caperren/osurc_mars_rover_2017_2018
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Mining system completegit add .!

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Corwin Perren
2018-07-29 21:46:10 -07:00
parent b79693c855
commit 092318ec10
20 changed files with 1223 additions and 310 deletions
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15
software/testing/modbus/mining/mining_tester.py
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@@ -19,7 +19,7 @@ import minimalmodbus
#####################################
NODE_NAME = "chassis_pan_tilt_control"
DEFAULT_PORT = "/dev/rover/ttyChassisPanTilt"
DEFAULT_PORT = "/dev/rover/ttyEffectors"
DEFAULT_BAUD = 115200
DEFAULT_INVERT = False
@@ -57,7 +57,7 @@ NODE_LAST_SEEN_TIMEOUT = 2 # seconds
#####################################
class MiningControl(object):
def __init__(self):
self.port = "/dev/ttyUSB0"
self.port = DEFAULT_PORT
self.baud = 115200
self.mining_node = None
@@ -93,8 +93,8 @@ class MiningControl(object):
while True:
try:
print self.mining_node.read_registers(0, 7)
# self.mining_registers[MINING_MODBUS_REGISTERS["CAL_FACTOR"]] = int(input("Enter new cal value:"))
# self.mining_node.write_registers(0, self.mining_registers)
self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET"]] = int(input("Enter new tilt value:"))
self.mining_node.write_registers(0, self.mining_registers)
except Exception, e:
print e
@@ -106,12 +106,11 @@ class MiningControl(object):
def initialize_mining_system(self):
self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_SET"]] = 1023
self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET"]] = 350
self.mining_registers[MINING_MODBUS_REGISTERS["CAL_FACTOR"]] = 114
lift_current = 0
tilt_current = 0
while abs(self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_POSITION"]] - self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_SET"]]) > POSITIONAL_THRESHOLD or abs(self.mining_registers[MINING_MODBUS_REGISTERS["TILT_POSITION"]] - self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET"]]) > POSITIONAL_THRESHOLD:
while abs(self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_POSITION"]] - self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_SET"]]) > POSITIONAL_THRESHOLD or \
abs(self.mining_registers[MINING_MODBUS_REGISTERS["TILT_POSITION"]] - self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET"]]) > POSITIONAL_THRESHOLD:
try:
self.mining_node.write_registers(0, self.mining_registers)
self.mining_registers = self.mining_node.read_registers(0, 7)