EIntragungen

test_single_steer_wheel.py

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+#!/usr/bin/env python3
+import sys
+
+try:
+    import Adafruit_PCA9685
+except ImportError:
+    print("Adafruit_PCA9685 ist nicht installiert. Dieses Skript ist fuer den Raspberry/Container gedacht.")
+    sys.exit(1)
+
+
+WHEEL_TO_PIN = {
+    "fl": "pin_steer_fl",
+    "fr": "pin_steer_fr",
+    "cl": "pin_steer_cl",
+    "cr": "pin_steer_cr",
+    "rl": "pin_steer_rl",
+    "rr": "pin_steer_rr",
+}
+
+WHEEL_TO_NEUTRAL = {
+    "fl": "steer_pwm_neutral_fl",
+    "fr": "steer_pwm_neutral_fr",
+    "cl": "steer_pwm_neutral_cl",
+    "cr": "steer_pwm_neutral_cr",
+    "rl": "steer_pwm_neutral_rl",
+    "rr": "steer_pwm_neutral_rr",
+}
+def main() -> int:
+    if len(sys.argv) != 4:
+        print("Aufruf: python3 test_single_steer_wheel.py <config.yaml> <fl|fr|cl|cr|rl|rr> <winkel>")
+        return 1
+
+    config_path = sys.argv[1]
+    wheel = sys.argv[2].lower()
+    angle = float(sys.argv[3])
+
+    if wheel not in WHEEL_TO_PIN:
+        print("Unbekanntes Rad:", wheel)
+        return 1
+
+    config = {}
+    with open(config_path, "r", encoding="utf-8") as handle:
+        for raw_line in handle:
+            line = raw_line.strip()
+            if not line or line.startswith("#") or ":" not in line:
+                continue
+            key, value = line.split(":", 1)
+            config[key.strip()] = value.strip()
+
+    pin = int(config[WHEEL_TO_PIN[wheel]])
+    neutral = int(config[WHEEL_TO_NEUTRAL[wheel]])
+    pwm_range = int(config["steer_pwm_range"])
+    pwm_value = int(neutral + angle / 90.0 * pwm_range)
+
+    print("wheel:", wheel)
+    print("pin:", pin)
+    print("neutral:", neutral)
+    print("angle:", angle)
+    print("pwm:", pwm_value)
+
+    pwm = Adafruit_PCA9685.PCA9685(busnum=1)
+    pwm.set_pwm_freq(50)
+    pwm.set_pwm(pin, 0, pwm_value)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())