motor_controller.py 文件源码

def __init__(self, logger, d = 20, motor_setup = 0, motor_driver = 1,\
               pid = 1, reset = 1, r = 10):
    self.logger = logger
    GPIO.setmode(GPIO.BCM)
    self.GPIO = GPIO
    self.motor_controller = motor_setup
    self.motor_driver = motor_driver
    if motor_driver == gpio:
      self.driver = motor_drivers.ada_motor_driver(GPIO, logger)
    elif motor_driver == i2c:
      self.driver = motor_drivers.i2c_motor_driver(logger)
    if motor_setup == mecanum:
      self.controller = motor_controllers.mecanum(logger)
      if motor_driver == i2c:
        self.driver.init_module(pid,reset,4)
    elif motor_setup == differential:
      self.controller = motor_controllers.differential(d)
      if motor_driver == i2c:
        self.driver.init_module(pid,reset,2)

    #TODO: write motor_setup == omni
    #TODO: fix wiringpi
    #    wiringpi.wiringPiSetup()
    #    wiringpi.pinMode(1, 2)