project-KuuKar/kuukar-rpi
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migrate to 2 rpi board

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This commit is contained in:
Siwat Sirichai 2022-11-04 13:56:52 +07:00
parent f7014f5fef
commit f68e037537
4 changed files with 37 additions and 8 deletions
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1
kuukar/kuukar_config.py
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@ -1,4 +1,5 @@
SERIAL_MCU = "COM4"
SERIAL_DRV = "COM20"
# HC Sonar Pins
SONAR_1_TRIG_PIN = 0

13
kuukar/kuukar_motion.py
View file

@ -11,8 +11,9 @@ class motion:
roaming = False
def __init__(self, mcu: telemetrix_rpi_pico.TelemetrixRpiPico, leds: leds, sensors: sensors) -> None:
def __init__(self, mcu: telemetrix_rpi_pico.TelemetrixRpiPico, drv: telemetrix_rpi_pico.TelemetrixRpiPico, leds: leds, sensors: sensors) -> None:
self.mcu = mcu
self.drv = drv
self.leds = leds
self.sensors = sensors
self.roam_thread = threading.Thread(target=self.__roam_looper)
@ -21,15 +22,15 @@ class motion:
drive_pins = [MOTOR_FL_F, MOTOR_FL_R, MOTOR_FR_F,
MOTOR_FR_R, MOTOR_RL_F, MOTOR_RL_R, MOTOR_RR_F, MOTOR_RR_R]
for drive_pin in drive_pins:
self.mcu.set_pin_mode_pwm_output(drive_pin)
self.drv.set_pin_mode_pwm_output(drive_pin)
def motor_write(self, forward_pin: int, reverse_pin: int, speed: int):
if speed < 0:
self.mcu.pwm_write(forward_pin, 0)
self.mcu.pwm_write(reverse_pin, -speed)
self.drv.pwm_write(forward_pin, 0)
self.drv.pwm_write(reverse_pin, -speed)
elif speed >= 0:
self.mcu.pwm_write(forward_pin, speed)
self.mcu.pwm_write(reverse_pin, 0)
self.drv.pwm_write(forward_pin, speed)
self.drv.pwm_write(reverse_pin, 0)
def drive(self, speed: int):
self.motor_write(MOTOR_FL_F, MOTOR_FL_R, speed)