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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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<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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<p><code class="docutils literal notranslate"><span class="pre">compair</span></code></p>
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</div>
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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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</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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<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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</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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</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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<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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|
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|
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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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<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 erstes Programm<a class="headerlink" href="#mein-erstes-programm" title="Permalink to this heading"></a></h1>
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<p>Um mit der Programmierung zu beginnen, müssen wir zunächst einen neuen Ordner erstellen, in dem alle unsere Python-Dateien gespeichert werden.
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<p>Sie können diesen Ordner nennen, wie Sie wollen, für dieses Beispiel heißt er <code class="docutils literal notranslate"><span class="pre">compAIR</span></code>.
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@ -183,62 +97,37 @@ Im nächsten Schritt erstellen wir unsere Datei <code class="docutils literal no
|
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<img alt="codeServerRun" src="../_images/04_codeServerRun.png" /></p>
|
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<p>Dann öffnet sich ein Terminal, der die Ausgabe unseres Programms anzeigt.
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<h1>Erste Schritte<a class="headerlink" href="#erste-schritte" title="Permalink to this heading">¶</a></h1>
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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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<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>
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<section id="mein-zweites-programm">
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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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<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>
|
||||
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|
@ -190,9 +104,9 @@ 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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<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>
|
||||
|
|
@ -214,8 +128,8 @@ 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>
|
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<p>Danach wird das Programm beendet und der Roboter bleibt stehen.</p>
|
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<div class="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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<section id="mehr-fahren">
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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>
|
||||
|
|
@ -434,64 +348,39 @@ 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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||||
|
||||
<a href="../_sources/gettingStarted/thridProgram.rst.txt" rel="nofollow"> Quelltext anzeigen</a>
|
||||
|
||||
|
||||
</li>
|
||||
|
||||
</ul>
|
||||
|
||||
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<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>
|
||||
|
||||
<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>
|
||||
|
|
@ -218,62 +132,37 @@ 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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|
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@ -1,33 +1,16 @@
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<html class="writer-html5" lang="de" >
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<link rel="stylesheet" href="../_static/pygments.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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<script type="text/javascript" id="documentation_options" data-url_root="../" src="../_static/documentation_options.js"></script>
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@ -35,39 +18,21 @@
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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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<div class="wy-grid-for-nav">
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<nav data-toggle="wy-nav-shift" class="wy-nav-side">
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<div class="wy-side-scroll">
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<a href="../index.html">
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|
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|
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<img src="../_static/compair-logo-white.svg" class="logo" alt="Logo"/>
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@ -75,18 +40,7 @@
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<input type="hidden" name="area" value="default" />
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</form>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">WLAN-Verbindung herstellen</a><ul>
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|
@ -109,75 +63,35 @@
|
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<li class="toctree-l1"><a class="reference internal" href="../other/hardware.html">Hardware</a></li>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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|
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<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>
|
||||
|
||||
<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>
|
||||
<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>
|
||||
|
|
@ -200,20 +114,20 @@
|
|||
<li><p>Starten des Roboters</p></li>
|
||||
<li><p>Die IP-Adresse sollte nun am Roboter angezeigt werden</p></li>
|
||||
</ol>
|
||||
</div>
|
||||
<div class="section" id="weitere-informationen">
|
||||
<h2>Weitere Informationen<a class="headerlink" href="#weitere-informationen" title="Permalink to this heading">¶</a></h2>
|
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</section>
|
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<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>
|
||||
</div>
|
||||
<div class="section" id="windows">
|
||||
<h2>Windows……<a class="headerlink" href="#windows" title="Permalink to this heading">¶</a></h2>
|
||||
</section>
|
||||
<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>
|
||||
</div>
|
||||
<div class="section" id="fehlerbehandlung">
|
||||
<h2>Fehlerbehandlung<a class="headerlink" href="#fehlerbehandlung" title="Permalink to this heading">¶</a></h2>
|
||||
</section>
|
||||
<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>
