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scaled control to (-1,1)

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This commit is contained in:
Simon Pirkelmann 2019-05-05 11:01:40 +02:00
parent 845ead5df4
commit 14ad366484
2 changed files with 11 additions and 11 deletions
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6
micropython_firmware/main.py
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@ -36,7 +36,7 @@ class Robot:
while listening: while listening:
# expected data: '(u1, u2)'\n" # expected data: '(u1, u2)'\n"
# where ui = control for motor i # where ui = control for motor i
# ui \in [10000, 10000] # ui \in [-1.0, 1.0]
data = comm_socket.readline() data = comm_socket.readline()
data_str = data.decode() data_str = data.decode()
print("Data received: {}".format(data_str)) print("Data received: {}".format(data_str))
@ -44,9 +44,9 @@ class Robot:
print("processing data = {}".format(data_str)) print("processing data = {}".format(data_str))
l = data_str.strip('()\n').split(',') l = data_str.strip('()\n').split(',')
print("l = {}".format(l)) print("l = {}".format(l))
u1 = int(l[0]) u1 = int(float(l[0])*10000)
print("u1 = {}".format(u1)) print("u1 = {}".format(u1))
u2 = int(l[1]) u2 = int(float(l[1])*10000)
print("u2 = {}".format(u2)) print("u2 = {}".format(u2))
except ValueError: except ValueError:
print("ValueError: Data has wrong format.") print("ValueError: Data has wrong format.")

16
micropython_firmware/remote_control.py
View File

@ -16,20 +16,20 @@ while True:
for event in events: for event in events:
if event.type == pygame.KEYDOWN: if event.type == pygame.KEYDOWN:
if event.key == pygame.K_LEFT: if event.key == pygame.K_LEFT:
u1 = 10000 u1 = 1.0
u2 = -10000 u2 = -1.0
print("turn left: ({},{})".format(u1, u2)) print("turn left: ({},{})".format(u1, u2))
elif event.key == pygame.K_RIGHT: elif event.key == pygame.K_RIGHT:
u1 = -10000 u1 = -1.0
u2 = 10000 u2 = 1.0
print("turn right: ({},{})".format(u1, u2)) print("turn right: ({},{})".format(u1, u2))
elif event.key == pygame.K_UP: elif event.key == pygame.K_UP:
u1 = -10000 u1 = -1.0
u2 = -10000 u2 = -1.0
print("forward: ({},{})".format(u1, u2)) print("forward: ({},{})".format(u1, u2))
elif event.key == pygame.K_DOWN: elif event.key == pygame.K_DOWN:
u1 = 10000 u1 = 1.0
u2 = 10000 u2 = 1.0
print("forward: ({},{})".format(u1, u2)) print("forward: ({},{})".format(u1, u2))
rc_socket.send('({},{})\n'.format(u1, u2)) rc_socket.send('({},{})\n'.format(u1, u2))
elif event.type == pygame.KEYUP: elif event.type == pygame.KEYUP: