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Génération de fichier de données CSV
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@ -51,7 +51,7 @@ def commandes():
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# Monter
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mot_digitset (500)
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t0,z0, a0= get('t'), get('cabine_z'), get('mot_angle')
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print ("Début monter : cabine_z : "+str(round(z0,3)) + " - mot_angle : " + str(round(a0,3)))
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print ("Début monter : cabine_z : "+str(round(z0, 3)) + " - mot_angle : " + str(round(a0, 3)))
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while pc_1() ==False :
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voy_1(True)
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mot_d(False)
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@ -60,17 +60,17 @@ def commandes():
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mot_m(False)
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voy_1(False)
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t1,z1, a1= get('t'), get('cabine_z'), get('mot_angle')
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print ("Fin monter : cabine_z : "+str(round(z1,3)) + " - mot_angle : " + str(round(a1,3)))
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print ("Fin monter : cabine_z : "+str(round(z1, 3)) + " - mot_angle : " + str(round(a1, 3)))
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print ("")
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print ("Monter : "+str(round(t1-t0,3)) +" s - distance : " +str(round(z1-z0,3))+" mm - angle : " +str(round(a1-a0,3))+
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" rad - cabine_vitesse : " +str(round(cabine_vitesse,3))+" mm/s - moteur_vitesse : " +str(round(mot_vitesse,3))+
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" rad/s - cabine_pas : " +str(round(cabine_pas,3))+" mm/impulsion - moteur_pas : " +str(round(mot_pas,3))+" rad/impulsion")
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print ("Monter : "+str(round(t1-t0, 3)) +" s - distance : " +str(round(z1-z0, 3))+" mm - angle : " +str(round(a1-a0, 3))+
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" rad - cabine_vitesse : " +str(round(cabine_vitesse, 3))+" mm/s - moteur_vitesse : " +str(round(mot_vitesse, 3))+
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" rad/s - cabine_pas : " +str(round(cabine_pas, 3))+" mm/impulsion - moteur_pas : " +str(round(mot_pas, 3))+" rad/impulsion")
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print ("")
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# Descendre
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mot_digitset () # 5 tr/s
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t0,z0, a0= get('t'), get('cabine_z'), get('mot_angle')
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print ("Début descendre : cabine_z : "+str(round(z0,3)) + " - mot_angle : " + str(round(a0,3)))
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print ("Début descendre : cabine_z : "+str(round(z0, 3)) + " - mot_angle : " + str(round(a0, 3)))
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while pc_0() ==False :
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voy_0(True)
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mot_m(False)
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@ -79,11 +79,11 @@ def commandes():
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mot_d(False)
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voy_0(False)
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t1,z1, a1= get('t'), get('cabine_z'), get('mot_angle')
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print ("Fin descendre : cabine_z : "+str(round(z1,3)) + " - mot_angle : " + str(round(a1,3)))
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print ("Fin descendre : cabine_z : "+str(round(z1, 3)) + " - mot_angle : " + str(round(a1, 3)))
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print ("")
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print ("Descendre : "+str(round(t1-t0,3)) +" s - distance : " +str(round(z1-z0,3))+" mm - angle : " +str(round(a1-a0,3))+
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" rad - cabine_vitesse : " +str(round(cabine_vitesse,3))+" mm/s - moteur_vitesse : " +str(round(mot_vitesse,3))+
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" rad/s - cabine_pas : " +str(round(cabine_pas,3))+" mm/impulsion - moteur_pas : " +str(round(mot_pas,3))+" rad/impulsion")
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print ("Descendre : "+str(round(t1-t0, 3)) +" s - distance : " +str(round(z1-z0, 3))+" mm - angle : " +str(round(a1-a0, 3))+
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" rad - cabine_vitesse : " +str(round(cabine_vitesse, 3))+" mm/s - moteur_vitesse : " +str(round(mot_vitesse, 3))+
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" rad/s - cabine_pas : " +str(round(cabine_pas, 3))+" mm/impulsion - moteur_pas : " +str(round(mot_pas, 3))+" rad/impulsion")
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fin() # A garder
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Binary file not shown.
