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- def left_wheel_callback(pin):
- if (pin == 5):
- if (counter == 0):
- start_time = time.time()
- counter = 1
- else:
- left_pulse_time = time.time() - start_time
- left_vel = dist / left_pul_time
- left_rpm = (left_vel * 60) / (2 * math.pi * 7.5)
- counter = 0
- print("left encoder pul: ", left_pulse_time)
- print("left RPM: ", left_rpm)
- def right_wheel_callback(pin):
- if (pin == 23):
- if (counter == 0):
- start_time = time.time()
- counter = 1
- else:
- right_pulse_time = time.time() - start_time
- right_vel = dist / right_pul_time
- right_rpm = (right_vel * 60) / (2 * math.pi * 7.5)
- counter = 0
- print("right encoder pul: ", right_pulse_time)
- print("right RPM: ", right_rpm)
- GPIO.add_event_detect(5, GPIO.RISING, callback=left_wheel_callback)
- GPIO.add_event_detect(23, GPIO.RISING, callback=right_wheel_callback)
- GPIO.add_event_detect(5, GPIO.RISING, callback=left_wheel_callback)
- #GPIO.add_event_detect(23, GPIO.RISING, callback=right_wheel_callback)
- # simply commenting one callback out to test for both wheels respectively.
- left encoder pul: 0.0592479705811
- left rpm: 28.1303587333
- left encoder pul: 0.0584199428558
- left rpm: 28.5290704714
- left encoder pul: 0.056792974472
- left rpm: 29.346352822
- left encoder pul: 0.0551149845123
- left rpm: 30.2398101245
- left encoder pul: 0.0555770397186
- left rpm: 29.9884030367
- right encoder pul: 0.0564210414886
- right rpm: 29.539806829
- right encoder pul: 0.056529045105
- right rpm: 29.4833684802
- right encoder pul: 0.0555770397186
- right rpm: 29.9884030367
- right encoder pul: 0.0557889938354
- right rpm: 29.8744707887
- right encoder pul: 0.0559689998627
- right rpm: 29.7783893004
- GPIO.add_event_detect(5, GPIO.RISING, callback=left_wheel_callback)
- GPIO.add_event_detect(23, GPIO.RISING, callback=right_wheel_callback)
- # using both callbacks this time
- left encoder pul: 0.0172209739685
- left rpm: 96.7812081776
- right encoder pul: 0.0593919754028
- right rpm: 28.0621524265
- left encoder pul: 0.00982093811035
- left rpm: 169.705444423
- right encoder pul: 0.0587668418884
- right rpm: 28.3606641621
- left encoder pul: 0.00218605995178
- left rpm: 762.406660123
- right encoder pul: 0.0027379989624
- right rpm: 608.717055614
- left encoder pul: 0.0545420646667
- left rpm: 30.5574546334
- right encoder pul: 0.0100808143616
- right rpm: 165.330558315
- left encoder pul: 0.0545239448547
- left rpm: 30.5676097191
- right encoder pul: 0.0164430141449
- right rpm: 101.360167423
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