本文整理匯總了Python中motor.Motor.set_velocity方法的典型用法代碼示例。如果您正苦於以下問題：Python Motor.set_velocity方法的具體用法？Python Motor.set_velocity怎麽用？Python Motor.set_velocity使用的例子？那麽, 這裏精選的方法代碼示例或許可以為您提供幫助。您也可以進一步了解該方法所在類motor.Motor的用法示例。
在下文中一共展示了Motor.set_velocity方法的2個代碼示例，這些例子默認根據受歡迎程度排序。您可以為喜歡或者感覺有用的代碼點讚，您的評價將有助於係統推薦出更棒的Python代碼示例。
示例1: __init__
# 需要導入模塊: from motor import Motor [as 別名]
# 或者: from motor.Motor import set_velocity [as 別名]
class MotorConductor:
FRONT = "front"
LEFT = "left"
RIGHT = "right"
def __init__(self):
self.motor_front_left = Motor(MotorConductor.FRONT, MotorConductor.LEFT)
self.motor_front_right = Motor(MotorConductor.FRONT, MotorConductor.RIGHT)
for ndx, motor in enumerate(self.get_motors()):
motor.gear_ratio = Config.get_gear_ratio()
motor.wheel_diameter = Config.get_wheel_diameter()
motor.position_ratio = Config.get_position_ratio()[ndx]
motor.speed_ratio = Config.get_speed_ratio()[ndx]
def get_motors(self):
return [self.motor_front_left, self.motor_front_right]
def set_velocity(self, linear_velocity, angular_velocity):
width = Config.get_robot_width()
# Calculate front motors velocity
# Apply linear speed
# On the left: substract arc velocity (rad * radius = arc)
# On the right: add arc velocity (rad * radius = arc)
# Considering radians increase counterclockwise and robot front is pointing toward x+
# right wheel needs to travel more distance (and thus go faster) when the robot turns counterclockwise
front_left_speed = linear_velocity - angular_velocity * width / 2.0
front_right_speed = linear_velocity + angular_velocity * width / 2.0
self.motor_front_left.set_velocity(front_left_speed)
self.motor_front_right.set_velocity(front_right_speed)
def measured_position(self):
pass
#Set the mode of the command
#int8 MODE_STOPPED=-1
#int8 MODE_VELOCITY=0 (DEFAULT)
#int8 MODE_POSITION=1
def set_motors_mode(self, mode):
for motor in self.get_motors():
motor.set_mode(mode)示例2: __init__
# 需要導入模塊: from motor import Motor [as 別名]
# 或者: from motor.Motor import set_velocity [as 別名]
class MotorConductor:
FRONT = "front"
REAR = "rear"
LEFT = "left"
RIGHT = "right"
SWIVEL = "swivel"
def __init__(self):
self.motor_front_left = Motor(MotorConductor.FRONT, MotorConductor.LEFT)
self.motor_front_right = Motor(MotorConductor.FRONT, MotorConductor.RIGHT)
self.motor_rear_left = Motor(MotorConductor.REAR, MotorConductor.LEFT)
self.motor_rear_right = Motor(MotorConductor.REAR, MotorConductor.RIGHT)
for ndx, motor in enumerate(self.get_motors()):
motor.gear_ratio = Config.get_gear_ratio()
motor.wheel_diameter = Config.get_wheel_diameter()
motor.position_ratio = Config.get_position_ratio()[ndx]
motor.speed_ratio = Config.get_speed_ratio()[ndx]
self.swivel = Swivel(MotorConductor.SWIVEL)
def get_motors(self):
return [self.motor_front_left, self.motor_front_right, self.motor_rear_left, self.motor_rear_right]
def set_velocity(self, linear_velocity, angular_velocity):
width = Config.get_robot_width()
# Calculate front motors velocity
# Apply linear speed
# On the left: substract arc velocity (rad * radius = arc)
# On the right: add arc velocity (rad * radius = arc)
# Considering radians increase counterclockwise and robot front is pointing toward x+
# right wheel needs to travel more distance (and thus go faster) when the robot turns counterclockwise
front_left_speed = linear_velocity - angular_velocity * width / 2.0
front_right_speed = linear_velocity + angular_velocity * width / 2.0
# Calculate rear motors velocity
# Apply linear speed, angular component will probably be applied by the swivel
rear_left_speed = rear_right_speed = linear_velocity
self.motor_front_left.set_velocity(front_left_speed)
self.motor_front_right.set_velocity(front_right_speed)
self.motor_rear_left.set_velocity(rear_left_speed)
self.motor_rear_right.set_velocity(rear_right_speed)
#Calculate swivel angle. This may look like mathemagie, it is. See also: I have no idea what I'm doing
xy_vel_vector = np.array([linear_velocity, 0])
xyz_vel_vector = np.array([linear_velocity, 0, angular_velocity])
norm_xy = np.linalg.norm(xy_vel_vector)
norm_xyz = np.linalg.norm(xyz_vel_vector)
if norm_xyz != 0: # If the robot doesn't move, we don't care about setting the angle
angle = math.acos(norm_xy/norm_xyz)
angle *= np.sign(angular_velocity)
self.swivel.set_angle(angle)
def measured_position(self):
pass
#Set the mode of the command
#int8 MODE_STOPPED=-1
#int8 MODE_VELOCITY=0 (DEFAULT)
#int8 MODE_POSITION=1
def set_motors_mode(self, mode):
for motor in self.get_motors():
motor.set_mode(mode)
def set_swivel_mode(self, mode):
self.swivel.set_mode(mode)