@ -50,7 +50,7 @@ def commandes():
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# Fermeture
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mot_digitset (1256) # Vitesse par défaut 125,6 rad /s ( 20 tr / s )
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t0,x0, a0= get('t'), get('portail_x'), get('mot_angle')
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print ("Début fermeture : portail_x : "+str(round(x0,3)) + " - mot_angle : " + str(round(a0,3)))
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print ("Début fermeture : portail_x : "+str(round(x0, 3)) + " - mot_angle : " + str(round(a0, 3)))
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while fdc_f() ==False :
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gyr(True)
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mot_o(False)
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@ -59,17 +59,17 @@ def commandes():
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mot_f(False)
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gyr(False)
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t1,x1, a1= get('t'), get('portail_x'), get('mot_angle')
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print ("Fin fermeture : portail_x : "+str(round(x1,3)) + " - mot_angle : " + str(round(a1,3)))
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print ("Fin fermeture : portail_x : "+str(round(x1, 3)) + " - mot_angle : " + str(round(a1, 3)))
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print ("")
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print ("Fermeture : "+str(round(t1-t0,3)) +" s - distance : " +str(round(x1-x0,3))+" mm - angle : " +str(round(a1-a0,3))+
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" rad - portail_vitesse : " +str(round(portail_vitesse,3))+" mm/s - moteur_vitesse : " +str(round(mot_vitesse,3))+
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" rad/s - portail_pas : " +str(round(portail_pas,3))+" mm/impulsion - moteur_pas : " +str(round(mot_pas,3))+" rad/impulsion")
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print ("Fermeture : "+str(round(t1-t0, 3)) +" s - distance : " +str(round(x1-x0, 3))+" mm - angle : " +str(round(a1-a0, 3))+
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" rad - portail_vitesse : " +str(round(portail_vitesse, 3))+" mm/s - moteur_vitesse : " +str(round(mot_vitesse, 3))+
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" rad/s - portail_pas : " +str(round(portail_pas, 3))+" mm/impulsion - moteur_pas : " +str(round(mot_pas, 3))+" rad/impulsion")
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print ("")
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# Ouverture
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mot_digitset () # Vitesse par défaut 125,6 rad /s ( 20 tr / s )
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t0,x0, a0= get('t'), get('portail_x'), get('mot_angle')
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print ("Début ouverture : portail_x : "+str(round(x0,3)) + " - mot_angle : " + str(round(a0,3)))
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print ("Début ouverture : portail_x : "+str(round(x0, 3)) + " - mot_angle : " + str(round(a0, 3)))
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while fdc_o() ==False :
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gyr(True)
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mot_f(False)
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@ -78,11 +78,11 @@ def commandes():
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mot_o(False)
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gyr(False)
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t1,x1, a1= get('t'), get('portail_x'), get('mot_angle')
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print ("Fin ouverture : portail_x : "+str(round(x1,3)) + " - mot_angle : " + str(round(a1,3)))
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print ("Fin ouverture : portail_x : "+str(round(x1, 3)) + " - mot_angle : " + str(round(a1, 3)))
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print ("")
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print ("Ouverture : "+str(round(t1-t0,3)) +" s - distance : " +str(round(x1-x0,3))+" mm - angle : " +str(round(a1-a0,3))+
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" rad - portail_vitesse : " +str(round(portail_vitesse,3))+" mm/s - moteur_vitesse : " +str(round(mot_vitesse,3))+
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" rad/s - portail_pas : " +str(round(portail_pas,3))+" mm/impulsion - moteur_pas : " +str(round(mot_pas,3))+" rad/impulsion")
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print ("Ouverture : "+str(round(t1-t0, 3)) +" s - distance : " +str(round(x1-x0, 3))+" mm - angle : " +str(round(a1-a0, 3))+
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" rad - portail_vitesse : " +str(round(portail_vitesse, 3))+" mm/s - moteur_vitesse : " +str(round(mot_vitesse, 3))+
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" rad/s - portail_pas : " +str(round(portail_pas, 3))+" mm/impulsion - moteur_pas : " +str(round(mot_pas, 3))+" rad/impulsion")
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fin() # A garder
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Binary file not shown.
