60 lines
1.5 KiB
Python
60 lines
1.5 KiB
Python
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import time
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import math
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from motor import Motor, motor2040
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"""
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Demonstrates how to create multiple Motor objects and control them together.
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"""
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# Create a list of motors
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MOTOR_PINS = [ motor2040.MOTOR_1, motor2040.MOTOR_2, motor2040.MOTOR_3, motor2040.MOTOR_4]
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motors = [Motor(pins) for pins in MOTOR_PINS]
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# Enable all motors (this puts them at the middle)
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for m in motors:
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m.enable()
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time.sleep(2)
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# Go to min
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for m in motors:
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m.full_positive()
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time.sleep(2)
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# Go to max
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for m in motors:
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m.full_negative()
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time.sleep(2)
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# Go back to mid
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for m in motors:
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m.stop()
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time.sleep(2)
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SWEEPS = 3 # How many sweeps of the motor to perform
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STEPS = 10 # The number of discrete sweep steps
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STEPS_INTERVAL = 0.5 # The time in seconds between each step of the sequence
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SPEED_EXTENT = 1.0 # How far from zero to move the motor when sweeping
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# Do a sine sweep
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for j in range(SWEEPS):
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for i in range(360):
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speed = math.sin(math.radians(i)) * SPEED_EXTENT
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for s in motors:
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s.speed(speed)
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time.sleep(0.02)
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# Do a stepped sweep
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for j in range(SWEEPS):
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for i in range(0, STEPS):
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for m in motors:
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m.to_percent(i, 0, STEPS, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
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time.sleep(STEPS_INTERVAL)
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for i in range(0, STEPS):
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for m in motors:
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m.to_percent(i, STEPS, 0, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
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time.sleep(STEPS_INTERVAL)
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# Disable the motors
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for m in motors:
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m.disable()
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