mirror of
https://gitlab.ewi.tudelft.nl/ee2l1/2025-2026/A.K.03.git
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91 lines
3.0 KiB
Python
91 lines
3.0 KiB
Python
from serial import Serial
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class KITT:
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current_speed = 150
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current_angle = 150
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beacon_state = False
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def __init__(self, port, baudrate=115200):
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# Initialize the serial connection
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# self.serial = Serial(port, baudrate, rtscts=True)
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self.serial = Serial(port, baudrate,rtscts=True)
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# Initialize beacon parameters here using send_command
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# Set carrier frequency, bit frequency, repetition count, and code pattern
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carrier_frequency_value = 10000
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carrier_frequency = carrier_frequency_value.to_bytes(2, byteorder='big')
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self.send_command(b"F"+carrier_frequency+b"\n")
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bit_frequency_value = 5000
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bit_frequency = bit_frequency_value.to_bytes(2, byteorder='big')
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self.send_command(b"B"+bit_frequency+b"\n")
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desired_repetition_frequency = 2 # Replace with your value
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repetition_count_value = bit_frequency_value // desired_repetition_frequency
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repetition_count = repetition_count_value.to_bytes(2, byteorder='big')
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# Ensure repetition_count_value is at least 32
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repetition_count_value = max(repetition_count_value, 32)
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repetition_count = repetition_count_value.to_bytes(2, byteorder='big')
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self.send_command(b"R"+repetition_count+b"\n")
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code_value = 0x67676767 # Replace with your code
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code = code_value.to_bytes(4, byteorder='big')
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self.send_command(b"C"+code+b"\n")
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def send_command(self, command):
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# Send the command string over the serial connection
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self.serial.write(command)
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print(command)
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def set_speed(self, speed):
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# Send the motor speed command using send_command
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# Use the format 'M<speed>\n'
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self.send_command(f"M{speed}\n".encode())
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self.current_speed = speed
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def get_speed(self):
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return self.current_speed
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def set_angle(self, angle):
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# Send the steering angle command using send_command
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# Use the format 'D<angle>\n'
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self.send_command(f"D{angle}\n".encode())
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self.current_angle = angle
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def get_angle(self):
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return self.current_angle
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def stop(self):
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# Stop the car by setting speed and angle to neutral (150)
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# Call set_speed and set_angle with 150
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self.set_speed(150)
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self.set_angle(150)
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def start_beacon(self):
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# Send commands to start the beacon
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# Use the command 'A1\n'
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self.send_command(b"A1\n")
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def stop_beacon(self):
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# Send commands to stop the beacon
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# Use the command 'A0\n'
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self.send_command(b"A0\n")
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def toggle_beacon(self):
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if self.beacon_state:
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self.beacon_state = False
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self.stop_beacon()
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else:
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self.beacon_state = True
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self.start_beacon()
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def get_beacon_state(self):
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return self.beacon_state
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def close(self):
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# Close the serial connection
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# self.serial.close()
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self.serial.close()
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