MFT 1日目終了時のコード

plarailers · Oct 14, 2023 · 13a0666 · 13a0666
1 parent d639b5b
commit 13a0666
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Showing 5 changed files with 23 additions and 18 deletions.
diff --git a/ptcs/ptcs_bridge/master_controller_client.py b/ptcs/ptcs_bridge/master_controller_client.py
@@ -51,3 +51,4 @@ def wrapped_callback(_characteristic: BleakGATTCharacteristic, data: bytearray):
         assert characteristic is not None
 
         await self._client.start_notify(characteristic, wrapped_callback)
+        logger.info("%s start notify speed", self)
diff --git a/ptcs/ptcs_bridge/train_client.py b/ptcs/ptcs_bridge/train_client.py
@@ -84,6 +84,7 @@ def wrapped_callback(_characteristic: BleakGATTCharacteristic, data: bytearray):
 
         characteristic = self._get_characteristic_position_id()
         await self._client.start_notify(characteristic, wrapped_callback)
+        logger.info("%s start notify position id", self)
 
     async def start_notify_rotation(self, callback: NotifyRotationCallback) -> None:
         def wrapped_callback(_characteristic: BleakGATTCharacteristic, data: bytearray):
@@ -94,6 +95,7 @@ def wrapped_callback(_characteristic: BleakGATTCharacteristic, data: bytearray):
 
         characteristic = self._get_characteristic_rotation()
         await self._client.start_notify(characteristic, wrapped_callback)
+        logger.info("%s start notify rotation", self)
 
     async def start_notify_voltage(self, callback: NotifyVoltageCallback) -> None:
         def wrapped_callback(_characteristic: BleakGATTCharacteristic, data: bytearray):
@@ -104,3 +106,4 @@ def wrapped_callback(_characteristic: BleakGATTCharacteristic, data: bytearray):
 
         characteristic = self._get_characteristic_voltage()
         await self._client.start_notify(characteristic, wrapped_callback)
+        logger.info("%s start notify voltage", self)
diff --git a/ptcs/ptcs_bridge/wire_pole_client.py b/ptcs/ptcs_bridge/wire_pole_client.py
@@ -51,3 +51,4 @@ def wrapped_callback(_characteristic: BleakGATTCharacteristic, data: bytearray):
         assert characteristic is not None
 
         await self._client.start_notify(characteristic, wrapped_callback)
+        logger.info("%s start notify collapse", self)
diff --git a/ptcs/ptcs_control/mft2023.py b/ptcs/ptcs_control/mft2023.py
@@ -113,7 +113,7 @@ def create_control(logger: logging.Logger | None = None) -> Control:
         max_input=250,
         max_speed=40.0,
         length=14.0,
-        delta_per_motor_rotation=0.4553,
+        delta_per_motor_rotation=0.4553 * 0.9 * 0.9,
         head_position=DirectedPosition(
             section=s3,
             target_junction=j1,
@@ -154,11 +154,11 @@ def create_control(logger: logging.Logger | None = None) -> Control:
     )
     t3 = Train(
         id="t3",
-        min_input=200,
-        max_input=250,
+        min_input=190,
+        max_input=220,
         max_speed=40.0,
         length=14.0,
-        delta_per_motor_rotation=0.314,
+        delta_per_motor_rotation=0.4208,
         head_position=DirectedPosition(
             section=s3,
             target_junction=j1,
@@ -177,19 +177,19 @@ def create_control(logger: logging.Logger | None = None) -> Control:
         min_input=180,
         max_input=230,
         max_speed=40.0,
-        length=70.0,
-        delta_per_motor_rotation=0.6378,
+        length=40.0,
+        delta_per_motor_rotation=0.4241,
         head_position=DirectedPosition(
             section=s1,
             target_junction=j0,
             mileage=WATARI_RAIL_B + STRAIGHT_RAIL * 4,
         ),
     )
 
-    control.add_train(t0)
-    control.add_train(t1)
+    # control.add_train(t0)
+    # control.add_train(t1)
     control.add_train(t2)
-    # control.add_train(t3)
+    control.add_train(t3)
     control.add_train(t4)
 
     stop_0 = Stop(

diff --git a/ptcs/ptcs_server/mft2023.py b/ptcs/ptcs_server/mft2023.py
@@ -28,16 +28,16 @@
 
 def create_bridge() -> Bridge2:
     bridge = Bridge2()
-    # bridge.add_train(TrainSimulator("t0"))
-    bridge.add_train(TrainClient("t0", ADDRESS_T0))
-    # bridge.add_train(TrainSimulator("t1"))
-    bridge.add_train(TrainClient("t1", ADDRESS_T1))
+    bridge.add_train(TrainSimulator("t0"))
+    # bridge.add_train(TrainClient("t0", ADDRESS_T0))
+    bridge.add_train(TrainSimulator("t1"))
+    # bridge.add_train(TrainClient("t1", ADDRESS_T1))
     # bridge.add_train(TrainSimulator("t2"))
     bridge.add_train(TrainClient("t2", ADDRESS_T2))
-    bridge.add_train(TrainSimulator("t3"))
-    # bridge.add_train(TrainClient("t3", ADDRESS_T3))
-    # bridge.add_train(TrainSimulator("t4"))
-    bridge.add_train(TrainClient("t4", ADDRESS_T4))
+    # bridge.add_train(TrainSimulator("t3"))
+    bridge.add_train(TrainClient("t3", ADDRESS_T3))
+    bridge.add_train(TrainSimulator("t4"))
+    # bridge.add_train(TrainClient("t4", ADDRESS_T4))
     bridge.add_obstacle(WirePoleClient("obstacle_0", ADDRESS_WIRE_POLE))
-    bridge.add_controller(MasterControllerClient("t0", ADDRESS_MASTER_CONTROLLER))
+    bridge.add_controller(MasterControllerClient("t3", ADDRESS_MASTER_CONTROLLER))
     return bridge