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Eskimue
2026-05-21 19:30:33 +02:00
parent 5dccc8985e
commit 33b71416ff
19 changed files with 855 additions and 229 deletions
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ExoMy_Software-master/scripts/admin_motor_test.py
+67 -19
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@@ -54,6 +54,15 @@ DRIVE_PIN_KEYS = {
'rr': 'pin_drive_rr',
}
DRIVE_NEUTRAL_KEYS = {
'fl': 'drive_pwm_neutral_fl',
'fr': 'drive_pwm_neutral_fr',
'cl': 'drive_pwm_neutral_cl',
'cr': 'drive_pwm_neutral_cr',
'rl': 'drive_pwm_neutral_rl',
'rr': 'drive_pwm_neutral_rr',
}
ACTION_SETTINGS = {
'steer_left': {
'kind': 'steer',
@@ -94,7 +103,10 @@ class PCA9685Direct:
try:
import smbus
except ImportError as exc:
raise RuntimeError('smbus ist nicht installiert.') from exc
try:
import smbus2 as smbus
except ImportError as inner_exc:
raise RuntimeError('smbus ist nicht installiert.') from inner_exc
self.address = address
self.bus = smbus.SMBus(busnum)
@@ -176,7 +188,10 @@ class MotorTester:
self.config = _load_config(self.config_path)
self.pwm.set_pwm_freq(50)
self.steer_pwm_range = int(self.config['steer_pwm_range'])
self.drive_pwm_neutral = int(self.config['drive_pwm_neutral'])
self.drive_pwm_neutral = {
wheel: int(self.config[DRIVE_NEUTRAL_KEYS[wheel]])
for wheel in WHEELS
}
self.drive_pwm_range = int(self.config['drive_pwm_range'])
def _steer_pin(self, wheel):
@@ -188,10 +203,12 @@ class MotorTester:
def _drive_pin(self, wheel):
return int(self.config[DRIVE_PIN_KEYS[wheel]])
def set_drive_neutral_pwm(self, pwm_value):
duty_cycle = int(pwm_value)
def _drive_neutral(self, wheel):
return int(self.drive_pwm_neutral[wheel])
def set_drive_neutral_pwm(self, values):
for wheel in WHEELS:
self.pwm.set_pwm(self._drive_pin(wheel), 0, duty_cycle)
self.pwm.set_pwm(self._drive_pin(wheel), 0, int(values[wheel]))
time.sleep(0.03)
def center_all_steering(self):
@@ -201,7 +218,7 @@ class MotorTester:
def stop_all_driving(self):
for wheel in WHEELS:
self.pwm.set_pwm(self._drive_pin(wheel), 0, self.drive_pwm_neutral)
self.pwm.set_pwm(self._drive_pin(wheel), 0, self._drive_neutral(wheel))
time.sleep(0.03)
def set_steering_angle(self, wheel, angle):
@@ -237,12 +254,12 @@ class MotorTester:
def test_driving(self, wheel, speed, duration):
self.pwm.set_pwm(self._steer_pin(wheel), 0, self._steer_neutral(wheel))
duty_cycle = int(
self.drive_pwm_neutral +
self._drive_neutral(wheel) +
speed / 100.0 * self.drive_pwm_range * WHEEL_DIRECTIONS[wheel]
)
self.pwm.set_pwm(self._drive_pin(wheel), 0, duty_cycle)
time.sleep(duration)
self.pwm.set_pwm(self._drive_pin(wheel), 0, self.drive_pwm_neutral)
self.pwm.set_pwm(self._drive_pin(wheel), 0, self._drive_neutral(wheel))
def execute(self, wheel, action):
if wheel not in WHEELS:
@@ -418,30 +435,61 @@ def save_steering_neutral_values(values, config_path=None):
def get_drive_neutral_value(config_path=None):
tester = MotorTester(config_path=config_path)
values = {}
for wheel in WHEELS:
key = DRIVE_NEUTRAL_KEYS[wheel]
values[wheel] = {
'wheel': wheel,
'wheel_label': WHEEL_LABELS[wheel],
'key': key,
'value': int(tester.config[key]),
'pin': tester._drive_pin(wheel),
}
return {
'config_path': tester.config_path,
'value': int(tester.config['drive_pwm_neutral']),
'pins': {wheel: tester._drive_pin(wheel) for wheel in WHEELS},
'values': values,
}
def preview_drive_neutral_value(pwm_value, config_path=None):
def preview_drive_neutral_value(values, config_path=None):
tester = MotorTester(config_path=config_path)
value = int(pwm_value)
preview_values = {}
for wheel in WHEELS:
if wheel not in values:
raise ValueError(f'Fahr-Neutralwert fehlt: {DRIVE_NEUTRAL_KEYS[wheel]}')
preview_values[wheel] = int(values[wheel])
tester.center_all_steering()
tester.set_drive_neutral_pwm(value)
tester.set_drive_neutral_pwm(preview_values)
return {
'value': value,
'pins': {wheel: tester._drive_pin(wheel) for wheel in WHEELS},
'values': {
wheel: {
'wheel': wheel,
'wheel_label': WHEEL_LABELS[wheel],
'key': DRIVE_NEUTRAL_KEYS[wheel],
'value': preview_values[wheel],
'pin': tester._drive_pin(wheel),
}
for wheel in WHEELS
},
}
def save_drive_neutral_value(pwm_value, config_path=None):
def save_drive_neutral_value(values, config_path=None):
tester = MotorTester(config_path=config_path)
value = int(pwm_value)
_update_config_values(tester.config_path, {'drive_pwm_neutral': value})
updates = {}
for wheel in WHEELS:
key = DRIVE_NEUTRAL_KEYS[wheel]
if key not in values:
raise ValueError(f'Fahr-Neutralwert fehlt: {key}')
updates[key] = int(values[key])
_update_config_values(tester.config_path, updates)
tester.config = _load_config(tester.config_path)
tester.drive_pwm_neutral = int(tester.config['drive_pwm_neutral'])
tester.drive_pwm_neutral = {
wheel: int(tester.config[DRIVE_NEUTRAL_KEYS[wheel]])
for wheel in WHEELS
}
tester.center_all_steering()
tester.set_drive_neutral_pwm(tester.drive_pwm_neutral)
return get_drive_neutral_value(config_path=tester.config_path)