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Programmes moteur/fourche » moteurfourcheasser.py

Programme Moteur + Fourche + Asservissement - Guillaume Delannay, 28/06/2019 13:54

 
import os #importing os library so as to communicate with the system
import time #importing time library to make Rpi wait because its too impatient
os.system ("sudo pigpiod") #Launching GPIO library
time.sleep(1) # As i said it is too impatient and so if this delay is removed you will get an error
import pigpio #importing GPIO library
import RPi.GPIO as GPIO
import datetime

speed = 1200

#stop = 0

GPIO.setmode(GPIO.BCM)
GPIO.setup(23, GPIO.IN)

ETATBOUT = 0
ETATBOUTPREC = 0
COMPTEUR = 0
t0 = time.mktime(time.gmtime())
hz = 10

fichier = open("/home/pi/speethondata.txt","a")

ESC=4 #Connect the ESC in this GPIO pin


pi = pigpio.pi();
pi.set_servo_pulsewidth(ESC, 1000)

max_value = 2000 #change this if your ESC's max value is different or leave it be
min_value = 1000 #change this if your ESC's min value is different or leav


while 1:
time.sleep(0.05)
pi.set_servo_pulsewidth(ESC, speed)

t1 = time.mktime(time.gmtime())
ETATBOUT=GPIO.input(23)
tc = t1-t0

if (tc < hz) and (ETATBOUT != ETATBOUTPREC and ETATBOUT == 0):
time.sleep(0.005)
COMPTEUR=(COMPTEUR + 1)
ETATBOUTPREC=ETATBOUT

else:
ETATBOUTPREC=ETATBOUT

if (9.99 < tc) and (tc < 10.01):

if(COMPTEUR < 785):
speed += 10

if(COMPTEUR > 815):
speed -= 10

t0 = t0 + hz
print (time.asctime())
print (COMPTEUR)
fichier.write(time.asctime() + " ")
fichier.write(str(COMPTEUR) + "\n")
COMPTEUR = 0


# if inp == "stop":
# stop = stop + 2
# pi.set_servo_pulsewidth(ESC, 0)
(3-3/3)