speedramptest.py

'''
l293d speed ramp test
'''


import time
import socket

server = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
server.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
# Set a timeout so the socket does not block
# indefinitely when trying to receive data.
server.settimeout(0.2)
server.bind(("", 44444))
message = b""

print time.time()


lOfSpeed =[10, 60,100,-100,-80, -60, 0,60]



def motorA(speed):
    print speed
    server.sendto(str(speed), ('localhost', 37020))

def motorB(speed):
    print speed
    server.sendto(str(speed) , ('localhost', 37020))

currentSpeedA = 0
currentSpeedB = 0
for newSpeed in lOfSpeed:

    print str(newSpeed)
    #if newSpeed >= 0 and currentSpeedA >= 0:
    if abs(currentSpeedA - newSpeed) > 5:
            for  step in range(0, abs(currentSpeedA - newSpeed), 5):
                if newSpeed > currentSpeedA:
                    motorA(currentSpeedA + step)
                else:
                    motorA(currentSpeedA - step)
                time.sleep(0.5)
    currentSpeedA = newSpeed