added libraries and Nexus Omni4WD

2018-11-21 17:27:26 +01:00
parent b03a42ba89
commit 63f03cfd86
8 changed files with 639 additions and 1 deletions
--- a/extra/carcomm/testcarcom.py
+++ b/extra/carcomm/testcarcom.py
@@ -0,0 +1,64 @@
+#!/usr/bin/env python
+
+import sys, time
+import carcomm 
+
+if __name__ == "__main__":
+
+    try:
+        # voorlopig vast
+        port = "/dev/ttyUSB0"
+        baudrate = 28800
+        parity = 'N'
+        rtscts = False
+        xonxoff = False
+        echo = False
+        convert_outgoing = carcomm.CONVERT_CRLF
+        repr_mode = 0
+
+        carcon = carcomm.CarControl(
+            port,
+            baudrate,
+            parity,
+            rtscts,
+            xonxoff,
+            echo,
+            convert_outgoing,
+            repr_mode,
+        )
+        time.sleep(2)  # de nexus robot is niet zo snel..
+        carcon.sendpacket(20,0)
+        carcon.getinfopacket()
+	carcon.sendpacket(20,22)
+
+
+
+	speed = 400
+        for x in range(0, 50):
+#            carcon.setspeed(0.5, 0)
+             carcon.sendwheelscommand(speed, speed, speed, speed)
+#            carcon.getinfopacket()
+             time.sleep(0.05)
+	carcon.sendwheelscommand(0, 0, 0, 0)
+#       carcon.setspeed( 0, 0)
+
+	time.sleep(1)  # de nexus robot is niet zo snel..
+
+        for x in range(0, 50):
+#            carcon.setspeed(0.5, 0)
+             carcon.sendwheelscommand(-speed, -speed, -speed, -speed)
+#            carcon.getinfopacket()
+             time.sleep(0.05)
+	carcon.sendwheelscommand(0, 0, 0, 0)
+#       carcon.setspeed( 0, 0)
+
+
+
+    except carcomm.serial.SerialException as e:
+        sys.stderr.write("could not open port %r: %s\n" % (port, e))
+        sys.exit(1)
+        
+
+
+
+