@ -1,7 +1,7 @@
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<data>
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<screen>
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<width>1568</width>
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<height>882</height>
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<width>1590</width>
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<height>895</height>
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<quality>1</quality>
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</screen>
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</data>
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@ -36,7 +36,7 @@ ACTIVATE = bge.logic.KX_INPUT_ACTIVE
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card_description ={}
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# Documentation du sytème
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system=importlib.import_module(scene.objects['Doc']['system']+'_doc') # Système
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system=importlib.import_module(scene.objects['System']['system']+'_doc') # Système
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system_card = system.get_system_card()
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card_description.update(system.get_system_card_description())
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46
twin_plot.py
46
twin_plot.py
@ -4,6 +4,7 @@ import sys
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import importlib
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import subprocess # Multiprocessus
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import time
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import csv
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###############################################################################
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# twin_plot.py
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@ -19,9 +20,12 @@ import time
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scene = bge.logic.getCurrentScene()
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# Récupérer la configuration du graphique
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system=importlib.import_module(scene.objects['Doc']['system']) # Système
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system=importlib.import_module(scene.objects['System']['system']) # Système
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plot_config = system.get_public_vars()
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# CSV
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csv_data=[]
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###############################################################################
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# Accès aux variables publiques du système
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###############################################################################
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@ -36,6 +40,46 @@ def get(data):
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print ("Erreur sur l'accès aux variables par get("+data+"), la variable '"+data+"' absente du système.")
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return None
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###############################################################################
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# Rapport CSV
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###############################################################################
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# Démarage et configuration des variables
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def csv_start(data):
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print ("Acquisition des données CSV")
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scene.objects['System']['csv_var'] =[]
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data_line = ['t']
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for var in data:
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scene.objects['System']['csv_var'].append([plot_config[var][0][0], plot_config[var][0][1]])
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data_line.append(var)
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print (scene.objects['System']['csv_var'])
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csv_data.append(data_line)
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scene.objects['System']['csv']=True
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# Ajout des données (fps = 60)
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def csv_maj(cont):
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data_line = [round(scene.objects['System']['time'], 3)]
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for var in scene.objects['System']['csv_var']:
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data_line.append(round(scene.objects[var[0]][var[1]], 3))
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csv_data.append(data_line)
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# Génération du fichier
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def localize_floats(row):
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return [
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str(el).replace('.', ',') if isinstance(el, float) else el
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for el in row
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]
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def csv_generate():
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fichier_csv=scene.objects['System']['system']+'.csv'
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print ("Génération du fichier :", fichier_csv)
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scene.objects['Cmd-text']['Text']= "Génération du fichier :", fichier_csv
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scene.objects['System']['csv']=False
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with open(fichier_csv, 'w') as csvfile:
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writer = csv.writer(csvfile, delimiter = ';', lineterminator = '\n')
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for t_data in csv_data:
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writer.writerow(localize_floats(t_data))
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###############################################################################
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# Création du graphique
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###############################################################################
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@ -21,7 +21,7 @@ from serial.tools.list_ports import comports # Détection du port automatique
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scene = bge.logic.getCurrentScene()
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# Récupérer le brochage du jumeau réel
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system=importlib.import_module(scene.objects['Doc']['system']) # Système
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system=importlib.import_module(scene.objects['System']['system']) # Système
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pin_config = system.get_public_vars()
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###############################################################################
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@ -95,7 +95,7 @@ def serial_open():
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# Mise en place de la carte
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speed = 57600
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[device,board_name] =autoget_port() # Recherche automatique du port
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[device, board_name] =autoget_port() # Recherche automatique du port
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if device is None:
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scene.objects['System']['twins'] = False
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scene.objects['Twins-text']['Text'] = "Aucune connection disponible : jumeau réel débranché."
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@ -106,10 +106,6 @@ def serial_open():
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scene.objects['Twins-text']['Text'] = "Aucune connection disponible : port "+device+" pas prêt."
