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Update documentation

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Konstantin Lampalzer 2022-10-14 00:36:09 +02:00
parent 6b092c1eea
commit 49c4040072
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77
_sources/other/usage.rst.txt
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@ -88,4 +88,79 @@ Eine Linie verfolgen
follow()
if __name__ == "__main__":
main()
main()
Funktionalität des Roboters überprüfen
**************************************
.. code-block:: python
import time
from compLib.Motor import Motor
from compLib.Encoder import Encoder
from compLib.IRSensor import IRSensor
def testIR():
print("Enabling Infrared Sensor")
IRSensor.enable()
time.sleep(1)
print("Writing sensor values...")
for i in range(0, 50):
print(IRSensor.read_all())
time.sleep(0.1)
print("Disabling Infrared Sensor")
IRSensor.disable()
def testEncoders():
Motor.multiple_pulse_width((0, 50), (3, -50))
print("Writing encoder positions...")
for i in range(0, 50):
print(Encoder.read_all_positions())
time.sleep(0.1)
time.sleep(2)
print("Writing encoder velocities...")
for i in range(0, 50):
print(Encoder.read_all_velocities())
time.sleep(0.1)
Motor.multiple_pulse_width((0, 0), (3, 0))
def testMotors():
print("Setting pulse_with")
Motor.multiple_pulse_width((0, 50), (3, -50))
time.sleep(3)
print("Setting power")
Motor.multiple_power((0, 50), (3, -50))
time.sleep(3)
print("Setting pulse_with")
Motor.multiple_speed((0, 5), (3, -5))
time.sleep(3)
for i in range(0, 100):
Motor.multiple_power((0, i), (3, -i))
time.sleep(0.1)
if __name__ == "__main__":
print("Make sure robot is turned on it's back!")
time.sleep(5)
print()
print("----------------- Testing Infrared Sensor -----------------")
testIR()
print()
print("----------------- Testing Encoder -----------------")
testEncoders()
print()
print("----------------- Testing Motors -----------------")
testMotors()

75
other/usage.html
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@ -89,6 +89,7 @@
<li class="toctree-l1 current"><a class="current reference internal" href="#">Beispiele</a><ul>
<li class="toctree-l2"><a class="reference internal" href="#vorwarts-und-ruckwarts-fahren">Vorwärts und rückwärts fahren</a></li>
<li class="toctree-l2"><a class="reference internal" href="#eine-linie-verfolgen">Eine Linie verfolgen</a></li>
<li class="toctree-l2"><a class="reference internal" href="#funktionalitat-des-roboters-uberprufen">Funktionalität des Roboters überprüfen</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../lib/index.html">compLib</a></li>
@ -243,6 +244,80 @@
</pre></div>
</div>
</div>
<div class="section" id="funktionalitat-des-roboters-uberprufen">
<h2>Funktionalität des Roboters überprüfen<a class="headerlink" href="#funktionalitat-des-roboters-uberprufen" title="Link zu dieser Überschrift"></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>
<span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
<span class="k">def</span> <span class="nf">testIR</span><span class="p">():</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Enabling Infrared Sensor&quot;</span><span class="p">)</span>
<span class="n">IRSensor</span><span class="o">.</span><span class="n">enable</span><span class="p">()</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Writing sensor values...&quot;</span><span class="p">)</span>
<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">50</span><span class="p">):</span>
<span class="nb">print</span><span class="p">(</span><span class="n">IRSensor</span><span class="o">.</span><span class="n">read_all</span><span class="p">())</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.1</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Disabling Infrared Sensor&quot;</span><span class="p">)</span>
<span class="n">IRSensor</span><span class="o">.</span><span class="n">disable</span><span class="p">()</span>
<span class="k">def</span> <span class="nf">testEncoders</span><span class="p">():</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">multiple_pulse_width</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="mi">50</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">50</span><span class="p">))</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Writing encoder positions...&quot;</span><span class="p">)</span>
<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">50</span><span class="p">):</span>
<span class="nb">print</span><span class="p">(</span><span class="n">Encoder</span><span class="o">.</span><span class="n">read_all_positions</span><span class="p">())</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.1</span><span class="p">)</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Writing encoder velocities...&quot;</span><span class="p">)</span>
<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">50</span><span class="p">):</span>
<span class="nb">print</span><span class="p">(</span><span class="n">Encoder</span><span class="o">.</span><span class="n">read_all_velocities</span><span class="p">())</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.1</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">multiple_pulse_width</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</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="k">def</span> <span class="nf">testMotors</span><span class="p">():</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Setting pulse_with&quot;</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">multiple_pulse_width</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="mi">50</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">50</span><span class="p">))</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Setting power&quot;</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">multiple_power</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="mi">50</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">50</span><span class="p">))</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Setting pulse_with&quot;</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">multiple_speed</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="mi">5</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">5</span><span class="p">))</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>
<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">100</span><span class="p">):</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">multiple_power</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="n">i</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="n">i</span><span class="p">))</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.1</span><span class="p">)</span>
<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Make sure robot is turned on it&#39;s back!&quot;</span><span class="p">)</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>
<span class="nb">print</span><span class="p">()</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;----------------- Testing Infrared Sensor -----------------&quot;</span><span class="p">)</span>
<span class="n">testIR</span><span class="p">()</span>
<span class="nb">print</span><span class="p">()</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;----------------- Testing Encoder -----------------&quot;</span><span class="p">)</span>
<span class="n">testEncoders</span><span class="p">()</span>
<span class="nb">print</span><span class="p">()</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;----------------- Testing Motors -----------------&quot;</span><span class="p">)</span>
<span class="n">testMotors</span><span class="p">()</span>
</pre></div>
</div>
</div>
</div>

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