalink to this heading">¶</a></h3>
|
||||
<div class="line-block">
|
||||
<div class="line"><strong>Processor:</strong> <a class="reference external" href="https://mou.sr/3FxhPC5">ATMEGA328P-AU</a> - 8-bit CPU @ 16 MHz</div>
|
||||
<div class="line"><strong>I/O:</strong> 1x I2C, 1x UART, 1x ISP</div>
|
||||
<div class="line"><strong>Sensors:</strong> 5x <a class="reference external" href="https://mou.sr/3TWGYdI">QRE1113GR</a></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="details">
|
||||
<h3>Details<a class="headerlink" href="#details" title="Permalink to this heading"></a></h3>
|
||||
</div>
|
||||
<div class="section" id="details">
|
||||
<h3>Details<a class="headerlink" href="#details" title="Permalink to this heading">¶</a></h3>
|
||||
<p>Das Sensorarray wird verwendet um Linienen vor dem Roboter zu erkennen. Es agiert als I2C Slave und muss dementsprechend aktiv gepollt werden.
|
||||
Zusätzlich besteht die möglichkeit alle Emitter zu deaktiviern um einen eventuellen Messfehler durch Sonneneinstralung oder andere Störquellen zu erkennen.</p>
|
||||
<p>Version 4 unterscheidet sich zu Version 2 im Mikroprozessor, da es zu Lieferengpässen des ATMEGA gekommen ist.
|
||||
Zusätzlich wurde die möglichkeit alle Emitter einzeln an bzw. auszuschalten entfernt, da diese keinen signifikanten Mehrwert brachte.</p>
|
||||
</section>
|
||||
</section>
|
||||
<section id="motorboard">
|
||||
<h2>Motorboard<a class="headerlink" href="#motorboard" title="Permalink to this heading"></a></h2>
|
||||
</div>
|
||||
</div>
|
||||
<div class="section" id="motorboard">
|
||||
<h2>Motorboard<a class="headerlink" href="#motorboard" title="Permalink to this heading">¶</a></h2>
|
||||
<p><img alt="MainboardImage" src="../_images/Mainboard.png" /></p>
|
||||
<section id="specs">
|
||||
<h3>Specs<a class="headerlink" href="#specs" title="Permalink to this heading"></a></h3>
|
||||
<div class="section" id="specs">
|
||||
<h3>Specs<a class="headerlink" href="#specs" title="Permalink to this heading">¶</a></h3>
|
||||
<p><strong>Motor-Treiber:</strong> <a class="reference external" href="https://mou.sr/3TXbFzu">LV8548MC-AH</a></p>
|
||||
</section>
|
||||
<section id="id2">
|
||||
<h3>Details<a class="headerlink" href="#id2" title="Permalink to this heading"></a></h3>
|
||||
</div>
|
||||
<div class="section" id="id2">
|
||||
<h3>Details<a class="headerlink" href="#id2" title="Permalink to this heading">¶</a></h3>
|
||||
<p>Das Motorboard kann an einen der 4 Ports am Roboter angesteckt werden und ermöglicht das Ansteuern von Motoren und auslesen von Encodern.</p>
|
||||
</section>
|
||||
</section>
|
||||
<section id="mainboard">
|
||||
<h2>Mainboard<a class="headerlink" href="#mainboard" title="Permalink to this heading"></a></h2>
|
||||
<section id="id3">
|
||||
<h3>Specs<a class="headerlink" href="#id3" title="Permalink to this heading"></a></h3>
|
||||
</div>
|
||||
</div>
|
||||
<div class="section" id="mainboard">
|
||||
<h2>Mainboard<a class="headerlink" href="#mainboard" title="Permalink to this heading">¶</a></h2>
|
||||
<div class="section" id="id3">
|
||||
<h3>Specs<a class="headerlink" href="#id3" title="Permalink to this heading">¶</a></h3>
|
||||
<div class="line-block">
|
||||
<div class="line"><strong>Processor:</strong> <a class="reference external" href="https://mou.sr/3fuaAQv">STM32L051C8T6TR</a> - 32-bit ARM Cortex M0 @ 32MHz</div>
|
||||
<div class="line"><strong>I/O:</strong> 4x I2C (3x Bus 1, 1x Bus 2), 1x 40 Pin GPIO Header, 2x SPI (Verbunden mit GPIO), 4x Motor-/Servo-connector, 1x SWD, 1x USB-C</div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="id4">
|
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<h3>Details<a class="headerlink" href="#id4" title="Permalink to this heading"></a></h3>
|
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</div>
|
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<div class="section" id="id4">
|
||||
<h3>Details<a class="headerlink" href="#id4" title="Permalink to this heading">¶</a></h3>
|
||||
<p>Das Mainboard wird auf den GPIO-Header eines Raspberry Pi gesteckt und ermöglicht die Steuerung eines Roboters mittels 4 Motor- bzw. Servo-Ports. Der RaspberryPi kommuniziert dabei mittels SPI mit dem Mainboard und steuert die einzelnen Sensoren oder Module an.
