From b597097be3a6db5be7dab11c7636d49a9abf6423 Mon Sep 17 00:00:00 2001
From: Fabio Manganiello <blacklight86@gmail.com>
Date: Fri, 13 Apr 2018 15:12:31 +0200
Subject: [PATCH] Better management of motor power settings in gpio.zerborg -
no more offsets multiplied for max_power and hardcoded power coefficients,
just pass the motor power in the configuration
---
platypush/plugins/gpio/zeroborg/__init__.py | 59 +++++----------------
1 file changed, 14 insertions(+), 45 deletions(-)
diff --git a/platypush/plugins/gpio/zeroborg/__init__.py b/platypush/plugins/gpio/zeroborg/__init__.py
index 447229d1..4a4f25cd 100644
--- a/platypush/plugins/gpio/zeroborg/__init__.py
+++ b/platypush/plugins/gpio/zeroborg/__init__.py
@@ -22,36 +22,14 @@ class GpioZeroborgPlugin(Plugin):
_drive_thread = None
_can_run = False
_direction = None
- _power_offsets = {}
- def __init__(self, v_in=8.4, v_out=6.0,
- power_offset_left_up=0.0, power_offset_right_up=0.0,
- power_offset_left_down=0.0, power_offset_right_down=0.0,
- power_offset_left_left=0.0, power_offset_left_right=0.0,
- power_offset_right_left=0.0, power_offset_right_right=0.0):
+ def __init__(self, directions = {}):
import platypush.plugins.gpio.zeroborg.lib as ZeroBorg
- self.v_in = v_in
- self.v_out = v_out
- self.max_power = v_out / float(v_in)
+ self.directions = directions
self.auto_mode = False
self._direction = None
- self._power_offsets = {
- Direction.DIR_LEFT: {
- Direction.DIR_UP: power_offset_left_up,
- Direction.DIR_DOWN: power_offset_left_down,
- Direction.DIR_LEFT: power_offset_left_left,
- Direction.DIR_RIGHT: power_offset_left_right,
- },
-
- Direction.DIR_RIGHT: {
- Direction.DIR_UP: power_offset_right_up,
- Direction.DIR_DOWN: power_offset_right_down,
- Direction.DIR_LEFT: power_offset_right_left,
- Direction.DIR_RIGHT: power_offset_right_right,
- },
- }
self.zb = ZeroBorg.ZeroBorg()
self.zb.Init()
@@ -117,28 +95,19 @@ class GpioZeroborgPlugin(Plugin):
time.sleep(0.1)
- if self._direction == Direction.DIR_UP.value:
- left = 1.0 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_UP]
- right = 1.0 + self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_UP]
- elif self._direction == Direction.DIR_DOWN.value:
- left = -1.0 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN]
- right = -1.0 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
- elif self._direction == Direction.DIR_LEFT.value:
- left = -0.66 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_LEFT]
- right = 1.32 + self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_LEFT]
- elif self._direction == Direction.DIR_RIGHT.value:
- left = 1.32 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_RIGHT]
- right = -0.66 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_RIGHT]
- elif self._direction is not None:
- logging.warning('Invalid direction: {}'.format(direction))
- self.stop()
+ motor_1_power = motor_2_power = motor_3_power = motor_4_power = 0.0
+ if self._direction in self.directions:
+ motor_1_power = self.directions[self._direction]['motor_1_power']
+ motor_2_power = self.directions[self._direction]['motor_2_power']
+ motor_3_power = self.directions[self._direction]['motor_3_power']
+ motor_4_power = self.directions[self._direction]['motor_4_power']
+ elif self._direction:
+ logging.warning('Invalid direction {}, stopping motors'.format(self._direction))
- power = 0.75 # Still debugging the right power range
-
- self.zb.SetMotor1(power * left * 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.zb.SetMotor1(motor_1_power)
+ self.zb.SetMotor2(motor_2_power)
+ self.zb.SetMotor3(motor_3_power)
+ self.zb.SetMotor4(motor_4_power)
self.auto_mode = False