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# This program will let you test your ESC and brushless motor.
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# Make sure your battery is not connected if you are going to calibrate it at first.
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# Since you are testing your motor, I hope you don't have your propeller attached to it otherwise you are in trouble my friend...?
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# This program is made by AGT @instructable.com. DO NOT REPUBLISH THIS PROGRAM... actually the program itself is harmful pssst Its not, its safe.
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import os #importing os library so as to communicate with the system
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import time #importing time library to make Rpi wait because its too impatient
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os.system ("sudo pigpiod") #Launching GPIO library
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time.sleep(1) # As i said it is too impatient and so if this delay is removed you will get an error
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import pigpio #importing GPIO library
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ESC=4 #Connect the ESC in this GPIO pin
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pi = pigpio.pi();
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pi.set_servo_pulsewidth(ESC, 0)
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max_value = 2000 #change this if your ESC's max value is different or leave it be
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min_value = 1000 #change this if your ESC's min value is different or leave it be
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print "For first time launch, select calibrate"
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print "Type the exact word for the function you want"
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print "calibrate OR manual OR control OR arm OR stop"
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def manual_drive(): #You will use this function to program your ESC if required
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print "You have selected manual option so give a value between 0 and you max value"
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while True:
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inp = raw_input()
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if inp == "stop":
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stop()
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break
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elif inp == "control":
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control()
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break
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elif inp == "arm":
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arm()
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break
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else:
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pi.set_servo_pulsewidth(ESC,inp)
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def calibrate(): #This is the auto calibration procedure of a normal ESC
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pi.set_servo_pulsewidth(ESC, 0)
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print("Disconnect the battery and press Enter")
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inp = raw_input()
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if inp == '':
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pi.set_servo_pulsewidth(ESC, max_value)
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print("Connect the battery NOW.. you will here two beeps, then wait for a gradual falling tone then press Enter")
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inp = raw_input()
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if inp == '':
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pi.set_servo_pulsewidth(ESC, min_value)
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print "Wierd eh! Special tone"
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time.sleep(7)
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print "Wait for it ...."
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time.sleep (5)
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print "Im working on it, DONT WORRY JUST WAIT....."
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pi.set_servo_pulsewidth(ESC, 0)
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time.sleep(2)
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print "Arming ESC now..."
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pi.set_servo_pulsewidth(ESC, min_value)
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time.sleep(1)
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print "See.... uhhhhh"
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control() # You can change this to any other function you want
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def control():
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print "I'm Starting the motor, I hope its calibrated and armed, if not restart by giving 'x'"
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time.sleep(1)
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speed = 800 # change your speed if you want to.... it should be between 700 - 2000
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print "Controls - a to decrease speed & d to increase speed OR q to decrease a lot of speed & e to increase a lot of speed"
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while True:
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pi.set_servo_pulsewidth(ESC, speed)
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inp = raw_input()
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if inp == "q":
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speed -= 100 # decrementing the speed like hell
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print "speed = %d" % speed
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elif inp == "e":
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speed += 100 # incrementing the speed like hell
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print "speed = %d" % speed
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elif inp == "d":
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speed += 10 # incrementing the speed
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print "speed = %d" % speed
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elif inp == "a":
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speed -= 10 # decrementing the speed
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print "speed = %d" % speed
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elif inp == "stop":
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stop() #going for the stop function
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break
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elif inp == "manual":
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manual_drive()
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break
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elif inp == "arm":
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arm()
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break
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else:
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print "WHAT DID I SAID!! Press a,q,d or e"
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def arm(): #This is the arming procedure of an ESC
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print "Connect the battery and press Enter"
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inp = raw_input()
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if inp == '':
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pi.set_servo_pulsewidth(ESC, 0)
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time.sleep(1)
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pi.set_servo_pulsewidth(ESC, max_value)
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time.sleep(1)
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pi.set_servo_pulsewidth(ESC, min_value)
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time.sleep(1)
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control()
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def stop(): #This will stop every action your Pi is performing for ESC ofcourse.
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pi.set_servo_pulsewidth(ESC, 0)
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pi.stop()
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#This is the start of the program actually, to start the function it needs to be initialized before calling... stupid python.
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inp = raw_input()
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if inp == "manual":
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manual_drive()
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elif inp == "calibrate":
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calibrate()
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elif inp == "arm":
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arm()
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elif inp == "control":
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control()
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elif inp == "stop":
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stop()
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else :
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print "Thank You for not following the things I'm saying... now you gotta restart the program STUPID!!"
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