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