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Throttling power

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This commit is contained in:
Fabio Manganiello 2018-03-03 03:24:08 +01:00
parent da0d715d49
commit 0f97678a78
1 changed files with 11 additions and 5 deletions
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16
platypush/plugins/gpio/zeroborg/__init__.py
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@ -41,6 +41,7 @@ class GpioZeroborgPlugin(Plugin):
self.v_out = v_out self.v_out = v_out
self.max_power = v_out / float(v_in) self.max_power = v_out / float(v_in)
self.auto_mode = False self.auto_mode = False
self._direction = None
self.zb = ZeroBorg.ZeroBorg() self.zb = ZeroBorg.ZeroBorg()
self.zb.Init() self.zb.Init()
@ -57,6 +58,8 @@ class GpioZeroborgPlugin(Plugin):
def drive(self, direction): def drive(self, direction):
prev_direction = self._direction
self._can_run = True self._can_run = True
self._direction = direction.lower() self._direction = direction.lower()
logging.info('Received ZeroBorg drive command: {}'.format(direction)) logging.info('Received ZeroBorg drive command: {}'.format(direction))
@ -74,10 +77,11 @@ class GpioZeroborgPlugin(Plugin):
while distance is None: while distance is None:
distance = self.get_distance() distance = self.get_distance()
print(distance)
if distance > 250.0: # distance in mm if distance > 250.0: # distance in mm
self._direction = Direction.DIR_UP.value self._direction = Direction.DIR_UP.value
else: else:
logging.info('Physical obstacle detected at {} mm'.
format(distance))
self._direction = Direction.DIR_LEFT.value self._direction = Direction.DIR_LEFT.value
time.sleep(0.1) time.sleep(0.1)
@ -98,10 +102,12 @@ class GpioZeroborgPlugin(Plugin):
logging.warning('Invalid direction: {}'.format(direction)) logging.warning('Invalid direction: {}'.format(direction))
self.stop() self.stop()
self.zb.SetMotor1(left * self.max_power) power = 0.6 # Still debugging the right power range
self.zb.SetMotor2(left * self.max_power)
self.zb.SetMotor3(-right * self.max_power) self.zb.SetMotor1(power * left * self.max_power)
self.zb.SetMotor4(-right * self.max_power) self.zb.SetMotor2(power * left * self.max_power)
self.zb.SetMotor3(power * -right * self.max_power)
self.zb.SetMotor4(power * -right * self.max_power)
self.auto_mode = False self.auto_mode = False