|
||||
Zusätzlich befinden sich auf der Unterseite des Mainboards Lötstellen, welche direkt mit der Stromversorgung der Motoren verbunden sind und geben so die möglichkeit Motoren mit mehr als 5V anzusteuern.</p>
|
||||
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|
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|
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|
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<section id="vorwarts-und-ruckwarts-fahren">
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<h2>Vorwärts und rückwärts fahren<a class="headerlink" href="#vorwarts-und-ruckwarts-fahren" title="Permalink to this heading"></a></h2>
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<div class="section" id="beispiele">
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<span id="other-usage"></span><h1>Beispiele<a class="headerlink" href="#beispiele" title="Permalink to this heading">¶</a></h1>
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<div class="section" id="vorwarts-und-ruckwarts-fahren">
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<h2>Vorwärts und rückwärts fahren<a class="headerlink" href="#vorwarts-und-ruckwarts-fahren" title="Permalink to this heading">¶</a></h2>
|
||||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
|
||||
<span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="o">*</span>
|
||||
|
||||
|
|
@ -107,9 +192,9 @@
|
|||
<span class="n">main</span><span class="p">()</span>
|
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</pre></div>
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</div>
|
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</section>
|
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<section id="eine-linie-verfolgen">
|
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<h2>Eine Linie verfolgen<a class="headerlink" href="#eine-linie-verfolgen" title="Permalink to this heading"></a></h2>
|
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</div>
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<div class="section" id="eine-linie-verfolgen">
|
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<h2>Eine Linie verfolgen<a class="headerlink" href="#eine-linie-verfolgen" title="Permalink to this heading">¶</a></h2>
|
||||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
|
||||
<span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
|
||||
<span class="kn">from</span> <span class="nn">compLib.Encoder</span> <span class="kn">import</span> <span class="n">Encoder</span>
|
||||
|
|
@ -164,9 +249,9 @@
|
|||
<span class="n">main</span><span class="p">()</span>
|
||||
</pre></div>
|
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</div>
|
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</section>
|
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<section id="funktionalitat-des-roboters-uberprufen">
|
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<h2>Funktionalität des Roboters überprüfen<a class="headerlink" href="#funktionalitat-des-roboters-uberprufen" title="Permalink to this heading"></a></h2>
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<div class="section" id="funktionalitat-des-roboters-uberprufen">
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<h2>Funktionalität des Roboters überprüfen<a class="headerlink" href="#funktionalitat-des-roboters-uberprufen" title="Permalink to this heading">¶</a></h2>
|
||||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
|
||||
<span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
|
||||
<span class="kn">from</span> <span class="nn">compLib.Encoder</span> <span class="kn">import</span> <span class="n">Encoder</span>
|
||||
|
|
@ -238,38 +323,63 @@
|
|||
<span class="n">testMotors</span><span class="p">()</span>
|
||||
</pre></div>
|
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|
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<section id="installationsanweisungen">
|
||||
<span id="software-installation"></span><h1>Installationsanweisungen<a class="headerlink" href="#installationsanweisungen" title="Permalink to this heading"></a></h1>
|
||||
|
||||
<div class="section" id="installationsanweisungen">
|
||||
<span id="software-installation"></span><h1>Installationsanweisungen<a class="headerlink" href="#installationsanweisungen" title="Permalink to this heading">¶</a></h1>
|
||||
<p>Diese Anleitung dient dazu die Software auf dem Roboter neu aufzusetzen.</p>
|
||||
<p><strong>Im normalen Gebraucht sollte dies jedoch nicht notwendig sein.</strong></p>
|
||||
<section id="betriebssystem-aufsetzen">
|
||||
<h2>Betriebssystem aufsetzen<a class="headerlink" href="#betriebssystem-aufsetzen" title="Permalink to this heading"></a></h2>
|
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|
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<h2>Betriebssystem aufsetzen<a class="headerlink" href="#betriebssystem-aufsetzen" title="Permalink to this heading">¶</a></h2>
|
||||
<p>Als Basis wird für den Roboter Raspberry Pi OS (64-bit) verwendet. Das 32-Bit Betriebssystem wird nicht unterstützt, da die Software-Komponenten nur für aarch64 bzw. arm64/v8 kompiliert werden.
|
||||
Genauere Informationen sind <a class="reference external" href="https://www.raspberrypi.com/software/operating-systems/">hier</a> zu finden.</p>
|
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</section>
|
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|
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<h2>Bearbeiten der boot-Partition<a class="headerlink" href="#bearbeiten-der-boot-partition" title="Permalink to this heading"></a></h2>
|
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|
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|
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<h2>Bearbeiten der boot-Partition<a class="headerlink" href="#bearbeiten-der-boot-partition" title="Permalink to this heading">¶</a></h2>
|
||||
<ol class="arabic simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">cmdline.txt</span></code></p></li>
|
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</ol>
|
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|
|
@ -130,38 +215,63 @@ Genauere Informationen sind <a class="reference external" href="https://www.rasp
|
|||
<ol class="arabic simple" start="5">
|
||||
<li><p>Wlan Verbindung einrichten</p></li>
|
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