本文整理汇总了Python中motor.Motor.getPwmValue方法的典型用法代码示例。如果您正苦于以下问题：Python Motor.getPwmValue方法的具体用法？Python Motor.getPwmValue怎么用？Python Motor.getPwmValue使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类motor.Motor的用法示例。
在下文中一共展示了Motor.getPwmValue方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: __init__
# 需要导入模块: from motor import Motor [as 别名]
# 或者: from motor.Motor import getPwmValue [as 别名]
#.........这里部分代码省略.........
def stopMotors(self):
print("Stopping")
self.motor1.stop()
self.motor2.stop()
self.motor3.stop()
self.motor4.stop()
def calibrateThrottles(self):
self.motor1.calibrateThrottle()
self.motor2.calibrateThrottle()
self.motor3.calibrateThrottle()
self.motor4.calibrateThrottle()
def setPwmForAllMotors(self, pwmValue):
self.motor1.setPwmValue(pwmValue)
self.motor2.setPwmValue(pwmValue)
self.motor3.setPwmValue(pwmValue)
self.motor4.setPwmValue(pwmValue)
def simpleExample(self):
print('Starting motors at 300')
self.setPwmForAllMotors(300)
time.sleep(3)
print('increasing to 360')
self.setPwmForAllMotors(360)
time.sleep(3)
print('increasing to 400')
self.setPwmForAllMotors(400)
time.sleep(3)
print('increasing to 450')
self.setPwmForAllMotors(450)
time.sleep(3)
def manualControl(self):
exit = False
pwmValue = 261
print("Press i to increase speed, d to decrease, q to quit")
while not(exit):
action = raw_input()
if action == "i":
pwmValue+=1
elif action == "d":
pwmValue-=1
elif action == "q":
exit = True
print(pwmValue)
if not(exit):
setPwmForAllMotors(pwmValue)
def autonomousControl(self):
# Print system status and self test result.
status, self_test, error = self.bno.get_system_status()
print('System status: {0}'.format(status))
print('Self test result (0x0F is normal): 0x{0:02X}'.format(self_test))
# Print out an error if system status is in error mode.
if status == 0x01:
print('System error: {0}'.format(error))
print('See datasheet section 4.3.59 for the meaning.')
# Print BNO055 software revision and other diagnostic data.
sw, bl, accel, mag, gyro = self.bno.get_revision()
print('Software version: {0}'.format(sw))
print('Bootloader version: {0}'.format(bl))
print('Accelerometer ID: 0x{0:02X}'.format(accel))
print('Magnetometer ID: 0x{0:02X}'.format(mag))
print('Gyroscope ID: 0x{0:02X}\n'.format(gyro))
pitchPIDController = PID(0.7,0.1,0.1)
self.setPwmForAllMotors(300)
while True:
heading, roll, pitch = self.bno.read_euler()
pitchPIDOutput = pitchPIDController.update(pitch, 0)
print('Heading={0:0.2F} Roll={1:0.2F} Pitch={2:0.2F}'.format(heading, roll, pitch))
print('PITCH PID OUTPUT: '+str(pitchPIDOutput))
motor1Value = int(round(self.motor1.getPwmValue()+pitchPIDOutput))
motor2Value = int(round(self.motor2.getPwmValue()+pitchPIDOutput))
motor3Value = int(round(self.motor3.getPwmValue()-pitchPIDOutput))
motor4Value = int(round(self.motor4.getPwmValue()-pitchPIDOutput))
print('motor1={0} motor2={1} motor3={2} motor4={3}'.format(motor1Value, motor2Value, motor3Value, motor4Value))
self.motor1.setPwmValue(motor1Value)
self.motor2.setPwmValue(motor2Value)
self.motor3.setPwmValue(motor3Value)
self.motor4.setPwmValue(motor4Value)
time.sleep(1)