|
||||
|
|
@ -254,63 +168,38 @@ Dabei wird automatisch die IP-Adresse der Verbindung „eth“ am Roboter angeze
|
|||
<span class="o">></span>
|
||||
</pre></div>
|
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</div>
|
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|
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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>
|
||||
|
||||
<section id="encoder">
|
||||
<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>
|
||||
<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>
|
||||
|
|
@ -193,7 +107,7 @@
|
|||
|
||||
<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>
|
||||
|
|
@ -204,63 +118,38 @@
|
|||
|
||||
</dd></dl>
|
||||
|
||||
</div>
|
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</div>
|
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</section>
|
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<div class="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>
|
||||
<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>
|
||||
|
||||
<section id="infrarot-sensoren">
|
||||
<span id="lib-irsensor"></span><h1>Infrarot Sensoren<a class="headerlink" href="#infrarot-sensoren" 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>
|
||||
<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>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Rückgabe</dt>
|
||||
|
|
@ -205,63 +119,38 @@
|
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</dd></dl>
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@ -116,82 +70,42 @@
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<li><a href="../index.html">compLib</a> »</li>
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<li>Motoren</li>
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<li class="breadcrumb-item active">Motoren</li>
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<a href="../../_sources/lib/classes/Motor.rst.txt" rel="nofollow"> Quelltext anzeigen</a>
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<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>
|
||||
|
||||
<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>
|
||||
<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>
|
||||
|
|
@ -205,7 +119,7 @@
|
|||
|
||||
<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 mehreer Motoren in Prozent der Periode</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">Parameter</dt>
|
||||
|
|
@ -219,7 +133,7 @@
|
|||
|
||||
<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>
|
||||
|
|
@ -233,7 +147,7 @@
|
|||
|
||||
<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>
|
||||
|
|
@ -250,7 +164,7 @@
|
|||
|
||||
<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>
|
||||
|
|
@ -267,7 +181,7 @@
|
|||
|
||||
<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>
|
||||
|
|
@ -284,11 +198,11 @@
|
|||
|
||||
</dd></dl>
|
||||
|
||||
</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>
|
||||
</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>
|
||||
<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">
|
||||
|
|
@ -296,17 +210,17 @@ 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>
|
||||
</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>
|
||||
</section>
|
||||
<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>
|
||||
</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>
|
||||
</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>
|
||||
<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>
|
||||
|
|
@ -319,64 +233,39 @@ 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>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
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|
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|
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|
||||
|
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© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)
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|
||||
<p>© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).</p>
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|
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|
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|
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Erstellt mit <a href="http://sphinx-doc.org/">Sphinx</a> mit einem
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|
||||
164
lib/index.html
164
lib/index.html
|
|
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|
|||
|
||||
|
||||
<!DOCTYPE html>
|
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<html class="writer-html5" lang="de" >
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<link rel="next" title="Encoder" href="classes/Encoder.html" />
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@ -75,18 +40,7 @@
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<input type="hidden" name="area" value="default" />
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</form>
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@ -101,71 +55,32 @@
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<li class="toctree-l1"><a class="reference internal" href="../other/hardware.html">Hardware</a></li>
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<div class="section" id="complib">
|
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<h1>compLib<a class="headerlink" href="#complib" title="Permalink to this heading">¶</a></h1>
|
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|
||||
<section id="complib">
|
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<h1>compLib<a class="headerlink" href="#complib" title="Permalink to this heading"></a></h1>
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@ -217,62 +132,37 @@
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@ -113,179 +67,116 @@
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|
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|
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<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>
|
||||
|
||||
<section id="hardware">
|
||||
<span id="other-bardware"></span><h1>Hardware<a class="headerlink" href="#hardware" title="Permalink to this heading"></a></h1>
|
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<section id="sensorarray">
|
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<h2>Sensorarray<a class="headerlink" href="#sensorarray" title="Permalink to this heading"></a></h2>
|
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<p><img alt="SensorarrayImage" src="../_images/Sensorarray.png" /></p>
|
||||
<div class="section" id="specs-v4">
|
||||
<h3>Specs V4<a class="headerlink" href="#specs-v4" title="Permalink to this heading">¶</a></h3>
|
||||
<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>
|
||||
</div>
|
||||
<div class="section" id="specs-v2">
|
||||
<h3>Specs V2<a class="headerlink" href="#specs-v2" title="Permalink to this heading">¶</a></h3>
|
||||
</section>
|
||||
<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>
|
||||
</div>
|
||||
<div class="section" id="details">
|
||||
<h3>Details<a class="headerlink" href="#details" title="Permalink to this heading">¶</a></h3>
|
||||
</section>
|
||||
<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>
|
||||
</div>
|
||||
</div>
|
||||
<div class="section" id="motorboard">
|
||||
<h2>Motorboard<a class="headerlink" href="#motorboard" title="Permalink to this heading">¶</a></h2>
|
||||
</section>
|
||||
</section>
|
||||
<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>
|
||||
<div class="section" id="specs">
|
||||
