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Konstantin Lampalzer 2022-10-14 00:36:09 +02:00
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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>