Functionality changes

depth.py

@@ -5,14 +5,18 @@
 from rov_comm import Client, ZMQ_Server
 from logpy.LogPy import Logger
 
-SCALETOCM = 1.019
-
 
 class DepthSensor:
+    """
+    Depth sensor read depth from depth sensor and update that value in ZMQ server
+    """
     def __init__(self):
-        self.sensor = ms5837.MS5837_30BA() # Default I2C bus is 1 (Raspberry Pi 3)        
+        """
+        object connects to ZMQ sensor server, so ensure server is running befere init
+        """
+        self.sensor = ms5837.MS5837_02BA() # Default I2C bus is 1 (Raspberry Pi 3)
         self.client = Client(DEPTH_DRIVER_PORT)
-        #self.logger = Logger(filename='depth')
+        self.logger = Logger(filename='depth')
 
     def run(self):
         # We must initialize the sensor before reading it
@@ -27,15 +31,17 @@ def run(self):
 
         loop_condition = True
         while loop_condition:
-            if self.sensor.read():
-                self.client.send_data(self.sensor.depth())
-
-                #print(self.sensor.pressure())
-                msg = str(self.sensor.depth())
-                #print(msg)
-                #self.logger.log(msg)
-            else:
-                loop_condition = False
+            try:
+                if self.sensor.read():
+                    self.client.send_data(self.sensor.depth())
+
+                    msg = str(self.sensor.depth())
+                    print(msg)
+                    self.logger.log(msg)
+                else:
+                    loop_condition = False
+            except Exception:
+                pass
     def __del__(self):
         pass
         #self.logger.exit()

engine.py

@@ -12,17 +12,18 @@ class EngineDriver():
 
     old_min = -1
     old_max = 1
-    new_max = 255
-    new_min = 128
+    new_max = 238 # when there are not transoptor values max and min shoud be 5 units higher
+    new_min = 136
     set_dict = {"fl" : False, "fr" : False, "bl" : False, "br" : False,"vl" : False,"vr" : False,"vb" : False}
-    old_dict = {"fl" : 192, "fr" : 192, "bl" : 192, "br" : 192, "vl" : 192, "vr" : 192, "vb" : 192}
+    old_dict = {"fl" : 187, "fr" : 187, "bl" : 187, "br" : 187, "vl" : 187, "vr" : 187, "vb" : 187}
     def __init__(self):
-        self.engines_dict = {"fl" : 19, "fr" : 12, "bl" : 26, "br" : 21,"vl" : 13,"vr" : 16,"vb" : 20}
-        self._load_map_file()
+        self.engines_dict = {"fl" : 11, "fr" : 18, "bl" : 9, "br" : 25,"vl" : 10, "vr" : 23,"vb" : 24}
+        #self._load_map_file()
 
         self.pi = pigpio.pi()
         print("Ustawianie silników")
         for val in self.engines_dict.values():
+            print(val)
             self.pi.set_PWM_dutycycle(val, self.STOP)
             self.pi.set_PWM_frequency(val, self.FREQUENCY)
         time.sleep(5)
@@ -43,7 +44,8 @@ def _load_map_file(self):
                 string = json.load(_file)
                 dictionary = dict(string)
             self.engines_dict = dictionary
-        except Exception:
+        except Exception as e:
+            print(e)
             return
 
     def set_engines(self, dictionary):
@@ -68,8 +70,8 @@ def set_engines(self, dictionary):
 if __name__ == '__main__':
     engine_driver = EngineDriver()
 
-    eng = {"fl" : 210, "fr" : 210, "bl" : 210, "br" : 210, "vl" : 210, "vr" : 210, "vb" : 210}
+    eng = {"fl" : 205, "fr" : 205, "bl" : 205, "br" : 205, "vl" : 205, "vr" : 205, "vb" : 205}
     engine_driver.set_engines(eng) #w
     time.sleep(2)
-    eng = {"fl" : 192, "fr" : 192, "bl" : 192, "br" : 192, "vl" : 192, "vr" : 192, "vb" : 192}
+    eng = {"fl" : 187, "fr" : 187, "bl" : 187, "br" : 187, "vl" : 187, "vr" : 187, "vb" : 187}
     engine_driver.set_engines(eng) #w

map_engines.py

@@ -0,0 +1,39 @@
+import pigpio
+import time
+import json
+
+def map_engine():
+    frequency = 500
+    startup_time = 5
+    stop = 187
+    engines_dict = {"fl": 12, "fr": 26, "bl": 19, "br": 16, "vl": 13, "vr": 20, "vb": 21}
+    engines_list = [12, 26, 19, 16, 13, 20, 21]
+    new_dict = {}
+    pi = pigpio.pi()
+    print("Setting engines")
+    for val in engines_dict.values():
+
+        pi.set_PWM_dutycycle(val, stop)
+        pi.set_PWM_frequency(val, frequency)
+
+    time.sleep(startup_time)
+    engines_ready = True
+    print("Engines ready")
+
+    for pin in engines_list:
+        while True:
+            pi.set_PWM_dutycycle(pin, 202)
+            position = input("Which engine is it? 'fl', 'fr', 'bl', 'br', 'vl', 'vr', 'vb'")
+            if (position not in engines_dict.keys()) or (position in new_dict.keys()):
+                print("Try again")
+            else:
+                pi.set_PWM_dutycycle(pin, stop)
+                new_dict[position] = pin
+                break
+
+    print("All set. Thanks!")
+    with open('engines_map.json', 'w') as _file:
+        json.dump(engines_dict, _file)
+
+if __name__ == '__main__':
+    map_engine()