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antennas test

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apirrone 2025-05-05 10:20:02 +02:00
parent f99abfc078
commit 5a8b057019
2 changed files with 13 additions and 15 deletions
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21
mini_bdx_runtime/mini_bdx_runtime/antennas.py
View file

@ -1,4 +1,5 @@
import RPi.GPIO as GPIO import RPi.GPIO as GPIO
import numpy as np
import time import time
LEFT_ANTENNA_PIN = 13 LEFT_ANTENNA_PIN = 13
@ -6,6 +7,7 @@ RIGHT_ANTENNA_PIN = 12
LEFT_SIGN = 1 LEFT_SIGN = 1
RIGHT_SIGN = -1 RIGHT_SIGN = -1
class Antennas: class Antennas:
def __init__(self): def __init__(self):
@ -28,7 +30,6 @@ class Antennas:
def set_position_right(self, position): def set_position_right(self, position):
self.set_position(2, position, RIGHT_SIGN) self.set_position(2, position, RIGHT_SIGN)
def set_position(self, servo, value, sign=1): def set_position(self, servo, value, sign=1):
""" """
Moves the servo based on an input value in the range [-1, 1]. Moves the servo based on an input value in the range [-1, 1].
@ -57,15 +58,13 @@ class Antennas:
self.pwm2.stop() self.pwm2.stop()
GPIO.cleanup() GPIO.cleanup()
# if __name__ == "__main__":
# servo_control = Antennas()
# try: if __name__ == "__main__":
# while True: antennas = Antennas()
# servo_num = int(input("Enter servo number (1 or 2): "))
# value = float(input("Enter position (-1 to 1): "))
# servo_control.set_position(servo_num, value)
# except KeyboardInterrupt: s = time.time()
# print("Stopping servos...") while True:
# servo_control.stop() antennas.set_position_left(np.sin(2 * np.pi * 1 * time.time()))
antennas.set_position_right(np.sin(2 * np.pi * 1 * time.time()))
time.sleep(1 / 50)

7
scripts/antennas_controller_test.py
View file

@ -8,12 +8,11 @@ antennas = Antennas()
while True: while True:
_, _, _, left_trigger, right_trigger = (
controller.get_last_command() _, _, left_trigger, right_trigger = controller.get_last_command()
)
antennas.set_position_left(right_trigger) antennas.set_position_left(right_trigger)
antennas.set_position_right(left_trigger) antennas.set_position_right(left_trigger)
# print(left_trigger, right_trigger) # print(left_trigger, right_trigger)
time.sleep(1/50) time.sleep(1 / 50)