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Max 2021-05-29 22:26:16 +01:00
parent 0edfc29ce6
commit 37a8a1a91d
1 changed files with 20 additions and 4 deletions
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24
odrive_server_main.py
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@ -1,6 +1,7 @@
import odrive
from odrive.enums import *
import time
import socket
class Odrive:
def __init__(self) -> None:
@ -37,14 +38,29 @@ class Odrive:
class Server:
def __init__(self) -> None:
self.x_offset = 0
self.x_multiplier = 1
self.y_offset = 0
self.y_multiplier = 1
self.armed = False
self.x_offset = 0 #TODO: figure out what these are...
self.x_multiplier = 1 #TODO: figure out what these are...
self.y_offset = 0 #TODO: figure out what these are...
self.y_multiplier = 1 #TODO: figure out what these are...
self.sock = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
self.udp_host = socket.gethostname()
self.udp_port = 59200
self.sock.bind((self.udp_host, self.udp_port))
self.init_odrive()
self.control_loop()
def init_odrive(self):
self.drive = Odrive()
def control_loop(self):
while True:
data, _ = self.sock.recvfrom(1024)
print(f"Received Message: {data}, type: {type(data)}")
if self.armed:
angle_0, angle_1 = self.calculate_angles(data[0], data[1])
self.drive.goto_raw(angle_0, angle_1)
def calculate_angles(self, target_pos_x, target_pos_y):
x = (target_pos_x + self.x_offset) * self.x_multiplier
y = (target_pos_y + self.y_offset) * self.y_multiplier