Alles verbessert

ExoMy_Software-master/scripts/config_drive_motor_neutral.py

@@ -4,31 +4,29 @@ import time
 import os
 
 config_filename = '../config/exomy.yaml'
+WHEELS = ('fl', 'fr', 'cl', 'cr', 'rl', 'rr')
 
 
 def get_driving_pins():
-    pin_list = []
     with open(config_filename, 'r') as file:
         param_dict = yaml.load(file)
 
-    for key, value in param_dict.items():
-        if('pin_drive_' in str(key)):
-            pin_list.append(value)
-    return pin_list
+    return [param_dict['pin_drive_' + wheel] for wheel in WHEELS]
 
-def get_drive_pwm_neutral():
-     
+def get_drive_pwm_neutral_values():
     with open(config_filename, 'r') as file:
         param_dict = yaml.load(file)
 
-    for key, value in param_dict.items():
-        if('drive_pwm_neutral' in str(key)):
-            return value                    
-
-    default_value = 300
-    print('The parameter drive_pwm_neutral could not be found in the exomy.yaml \n')
-    print('It was set to the default value: '+ default_value + '\n')
-    return default_value
+    values = {}
+    for wheel in WHEELS:
+        key = 'drive_pwm_neutral_' + wheel
+        if key not in param_dict:
+            print('The parameter ' + key + ' could not be found in the exomy.yaml \n')
+            print('It was set to the default value: 300\n')
+            values[wheel] = 300
+        else:
+            values[wheel] = param_dict[key]
+    return values
 
 if __name__ == "__main__":
     print(
@@ -62,7 +60,7 @@ On each motor you have to turn the correction screw until the motor really stand
     pwm = Adafruit_PCA9685.PCA9685()
 
     '''
-    The drive_pwm_neutral value is determined from the exomy.yaml file.
+    The drive_pwm_neutral values are determined from the exomy.yaml file.
     But it can be also calculated from the values of the PWM board and motors, 
     like shown in the following calculation:
 
@@ -83,11 +81,11 @@ On each motor you have to turn the correction screw until the motor really stand
     value = int(duty_cycle*4096.0) # 307
     '''
 
-    value = get_drive_pwm_neutral()
+    value_dict = get_drive_pwm_neutral_values()
     pin_list = get_driving_pins()
 
-    for pin in pin_list:
-        pwm.set_pwm(pin, 0, value)
+    for index, pin in enumerate(pin_list):
+        pwm.set_pwm(pin, 0, value_dict[WHEELS[index]])
         time.sleep(0.1)
 
     raw_input('Press any button if you are done to complete configuration\n')