Wii Remote basis Steuerung

Versuch 3/iot_car.py

@@ -27,6 +27,7 @@ class Iot_car():
     speed_cur = 0
     speed_last = 0
     angle_cur = 0
+    speed_cruise_control = 0 # m/s but only positive
     
     motor = None
     streeting = None
@@ -38,6 +39,7 @@ class Iot_car():
             self.motor = Motor(1)
             self.streeting = Steering(2)
     
+    # for keyboard control     
     def __testmode_accelerate(self):
         calc_acc = calculate_acceleration(self.speed_cur, self.acc)
         self.speed_last = self.speed_cur
@@ -67,6 +69,45 @@ class Iot_car():
         else:
             self.__accelerate(speed)
             
+    # for wii remote
+    def cruise_control_increase(self):
+        s = min(self.V_MAX, self.speed_cruise_control + 2.75)
+        if s < 0:
+            self.speed_cruise_control = 0
+        else:
+            self.speed_cruise_control = s
+        
+    def cruise_control_decrease(self):
+        s = min(self.V_MAX, self.speed_cruise_control - 2.75)
+        if s < 0:
+            self.speed_cruise_control = 0
+        else:
+            self.speed_cruise_control = s
+            
+    def def cruise_control_reset(self):
+        self.speed_cruise_control = 0
+        
+    def activate_cruise_control_forward(self):
+        self.speed_last = self.speed_cur
+        self.speed_cur = self.speed_cruise_control
+        self.is_testmode_servo_active = True
+        if not is_testmode_activated:
+            self.__accelerate(self.speed_cruise_control)
+            
+    def activate_cruise_control_backward(self):
+        self.speed_last = self.speed_cur
+        self.speed_cur = -1 * self.speed_cruise_control
+        self.is_testmode_servo_active = True
+        if not is_testmode_activated:
+            self.__accelerate(-1 * self.speed_cruise_control)
+            
+    def deactivate_cruise_control(self):
+        self.speed_last = self.speed_cur
+        self.speed_cur = 0
+        self.is_testmode_servo_active = False
+        if not is_testmode_activated:
+            self.__accelerate(0)
+            
     def reset_streeting(self):
         self.set_angle(0)
           
@@ -90,6 +131,7 @@ class Iot_car():
             self.streeting.set_angle(angle)
 
     def stop(self):
+        self.speed_last = self.speed_cur
         self.speed_cur = 0
         self.angle_cur = 0
         

Versuch 3/keyikt_main.py

@@ -183,10 +183,10 @@ if __name__ == "__main__":
                 if keystates['accelerate']: # and v_step:
                     # Beschleunigen
                     v_step = False
-                    car.accelerate(speed=1)
+                    car.accelerate(speed=11)
                 if keystates['decelerate']: # and v_step:
                     # abbremsen
-                    car.accelerate(speed=-1)
+                    car.accelerate(speed=-11)
                 if keystates['accelerate_angle_right']:
                     car.streeting_right()
                 if keystates['accelerate_angle_left']:

Versuch 3/wiikt_main.py

@@ -5,6 +5,7 @@
 #######################################################################
 
 from linuxWiimoteLib import *
+frim iot_car import Iot_car
 
 # initialize wiimote
 wiimote = Wiimote()
@@ -16,6 +17,22 @@ device = ('', '')
 
 connected = False
 
+car = Iot_car(testmode=True)
+
+# AUFGABE d
+def set_led(remote):
+    global car
+    # percent
+    p = car.speed_cruise_control / car.V_MAX
+    if p > 0 and p <= 0.25:
+        remote.SetLEDs(True, False, False, False)
+    elif p > 0.25 and p <= 0.5:
+        remote.SetLEDs(True, True, False, False)
+    elif p > 0.5 and p <= 0.75:
+        remote.SetLEDs(True, True, True, False)
+    else:
+        remote.SetLEDs(True, True, True, True)
+
 try:
 	print "Press any key on wiimote to connect"
 	while (not connected):
@@ -33,6 +50,37 @@ try:
 			wiimote.calibrateAccelerometer()
 			sleep(0.1)			
 
+        # Set acceleration and deceleration
+        if wiistate.ButtonState.One:
+            car.activate_cruise_control_forward()
+        else:
+            car.deactivate_cruise_control()
+        if wiistate.ButtonState.Two:
+            car.activate_cruise_control_backward()
+        else:
+            car.deactivate_cruise_control()
+            
+        # streeting
+        if wiistate.ButtonState.Up:
+            # streeting left        
+            car.car.streeting_left()
+        if wiistate.ButtonState.Down:
+            # streeting right
+            car.streeting_right()
+        if not wiistate.ButtonState.Down and not wiistate.ButtonState.Up:
+            car.reset_streeting()
+            
+        # reset button
+        if wiistate.ButtonState.Minus:
+            car.reset()
+            car.cruise_control_reset()
+            
+        # set led states
+        set_led(wiimote)
+            
+        delta = 1.0 / 50
+        print("({},{} --> {})".format(car.speed_cur, car.angle_cur, (car.speed_cur - car.speed_last) / delta)) + ", Servo_active: " + str(car.is_testmode_servo_active) + "CC Speed: " str(car.speed_cruise_control)
+        
 except KeyboardInterrupt:
 	print "Exiting through keyboard event (CTRL + C)"
 	exit(wiimote)