Keuronde/CerveauPy2026
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Commande PWM

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This commit is contained in:
Samuel 2026-04-18 12:46:37 +02:00
parent 3ae12eff48
commit 8fd6c07fc6
1 changed files with 16 additions and 1 deletions
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17
Messagerie.py
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@ -67,6 +67,13 @@ def lecture_propulsion():
if len(list_message[1])>25: if len(list_message[1])>25:
struct_value = struct.unpack('ffffff',list_message[1][1:25]) struct_value = struct.unpack('ffffff',list_message[1][1:25])
return (struct_value[0],struct_value[1],struct_value[2], struct_value[3], struct_value[4], struct_value[5]) return (struct_value[0],struct_value[1],struct_value[2], struct_value[3], struct_value[4], struct_value[5])
def envoie_trajectoire(traj):
msg_envoi_donnees(b'P', 0x22, traj)
def envoie_cde_PWM(pwn_gauche, pwm_droit):
commande_PWM = struct.pack('=Bhh',1, pwn_gauche, pwm_droit)
msg_envoi_donnees(b'P', 0x0D, commande_PWM)
if __name__ == "__main__": if __name__ == "__main__":
@ -81,7 +88,15 @@ if __name__ == "__main__":
50. , 0., 50. , 0.,
150. , 200., 150. , 200.,
200. , 200.,) 200. , 200.,)
msg_envoi_donnees(b'P', 0x22, traj) # msg_envoi_donnees(b'P', 0x22, traj)
commande_PWM = struct.pack('=Bhh',1, 000, 000)
print(commande_PWM)
msg_envoi_donnees(b'P', 0x0D, commande_PWM)
envoie_cde_PWM(000,0)
exit()
while True: while True:
pos = None pos = None