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compLIB/other/usage.html
Joel Klimont f8433c1b23 Update documentation
2022-11-09 00:22:10 +01:00

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<title>Beispiele &mdash; CompLib 0.2.3 Dokumentation</title>
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<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>
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<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>
<span class="k">def</span> <span class="nf">forward</span><span class="p">():</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="o">-</span><span class="mi">30</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">30</span><span class="p">)</span>
<span class="k">def</span> <span class="nf">backward</span><span class="p">():</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">30</span><span class="p">)</span>
<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">30</span><span class="p">)</span>
<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;hallo ich bin ein roboter beep buup&quot;</span><span class="p">)</span>
<span class="n">forward</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="n">backward</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="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s1">&#39;__main__&#39;</span><span class="p">:</span>
<span class="n">main</span><span class="p">()</span>
</pre></div>
</div>
</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>
<span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
<span class="n">COLOR_BREAK</span> <span class="o">=</span> <span class="mi">850</span>
<span class="n">DRIVE_SPEED</span> <span class="o">=</span> <span class="mi">35</span>
<span class="n">IRSensor</span><span class="o">.</span><span class="n">enable</span><span class="p">()</span>
<span class="k">def</span> <span class="nf">drive</span><span class="p">(</span><span class="n">left</span><span class="p">,</span> <span class="n">right</span><span class="p">):</span>
<span class="n">right</span> <span class="o">*=</span> <span class="o">-</span><span class="mi">1</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">right</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="n">left</span><span class="p">))</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">left</span><span class="si">}</span><span class="s2"> </span><span class="si">{</span><span class="n">right</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
<span class="k">def</span> <span class="nf">follow</span><span class="p">():</span>
<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
<span class="n">sensors</span> <span class="o">=</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read_all</span><span class="p">()</span>
<span class="k">if</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
<span class="c1"># turn left</span>
<span class="n">drive</span><span class="p">(</span><span class="o">-</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
<span class="k">elif</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">4</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
<span class="c1"># turn right</span>
<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="o">-</span><span class="n">DRIVE_SPEED</span><span class="p">)</span>
<span class="k">else</span><span class="p">:</span>
<span class="c1"># straight</span>
<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
<span class="k">if</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">COLOR_BREAK</span> <span class="ow">and</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">4</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
<span class="k">break</span>
<span class="n">drive</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="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="k">def</span> <span class="nf">main</span><span class="p">():</span>
<span class="n">follow</span><span class="p">()</span>
<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</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">0.5</span><span class="p">)</span>
<span class="n">follow</span><span class="p">()</span>
<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</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">0.5</span><span class="p">)</span>
<span class="n">follow</span><span class="p">()</span>
<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</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">0.5</span><span class="p">)</span>
<span class="n">follow</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="n">main</span><span class="p">()</span>
</pre></div>
</div>
</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>
<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>
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