Eskimue/ExoMy_Cuno
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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/src/motors.py
+10 -7
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@@ -53,7 +53,7 @@ class Motors():
self.pins['steer'][self.RR] = rospy.get_param("pin_steer_rr")
# PWM characteristics
self.pwm = Adafruit_PCA9685.PCA9685()
self.pwm = Adafruit_PCA9685.PCA9685(busnum=1)
self.pwm.set_pwm_freq(50) # Hz
self.steering_pwm_neutral = [None] * 6
@@ -67,7 +67,13 @@ class Motors():
self.steering_pwm_range = rospy.get_param("steer_pwm_range")
self.driving_pwm_low_limit = 100
self.driving_pwm_neutral = rospy.get_param("drive_pwm_neutral")
self.driving_pwm_neutral = [None] * 6
self.driving_pwm_neutral[self.FL] = rospy.get_param("drive_pwm_neutral_fl")
self.driving_pwm_neutral[self.FR] = rospy.get_param("drive_pwm_neutral_fr")
self.driving_pwm_neutral[self.CL] = rospy.get_param("drive_pwm_neutral_cl")
self.driving_pwm_neutral[self.CR] = rospy.get_param("drive_pwm_neutral_cr")
self.driving_pwm_neutral[self.RL] = rospy.get_param("drive_pwm_neutral_rl")
self.driving_pwm_neutral[self.RR] = rospy.get_param("drive_pwm_neutral_rr")
self.driving_pwm_upper_limit = 500
self.driving_pwm_range = rospy.get_param("drive_pwm_range")
@@ -111,14 +117,11 @@ class Motors():
def setDriving(self, driving_command):
# Loop through pin dictionary. The items key is the wheel_name and the value the pin.
for wheel_name, motor_pin in self.pins['drive'].items():
duty_cycle = int(self.driving_pwm_neutral +
duty_cycle = int(self.driving_pwm_neutral[wheel_name] +
driving_command[wheel_name]/100.0 * self.driving_pwm_range * self.wheel_directions[wheel_name])
self.pwm.set_pwm(motor_pin, 0, duty_cycle)
def stopMotors(self):
# Set driving wheels to neutral position to stop them
duty_cycle = int(self.driving_pwm_neutral)
for wheel_name, motor_pin in self.pins['drive'].items():
self.pwm.set_pwm(motor_pin, 0, duty_cycle)
self.pwm.set_pwm(motor_pin, 0, int(self.driving_pwm_neutral[wheel_name]))