forked from logzhan/RobotKernal-UESTC
75 lines
4.4 KiB
Python
75 lines
4.4 KiB
Python
|
import dataholder
|
||
|
|
import os
|
||
|
|
from dataholder import RobotImuType
|
||
|
|
from dataholder import RobotModelType
|
||
|
|
|
||
|
|
pibotModel = os.environ['PIBOT_MODEL']
|
||
|
|
boardType = os.environ['PIBOT_BOARD']
|
||
|
|
pibotBaud = os.environ['PIBOT_DRIVER_BAUDRATE']
|
||
|
|
|
||
|
|
print(pibotModel)
|
||
|
|
print(boardType)
|
||
|
|
print(pibotBaud)
|
||
|
|
|
||
|
|
pibotParam = dataholder.RobotParameters()
|
||
|
|
|
||
|
|
if pibotModel == "apollo" and boardType == "arduino":
|
||
|
|
pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \
|
||
|
|
75, 2500, 0, 10, \
|
||
|
|
250, 40, 0, 200, \
|
||
|
|
RobotImuType.IMU_TYPE_GY85, 90, \
|
||
|
|
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||
|
|
elif pibotModel == "apollo" and boardType == "stm32f1":
|
||
|
|
pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \
|
||
|
|
320, 2700, 0, 10, \
|
||
|
|
250, 50, 0, 200, \
|
||
|
|
RobotImuType.IMU_TYPE_GY87, 90, \
|
||
|
|
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||
|
|
elif pibotModel == "apollo" and boardType == "stm32f4":
|
||
|
|
pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \
|
||
|
|
320, 2700, 0, 10, \
|
||
|
|
250, 40, 0, 200, \
|
||
|
|
RobotImuType.IMU_TYPE_GY87, 90, \
|
||
|
|
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||
|
|
elif pibotModel == "zeus" and boardType == "stm32f4":
|
||
|
|
pibotParam = dataholder.RobotParameters(58, 230, 44, 10, \
|
||
|
|
320, 2700, 0, 10, \
|
||
|
|
250, 50, 50, 250, \
|
||
|
|
RobotImuType.IMU_TYPE_GY87, 90, \
|
||
|
|
RobotModelType.MODEL_TYPE_3WD_OMNI)
|
||
|
|
elif pibotModel == "hades" and boardType == "stm32f4":
|
||
|
|
pibotParam = dataholder.RobotParameters(76, 470, 44, 10, \
|
||
|
|
320, 2700, 0, 10, \
|
||
|
|
250, 50, 50, 250, \
|
||
|
|
RobotImuType.IMU_TYPE_GY87, 90, \
|
||
|
|
RobotModelType.MODEL_TYPE_4WD_MECANUM)
|
||
|
|
elif pibotModel == "hadesX" and boardType == "stm32f4":
|
||
|
|
pibotParam = dataholder.RobotParameters(150, 565, 44, 10, \
|
||
|
|
250, 2750, 0, 10, \
|
||
|
|
250, 50, 50, 250, \
|
||
|
|
RobotImuType.IMU_TYPE_GY87, 72, \
|
||
|
|
RobotModelType.MODEL_TYPE_4WD_MECANUM)
|
||
|
|
elif pibotModel == "hera" and boardType == "stm32f4":
|
||
|
|
pibotParam = dataholder.RobotParameters(82, 338, 44, 10, \
|
||
|
|
320, 2700, 0, 10, \
|
||
|
|
250, 50, 50, 250, \
|
||
|
|
RobotImuType.IMU_TYPE_GY87, 90, \
|
||
|
|
RobotModelType.MODEL_TYPE_4WD_DIFF)
|
||
|
|
elif pibotModel == "apolloX" and boardType == "arduino":
|
||
|
|
pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \
|
||
|
|
75, 2500, 0, 10, \
|
||
|
|
250, 40, 0, 200, \
|
||
|
|
RobotImuType.IMU_TYPE_GY85, 90, \
|
||
|
|
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||
|
|
elif pibotModel == "apolloX" and boardType == "stm32f1":
|
||
|
|
pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \
|
||
|
|
250, 1200, 0, 10, \
|
||
|
|
250, 50, 0, 200, \
|
||
|
|
RobotImuType.IMU_TYPE_GY87, 90, \
|
||
|
|
RobotModelType.MODEL_TYPE_2WD_DIFF)
|
||
|
|
elif pibotModel == "apolloX" and boardType == "stm32f4":
|
||
|
|
pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \
|
||
|
|
250, 1200, 0, 10, \
|
||
|
|
250, 50, 0, 200, \
|
||
|
|
RobotImuType.IMU_TYPE_GY87, 90, \
|
||
|
|
RobotModelType.MODEL_TYPE_2WD_DIFF)
|