65 lines
1.4 KiB
Python
65 lines
1.4 KiB
Python
#!/usr/bin/env python
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import sys, time
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import carcomm
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if __name__ == "__main__":
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try:
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# voorlopig vast
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port = "/dev/ttyUSB0"
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baudrate = 28800
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parity = 'N'
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rtscts = False
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xonxoff = False
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echo = False
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convert_outgoing = carcomm.CONVERT_CRLF
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repr_mode = 0
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carcon = carcomm.CarControl(
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port,
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baudrate,
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parity,
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rtscts,
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xonxoff,
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echo,
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convert_outgoing,
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repr_mode,
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)
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time.sleep(2) # de nexus robot is niet zo snel..
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carcon.sendpacket(20,0)
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carcon.getinfopacket()
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carcon.sendpacket(20,22)
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speed = 400
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for x in range(0, 50):
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# carcon.setspeed(0.5, 0)
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carcon.sendwheelscommand(speed, speed, speed, speed)
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# carcon.getinfopacket()
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time.sleep(0.05)
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carcon.sendwheelscommand(0, 0, 0, 0)
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# carcon.setspeed( 0, 0)
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time.sleep(1) # de nexus robot is niet zo snel..
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for x in range(0, 50):
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# carcon.setspeed(0.5, 0)
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carcon.sendwheelscommand(-speed, -speed, -speed, -speed)
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# carcon.getinfopacket()
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time.sleep(0.05)
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carcon.sendwheelscommand(0, 0, 0, 0)
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# carcon.setspeed( 0, 0)
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except carcomm.serial.SerialException as e:
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sys.stderr.write("could not open port %r: %s\n" % (port, e))
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sys.exit(1)
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