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return False
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scene.objects['System']['twins'] = True
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# scene.objects['System']['twins_close'] = False
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scene.objects['System']['twins_port'] = device
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scene.objects['System']['twins_speed'] = speed
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# scene.objects['System']['twins_readline'] = ""
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board_it = pyfirmata.util.Iterator(board) # Itérateur pour les entrées
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board_it.start()
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Binary file not shown.
@ -26,8 +26,8 @@ scene = bge.logic.getCurrentScene()
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# Dans ce cas, il n'y a pas configuration de broche car elle est présente sur la variable 'nom_variable'.
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# Ce distinguo ne concerne que les entrées, les sorties réelles sont forcées par les sorties numériques et vice-versa.
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# Configuration du brochage du jumeau réel
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public_vars = {
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't' : [['System','time'], [], []],
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'fdc_h' : [['Microrupteur haut','activated'], ['pin', 'd','i'], []],
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'fdc_h_r' : [['Microrupteur haut','activated_real'], [], []],
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'fdc_b' : [['Microrupteur bas','activated'], ['pin', 'd','i'], []],
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@ -40,6 +40,9 @@ public_vars = {
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'bp_a_r' : [['Bp arret','activated_real'], [], []],
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'mot_m' : [['Moteur','up'], ['pin_up', 'd','o'], []],
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'mot_d' : [['Moteur','down'], ['pin_down', 'd','o'], []],
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'mot_angle' : [['Moteur','alpha'], [], []],
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'mot_vitesse' : [['Moteur','speed'], [], []],
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'mot_pas' : [['Moteur','step'], [], []],
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'bp_auto' : [['Bp auto','activated'], ['pin', 'd','i'], []],
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'bp_auto_r' : [['Bp auto','activated_real'], [], []],
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'voy_auto' : [['Led auto','activated'], ['pin', 'd','o'], []],
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@ -116,6 +119,13 @@ def mot (cont):
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# Monter
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if obj['up']:
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# Physique (sens horaire -> négatif)
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obj['step'] = abs(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x - scene.objects['Axe enrouleur']['last_alpha'])
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obj['alpha']=obj['last_alpha'] - obj['step']
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if scene.objects['System']['time'] != obj['last_time']:
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obj['speed']= -obj['step']/(scene.objects['System']['time']-obj['last_time'])
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# print (obj['speed'], obj['step'],scene.objects['System']['time']-obj['last_time'], scene.objects['System']['time'], obj['last_time'])
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# Animation
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if obj['frame_down']<105: # Volet pas cassé
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if obj['frame_up'] <0: # Réinit entre 0 et -4
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@ -128,7 +138,7 @@ def mot (cont):
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mode = bge.logic.KX_ACTION_MODE_PLAY
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layerWeight = 0.0
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ipoFlags = 0
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speed = 0.4
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speed = 0.4 # FIXME
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scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, 135, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, 135, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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@ -162,7 +172,7 @@ def mot (cont):
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mode = bge.logic.KX_ACTION_MODE_PLAY
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layerWeight = 0.0
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ipoFlags = 0
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speed = 0.4
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speed = 0.4 # FIXME
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scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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# scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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@ -181,6 +191,11 @@ def mot (cont):
