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78 lines
1.6 KiB
78 lines
1.6 KiB
import threading
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import time
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startTime = time.time()
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nowTime = 0;
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currentMotor = 0
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motorcfg = [0] * 10
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motorcfg[1] = {"positive":1, "negative":2, 'speedslot':2}
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motorcfg[2] = {"positive":3, "negative":4, 'speedslot':4}
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motorcfg[3] = {"positive":5, "negative":6, 'speedslot':6}
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friction = 0.99
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movement_time = 5
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max_movement_time = 10
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min_speed = 1
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max_speed = 50
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speed = 0
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stopTime = 0
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isRunning = False
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def adjustSpeed(motor, adjustment):
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global nowTime, stopTime, currentMotor, speed, motorcfg, movement_time, max_speed, max_movement_time
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if currentMotor==motor:
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speed += adjustment * (abs(speed)/max_speed)
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stopTime += movement_time/2 * max_movement_time/(stopTime - nowTime)
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else:
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currentMotor = motor
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speed = adjustment
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stopTime = nowTime + movement_time
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if(speed>0):
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print("JOG command {}".format(motorcfg[currentMotor]['positive']))
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else:
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print("JOG command {}".format(motorcfg[currentMotor]['negative']))
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def stopMotorFunctions():
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global currentMotor, speed
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currentMotor = 0
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speed = 0
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print ("JOB command stop all motors")
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def updateLoop():
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global nowTime, stopTime, currentMotor, speed, friction, min_speed, motorcfg
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nowTime = (time.time() - startTime)
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threading.Timer(0.2, updateLoop).start()
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if currentMotor != 0:
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if nowTime > stopTime:
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stopMotorFunctions()
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return
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else:
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speed *= friction
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if abs(speed) < min_speed:
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stopMotorFunctions()
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return
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print("JOG parameter {} to {}".format( motorcfg[currentMotor]['speedslot'], abs(speed)) )
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def rt():
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adjustSpeed(1, 5)
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def lt():
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adjustSpeed(1, -5)
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def up():
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adjustSpeed(2, 5)
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def dn():
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adjustSpeed(2, -5)
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updateLoop(); |