<h3>Specs<a class="headerlink" href="#specs" title="Permalink to this heading">¶</a></h3>
|
||||
<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>
|
||||
</div>
|
||||
<div class="section" id="id2">
|
||||
<h3>Details<a class="headerlink" href="#id2" title="Permalink to this heading">¶</a></h3>
|
||||
</section>
|
||||
<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>
|
||||
</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>
|
||||
</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 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>
|
||||
</div>
|
||||
<div class="section" id="id4">
|
||||
<h3>Details<a class="headerlink" href="#id4" title="Permalink to this heading">¶</a></h3>
|
||||
</section>
|
||||
<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>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</section>
|
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<a href="../lib/classes/Motor.html" class="btn btn-neutral float-left" title="Motoren" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Zurück</a>
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© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)
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<p>© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).</p>
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</div>
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182
other/usage.html
182
other/usage.html
|
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@ -1,33 +1,16 @@
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|
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|
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<!DOCTYPE html>
|
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<html class="writer-html5" lang="de" >
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<link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
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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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<div class="wy-grid-for-nav">
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<nav data-toggle="wy-nav-shift" class="wy-nav-side">
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<a href="../index.html">
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|
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<img src="../_static/compair-logo-white.svg" class="logo" alt="Logo"/>
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</a>
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<input type="text" name="q" placeholder="Dokumentation durchsuchen" />
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@ -75,18 +40,7 @@
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<input type="hidden" name="area" value="default" />
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</form>
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<li class="toctree-l1"><a class="reference internal" href="../gettingStarted/index.html">Erste Schritte</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../software/installation.html">Installationsanweisungen</a></li>
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|
@ -101,73 +55,34 @@
|
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<li class="toctree-l1"><a class="reference internal" href="hardware.html">Hardware</a></li>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div class="section" id="beispiele">
|
||||
<span id="other-usage"></span><h1>Beispiele<a class="headerlink" href="#beispiele" title="Permalink to this heading">¶</a></h1>
|
||||
<div class="section" id="vorwarts-und-ruckwarts-fahren">
|
||||
<h2>Vorwärts und rückwärts fahren<a class="headerlink" href="#vorwarts-und-ruckwarts-fahren" title="Permalink to this heading">¶</a></h2>
|
||||
|
||||
<section id="beispiele">
|
||||
<span id="other-usage"></span><h1>Beispiele<a class="headerlink" href="#beispiele" title="Permalink to this heading"></a></h1>
|
||||
<section id="vorwarts-und-ruckwarts-fahren">
|
||||
<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>
|
||||
|
||||
|
|
@ -192,9 +107,9 @@
|
|||
<span class="n">main</span><span class="p">()</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="section" id="eine-linie-verfolgen">
|
||||
<h2>Eine Linie verfolgen<a class="headerlink" href="#eine-linie-verfolgen" title="Permalink to this heading">¶</a></h2>
|
||||
</section>
|
||||
<section id="eine-linie-verfolgen">
|
||||
<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>
|
||||
|
|
@ -249,9 +164,9 @@
|
|||
<span class="n">main</span><span class="p">()</span>
|
||||
</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="Permalink to this heading">¶</a></h2>
|
||||
</section>
|
||||
<section id="funktionalitat-des-roboters-uberprufen">
|
||||
<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>
|
||||
|
|
@ -323,63 +238,38 @@
|
|||
<span class="n">testMotors</span><span class="p">()</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
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</section>
|
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<p>© Copyright 2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS).</p>
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|
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<span id="software-installation"></span><h1>Installationsanweisungen<a class="headerlink" href="#installationsanweisungen" title="Permalink to this heading">¶</a></h1>
|
||||
|
||||
<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>
|
||||
<div class="section" id="betriebssystem-aufsetzen">
|
||||
<h2>Betriebssystem aufsetzen<a class="headerlink" href="#betriebssystem-aufsetzen" title="Permalink to this heading">¶</a></h2>
|
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<section id="betriebssystem-aufsetzen">
|
||||
<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>
|
||||
</div>
|
||||
<div class="section" id="bearbeiten-der-boot-partition">
|
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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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</section>
|
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<section id="bearbeiten-der-boot-partition">
|
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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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<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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|
|
@ -215,63 +130,38 @@ 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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</ol>
|
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</div>
|
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</div>
|
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</section>
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|
||||
Erstellt mit <a href="http://sphinx-doc.org/">Sphinx</a> mit einem
|
||||
|
||||
<a href="https://github.com/rtfd/sphinx_rtd_theme">theme</a>
|
||||
|
||||
bereitgestellt von <a href="https://readthedocs.org">Read the Docs</a>.
|
||||
|
||||
Erstellt mit <a href="https://www.sphinx-doc.org/">Sphinx</a> mit einem
|
||||
<a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
|
||||
bereitgestellt von <a href="https://readthedocs.org">Read the Docs</a>.
|
||||
|
||||
|
||||
</footer>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
|
||||
</section>
|
||||
|
||||
</div>
|
||||
|
||||
|
||||
<script type="text/javascript">
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
Reference in a new issue