So I’m trying to get some more precise movements with my BrickPi but I cant seem to get the motors to move and the encoders to spit out data at the same time. I can get the encoders to work by themselves, measuring simply how much I turn the wheel. But I cant get the motor to turn and the encoder to measure them at the same time.
If I try to run the motor at say a speed (power = 100) and tell the motor encoders to print every second or so, the motors don’t turn.
But if I try to run the motors without the encoders on, the motors work.
from BrickPi import *
BrickPiSetup()
BrickPi.MotorEnable[PORT_A] = 1 #Enable the Motor A
BrickPi.MotorEnable[PORT_B] = 1 #Enable the Motor B
BrickPi.MotorEnable[PORT_C] = 1 #Enable the Motor A
BrickPi.MotorEnable[PORT_D] = 1 #Enable the Motor B
BrickPiSetupSensors() #Send the properties of sensors to BrickPi
BrickPi.Timeout=10000 #Set timeout value for the time till which to run the motors after the last command is pressed
BrickPiSetTimeout() #Set the timeout
print "Note: One encoder value counts for 0.5 degrees. So 360 degrees = 720 enc. Hence, to get degress = (enc%720)/2 "
power = 100
BrickPi.MotorSpeed[PORT_A] = power
BrickPi.MotorSpeed[PORT_B] = power
BrickPiUpdateValues()
time.sleep(0.1)
while True:
result = BrickPiUpdateValues()
Encoder_A_2 = BrickPi.Encoder[PORT_A]
Encoder_B_2 = BrickPi.Encoder[PORT_B]
Encoder_C_2 = BrickPi.Encoder[PORT_C]
Encoder_D_2 = BrickPi.Encoder[PORT_D]
print "Encoder A: " + str(Encoder_A_2)
print "Encoder B: " + str(Encoder_B_2)
print "Encoder C: " + str(Encoder_C_2)
print "Encoder D: " + str(Encoder_D_2)
print "___________________"