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obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
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obj['frame_down']= 100-obj['frame_up']
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# Physique après mouvement (last_*)
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scene.objects['Axe enrouleur']['last_alpha'] = scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
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obj['last_time'] = scene.objects['System']['time']
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obj['last_alpha'] = obj['alpha']
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# Modele 3D -> Arduino
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if scene.objects['System']['twins']:
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if scene.objects['Moteur']['pin_m'] is not None:
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@ -191,6 +206,14 @@ def mot (cont):
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# Descendre
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if obj['down']:
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# Physique (sens trigo -> positif)
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obj['step'] = abs(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x - scene.objects['Axe enrouleur']['last_alpha'])
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obj['alpha']=obj['last_alpha'] + obj['step']
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if scene.objects['System']['time'] != obj['last_time']:
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obj['speed']= obj['step']/(scene.objects['System']['time']-obj['last_time'])
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# print (round(obj['last_alpha'], 3), round(obj['step'], 3), round(obj['alpha'], 3), round(obj['speed'], 3),
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# round(scene.objects['Axe enrouleur']['last_alpha'],3), round(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x,3))
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# Animation
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if obj['frame_up']<105: # Volet pas cassé
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if obj['frame_down'] <0: # Réinit entre 0 et -4
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@ -204,7 +227,7 @@ def mot (cont):
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mode = bge.logic.KX_ACTION_MODE_PLAY
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layerWeight = 0.0
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ipoFlags = 0
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speed = 0.4
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speed = 0.4 # FIXME
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scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Axe fdc'].playAction('Axe fdc-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 1'].playAction('Lame volet 1-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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@ -237,7 +260,7 @@ def mot (cont):
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scene.objects['Lame volet 11'].stopAction(layer)
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scene.objects['Lame volet 12'].stopAction(layer)
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scene.objects['Lame volet 13'].stopAction(layer)
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||||
vitesse = 0.03
|
||||
vitesse = 0.03 # FIXME
|
||||
# vitesse = 0.015
|
||||
pas_axe_enrouleur = 0.5
|
||||
pas_axe_fdc = 0.5/3
|
||||
@ -260,6 +283,11 @@ def mot (cont):
|
||||
obj['frame_down'] +=1
|
||||
obj['frame_up']= 100-obj['frame_down']
|
||||
|
||||
# Physique après mouvement (last_*)
|
||||
scene.objects['Axe enrouleur']['last_alpha'] = scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
|
||||
obj['last_time'] = scene.objects['System']['time']
|
||||
obj['last_alpha'] = obj['alpha']
|
||||
|
||||
# Modele 3D -> Arduino
|
||||
if scene.objects['System']['twins']:
|
||||
if scene.objects['Moteur']['pin_d'] is not None:
|
||||
@ -270,6 +298,12 @@ def mot (cont):
|
||||
# Arrêt
|
||||
if obj['up'] == False and obj['down'] == False:
|
||||
|
||||
# Physique
|
||||
obj['speed']= 0
|
||||
scene.objects['Axe enrouleur']['last_alpha'] = scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
|
||||
obj['last_time'] = scene.objects['System']['time']
|
||||
obj['last_alpha'] = obj['alpha']
|
||||
|
||||
# Animation
|
||||
if scene.objects['Axe enrouleur'].isPlayingAction(layer):
|
||||
scene.objects['Axe enrouleur'].stopAction(layer)
|
||||
@ -434,4 +468,10 @@ def system_reset ():
|
||||
scene.objects['Microrupteur bas']['activated_real']=False
|
||||
scene.objects['Moteur']['up']=False
|
||||
scene.objects['Moteur']['down']=False
|
||||
scene.objects['Moteur']['alpha']=0
|
||||
scene.objects['Moteur']['last_alpha']=0
|
||||
scene.objects['Moteur']['speed']=0
|
||||
scene.objects['Moteur']['speed_setting']=125.6 # Vitesse du moteur numérique : 125.6 rad /s ( 20 tr / s )
|
||||
scene.objects['Moteur']['step']=0
|
||||
scene.objects['Axe enrouleur']['last_alpha']=scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
|
||||
scene.objects['Recepteur LDR']['activated']=False
|
||||
|
||||
@ -40,15 +40,51 @@ from volrou_lib import * # Bibliothèque utilisateur du volet roulant
|
||||
###############################################################################
|
||||
|
||||
def commandes():
|
||||
|
||||
csv_start(['mot_angle'])
