Aufgeräumt

scripts/motor_test.py

@@ -0,0 +1,94 @@
+import Adafruit_PCA9685
+import time
+import sys
+'''
+This script helps to test pwm motors with the Adafruit PCA9685 board 
+Example usage:
+python motor_test.py 3
+
+Performs a motor test for the motor connected to pin 3 of the PWM board
+'''
+# Check if the pin number is given as an argument
+if len(sys.argv) < 2:
+    print('You must give the pin number of the motor to be tested as argument.')
+    print('E.g: python motor_test.py 3')
+    print('Tests the motor connected to pin 3.')
+    exit()
+
+# Set the pin of the motor
+pin = int(sys.argv[1])
+print('Pin: '+str(pin))
+
+
+pwm = Adafruit_PCA9685.PCA9685()
+# 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 #ms 
+
+# The time the pwm signal is set to on during the duty cycle
+on_time = 2.0 #ms
+
+selection = ''
+
+while(selection != '0'):
+
+    print("What do you want to test?")
+    print("1. Min to Max oscilation")
+    print('2. Incremental positioning')
+    print('0. Abort')
+    selection = raw_input()
+
+    if (int(selection) == 1):
+
+        min_t = 0.5 # ms
+        max_t = 2.5 # ms
+        mid_t = min_t+max_t/2
+
+        print("pulsewidth_min = {:.2f}, pulsewidth_max = {:.2f}".format(min_t, max_t))
+
+        # *_dc is the percentage of a cycle the signal is on
+        min_dc = min_t/cycle
+        max_dc = max_t/cycle
+        mid_dc = mid_t/cycle
+        
+        dc_list = [min_dc, mid_dc, max_dc, mid_dc]
+        for dc in dc_list:
+            pwm.set_pwm(pin, 0, int(dc*4096.0))
+            time.sleep(2.0)
+            
+    if (int(selection) == 2):
+
+        curr_t = 1.5 # ms
+        curr_dc = curr_t/cycle
+        
+        step_size = 0.1 # ms
+        
+        step_size_scaling = 0.2
+        
+        dc_selection = ''
+        
+        while (dc_selection != '0'):
+            dc_selection = raw_input('a-d: change pulsewidth | w-s: change step size | 0: back to menu\n')
+            if dc_selection == 'a':
+                curr_t = curr_t - step_size
+            elif dc_selection == 'd':
+                curr_t = curr_t + step_size
+            elif dc_selection == 's':
+                step_size = step_size*(1-step_size_scaling)
+            elif dc_selection == 'w':
+                step_size = step_size*(1+step_size_scaling)
+
+            curr_dc = curr_t/cycle
+            
+            curr_pwm = int(curr_dc*4096.0)
+            print("t_current:\t{0:.4f} [ms]\nstep_size:\t{1:.4f} [ms]\ncurr_pwm: {2:.2f}".format(curr_t, step_size, curr_pwm))
+                        
+            pwm.set_pwm(pin, 0, curr_pwm)
+            
+        
+
+# The PCA 9685 board requests a 12 bit number for the duty_cycle
+pwm.set_pwm(pin, 0, 0)