Aufgeräumt

2026-05-26 08:10:59 +02:00
parent 92c51b81ce
commit cb33bbf06c
202 changed files with 10 additions and 8758 deletions
@@ -0,0 +1,94 @@
+import Adafruit_PCA9685
+import yaml
+import time
+import os
+
+config_filename = '../config/exomy.yaml'
+WHEELS = ('fl', 'fr', 'cl', 'cr', 'rl', 'rr')
+
+
+def get_driving_pins():
+    with open(config_filename, 'r') as file:
+        param_dict = yaml.load(file)
+
+    return [param_dict['pin_drive_' + wheel] for wheel in WHEELS]
+
+def get_drive_pwm_neutral_values():
+    with open(config_filename, 'r') as file:
+        param_dict = yaml.load(file)
+
+    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(
+        '''
+$$$$$$$$\                     $$\      $$\           
+$$  _____|                    $$$\    $$$ |          
+$$ |      $$\   $$\  $$$$$$\  $$$$\  $$$$ |$$\   $$\ 
+$$$$$\    \$$\ $$  |$$  __$$\ $$\$$\$$ $$ |$$ |  $$ |
+$$  __|    \$$$$  / $$ /  $$ |$$ \$$$  $$ |$$ |  $$ |
+$$ |       $$  $$<  $$ |  $$ |$$ |\$  /$$ |$$ |  $$ |
+$$$$$$$$\ $$  /\$$\ \$$$$$$  |$$ | \_/ $$ |\$$$$$$$ |
+\________|\__/  \__| \______/ \__|     \__| \____$$ |
+                                           $$\   $$ |
+                                           \$$$$$$  |
+                                            \______/ 
+        '''
+    )
+    print(
+        '''
+This script helps you to set the neutral values of PWM of the driving motors correctly.
+It will send the intended signal for "not moving" to all the motors.
+On each motor you have to turn the correction screw until the motor really stands still.
+        '''
+    )
+
+    if not os.path.exists(config_filename):
+        print("exomy.yaml does not exist. Finish config_motor_pins.py to generate it.")
+        exit()
+
+
+    pwm = Adafruit_PCA9685.PCA9685()
+
+    '''
+    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:
+
+    # For most motors a pwm frequency of 50Hz is normal
+    pwm_frequency = 50.0  # Hz
+    pwm.set_pwm_freq(pwm_frequency)
+
+    # The cycle is the inverted frequency converted to milliseconds
+    cycle = 1.0/pwm_frequency * 1000.0  # 20 ms
+
+    # The time the pwm signal is set to on during the duty cycle
+    on_time = 1.5  # ms
+
+    # Duty cycle is the percentage of a cycle the signal is on
+    duty_cycle = on_time/cycle # 0.075
+
+    # The PCA 9685 board requests a 12 bit number for the duty_cycle
+    value = int(duty_cycle*4096.0) # 307
+    '''
+
+    value_dict = get_drive_pwm_neutral_values()
+    pin_list = get_driving_pins()
+
+    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')
+
+    for pin in pin_list:
+        pwm.set_pwm(pin, 0, 0)