|
||||
|
||||
# Ecrire votre code ici ...
|
||||
while True:
|
||||
voy_auto(True)
|
||||
tempo(0.5)
|
||||
voy_auto(False)
|
||||
tempo(0.5)
|
||||
pass
|
||||
|
||||
# Init -> Descendre
|
||||
while fdc_b() ==False :
|
||||
mot_m(False)
|
||||
mot_d(True)
|
||||
mot_d(False)
|
||||
print ("")
|
||||
|
||||
# Monter
|
||||
mot_digitset (500)
|
||||
t0, a0= get('t'), get('mot_angle')
|
||||
print ("Début monter : mot_angle : " + str(round(a0, 3)))
|
||||
while fdc_h() ==False :
|
||||
mot_d(False)
|
||||
mot_m(True)
|
||||
mot_angle, mot_pas, mot_vitesse = get('mot_angle'), get('mot_pas'), get('mot_vitesse')
|
||||
# if abs(mot_vitesse)>0:
|
||||
# print ("Monter : mot_angle : "+ str(round(mot_angle, 3)) + " rad - mot_vitesse : "+ str(round(mot_vitesse, 3)) + " rad/s - moteur_pas : " +str(round(mot_pas, 3))+" rad/impulsion")
|
||||
mot_m(False)
|
||||
t1, a1= get('t'), get('mot_angle')
|
||||
print ("Fin monter : mot_angle : " + str(round(a1, 3)))
|
||||
print ("")
|
||||
print ("Monter : "+str(round(t1-t0, 3)) +" s - angle : " +str(round(a1-a0, 3)) + " rad - moteur_vitesse : " +str(round(mot_vitesse, 3))+
|
||||
" rad/s - moteur_pas : " +str(round(mot_pas, 3))+" rad/impulsion")
|
||||
print ("")
|
||||
|
||||
# Descendre
|
||||
mot_digitset () # 20 tr/s
|
||||
t0, a0= get('t'), get('mot_angle')
|
||||
print ("Début descendre : mot_angle : " + str(round(a0, 3)))
|
||||
while fdc_b() ==False :
|
||||
mot_m(False)
|
||||
mot_d(True)
|
||||
mot_angle, mot_pas, mot_vitesse = get('mot_angle'), get('mot_pas'), get('mot_vitesse')
|
||||
# if abs(mot_vitesse)>0:
|
||||
# print ("Monter : mot_angle : "+ str(round(mot_angle, 3)) + " rad - mot_vitesse : "+ str(round(mot_vitesse, 3)) + " rad/s - moteur_pas : " +str(round(mot_pas, 3))+" rad/impulsion")
|
||||
mot_d(False)
|
||||
t1, a1= get('t'), get('mot_angle')
|
||||
print ("Fin descendre : mot_angle : " + str(round(a1, 3)))
|
||||
print ("")
|
||||
print ("Descendre : "+str(round(t1-t0, 3)) +" s - angle : " +str(round(a1-a0, 3)) + " rad - moteur_vitesse : " +str(round(mot_vitesse, 3))+
|
||||
" rad/s - moteur_pas : " +str(round(mot_pas, 3))+" rad/impulsion")
|
||||
|
||||
fin() # A garder
|
||||
|
||||
|
||||
|
||||
@ -45,7 +45,7 @@ card_data_title="Accès aux données"
|
||||
card_data_text=""" get(variable) \n -> Retourne la valeur de la variable à \n l'instant t. Par exemple : val = get('bp_m').\n
|
||||
Entrées/sorties : 'bp_m', 'bp_a', 'bp_d', \n 'mot_m', 'mot_d', 'fdc_h', 'fdc_b', 'bp_auto', \n 'voy_auto', 'lum'.\n
|
||||
Variables réels (si il y a jumelage) : 'bp_m_r', \n 'bp_a_r', 'bp_d_r', 'fdc_h_r', 'fdc_b_r', \n 'bp_auto_r', 'lum_r'.\n
|
||||
Autres variables : 't' (temps), 'mot_angle', 'mot_vitesse'."""
|
||||
Autres : 't' (temps), 'mot_angle', 'mot_vitesse'."""
|
||||
card_data_url=[]
|
||||
system_card_description.update({"data-card" : [card_data_title, card_data_text, card_data_url]})
|
||||
|
||||
@ -62,10 +62,11 @@ system_card_description.update({"plot-card" : [card_plot_title, card_plot_text,
|
||||
|
||||
# Ouvrir et fermer
|
||||
card_movement_title="Monter et descendre"
|
||||
card_movement_text=""" mot_m(True | False) \n -> Monter le volet (moteur sens trigo). \n
|
||||
card_movement_text=""" mot_m(True | False) \n -> Monter le volet (moteur sens trigo).
|
||||
mot_d(True | False) \n -> Descendre le volet (sens horaire). \n
|
||||
fdc_h() \n -> Capteur fin de course volet en haut.\n Retourne True si volet est en haut. \n
|
||||
fdc_b() \n -> Capteur fin de course volet en bas.\n Retourne True si le volet est en bas."""
|
||||
fdc_h() \n -> Capteur fin de course volet en haut.
|
||||
fdc_b() \n -> Capteur fin de course volet en bas.\n
|
||||
mot_digitset(vitesse) -> Change la vitesse \n du moteur numérique en rad/s. Si 'vitesse' \n est ommis, elle sera réinitialisée."""
|
||||
card_movement_url=[]
|
||||
system_card_description.update({"movement-card" : [card_movement_title, card_movement_text, card_movement_url]})
|
||||
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
import bge # Bibliothèque Blender Game Engine (UPBGE)
|
||||
from twin_threading import thread_cmd_start, thread_cmd_stop, thread_cmd_end # Multithreading
|
||||
from twin_serial import jumeau, jumeau_stop, serial_close # Liaison série
|
||||
from twin_plot import plot, get # Visualisation des données
|
||||
from twin_plot import get, csv_start, csv_generate, plot # Visualisation des données
|
||||
import time
|
||||
|
||||
###############################################################################
|
||||
@ -43,6 +43,13 @@ def mot_m (order):
|
||||
def mot_d (order):
|
||||
scene.objects['Moteur']['down']=order
|
||||
|
||||
# Réglage de la vitesse du moteur numérique
|
||||
def mot_digitset (speed=None):
|
||||
if speed==None:
|
||||
scene.objects['Moteur']['speed_setting']=125.6 # Vitesse du moteur numérique : 125.6 rad /s ( 20 tr / s )
|
||||
else:
|
||||
scene.objects['Moteur']['speed_setting']=speed
|
||||
|
||||
###############################################################################
|
||||
# Capteurs
|
||||
###############################################################################
|
||||
@ -109,7 +116,8 @@ def truncate(n, decimals=0):
|
||||
return int(n* multiplier)/multiplier
|
||||
|
||||
def get_t ():
|
||||
return truncate(scene.objects['System']['time'], 3)
|
||||
# return truncate(scene.objects['System']['time'], 3)
|
||||
return round(scene.objects['System']['time'], 3)
|
||||
|
||||
def set_t (date):
|
||||
scene.objects['System']['time']=date
|
||||
@ -119,19 +127,32 @@ def reset_t ():
|
||||
|
||||
# Arrêt
|
||||
def stop():
|
||||
|
||||
# Jumeau
|
||||
if scene.objects['System']['twins']:
|
||||
serial_close(scene.objects['System']['board'])
|
||||
time.sleep(1)
|
||||
scene.objects['System']['plot_draw']=False
|
||||
thread_cmd_stop()
|
||||
|
||||
# Suivi de données
|
||||
if scene.objects['System']['csv']:
|
||||
csv_generate()
|
||||
scene.objects['System']['plot_draw']=False # Plot
|
||||
thread_cmd_stop() # Thread
|
||||
|
||||
# Fin naturelle
|
||||
def end():
|
||||
|
||||
# Jumeau
|
||||
if scene.objects['System']['twins']:
|
||||
serial_close(scene.objects['System']['board'])
|
||||
time.sleep(1)
|
||||
scene.objects['System']['plot_draw']=False
|
||||
thread_cmd_end()
|
||||
|
||||
# Suivi de données
|
||||
if scene.objects['System']['csv']:
|
||||
csv_generate()
|
||||
|
||||
scene.objects['System']['plot_draw']=False # Plot
|
||||
thread_cmd_end() # Thread
|
||||
|
||||
def fin():
|
||||
end()
|
||||
|
||||
Loading…
Reference in New Issue
Block a user