calibrate.py works and is tested now. Added a slider at the top for c…

…ontrol

of steering.  To use push "start calibration" which puts vehicle into manual
mode, and then follow the instructions output into text box.

gcart.py changed speed back to rc8.  error was in pixhawk settings oops.

put dictionary for speed lever in speedlevercal

CalibrateSpeed.py

@@ -1,8 +1,10 @@
 #Run this file to obtain a dictionary for calibrating the speed in Gcart.py
+#Slider at top controls steering after you push start button which puts tractor in manual mode
 #After you follow the instructions on the screen and stop the tractor 
 #you will need to copy paste the dictionary into setSpeed function
 #setSpeed can be found at approx line 100 in Gcart.py
 
+
 from Tkinter import *
 import ttk
 from ttk import *
@@ -76,6 +78,38 @@ def write(self,string):
 	tracHealth.rowconfigure(x, weight=1)
 ###End of Tractor Health frame###
 
+###Top Info Frame####
+#put slider here for manually steering the tractor during calibration
+
+def setSteering(wheelAngle):
+	#Function for changing wheel angle. wheelAngle is a number (0-whatever
+	# default is 8
+	if wheelAngle==0:
+		rc1Val=1000
+	else:
+		rc1Val=int(wheelAngle/8.0*1000+1000)
+		if rc1Val>2000:
+			rc1Val=2000
+		elif rc1Val<1000:
+			rc1Val=1000
+	#~ print "servo 1 ", rc1Val
+	v.channels.overrides["1"] = rc1Val
+
+def setWheelAngleonRelease(instanceVar):
+	setSteering(wheelAngleVal.get())
+
+wheelAngleVal = DoubleVar()
+wheelAngleScale = ttk.Scale(topInfo, 
+	orient=HORIZONTAL, 
+	from_=8.0, 
+	to=0.0, 
+	variable= wheelAngleVal, 
+	style="Speed.Horizontal.TScale")
+wheelAngleScale.bind("<ButtonRelease-1>", setWheelAngleonRelease)
+wheelAngleScale.grid(column=0, row=0, sticky=(N,E,S,W))
+topInfo.columnconfigure(0, weight=1)
+topInfo.rowconfigure(0, weight=1)
+
 ###SpeedSelFrame####
 def setTargetSpeed(scaleVal):
 	#Updates target speed as slider is moved
@@ -96,7 +130,7 @@ def setSpeed(requestSpeed):
 		elif rc8Val<1000:
 			rc8Val=1000
 
-	v.channels.overrides = {7:rc8Val}
+	v.channels.overrides["8"] = rc8Val
 
 def setSpeedonRelease(instanceVar):
 	setSpeed(speedScaleVal.get())
@@ -222,11 +256,12 @@ def speedCalibration(speedCalibrationControl):
 			print "Started Calibration process"
 		else:
 			print "Calibration done push stop button"
-		while v.mode.name!="GUIDED":
-			print "got here"
-			v.mode = VehicleMode("GUIDED")
+		#Tractor needs to be in manual mode to pass rcOverrides through
+		while v.mode.name!="MANUAL":
+			v.mode = VehicleMode("MANUAL")
 			time.sleep(1)
-			print v.mode.name
+			print v.mode.name		
+		v.channels.overrides["3"] = 2000
 		print "Tractor is in Gear"
 		if count==1:
 			speedDict={0:1000}
@@ -243,6 +278,7 @@ def speedCalibration(speedCalibrationControl):
 		if sendCartStatus==False:
 			print "copy paste the following into blank file"
 			print speedDict
+			v.channels.overrides["3"] = 1000
 			while v.mode.name!="HOLD":
 				v.mode = VehicleMode("HOLD")
 				time.sleep(1)
@@ -272,6 +308,9 @@ def startCalibration():
 	print v.mode.name
 	speedCalibrationControl.set()
 
+def armDisarm():
+	v.channels.overrides["4"] = 2000
+
 
 for x in range(3):
 	buttons.columnconfigure(x, weight=1)
@@ -320,8 +359,8 @@ def startCalibration():
 	sticky=(N,E,S,W))
 
 guideRightButton=ttk.Button(buttons, 
-	text="Guide Right", 
-	command= print_mode,
+	text="Arm/Disarm", 
+	command= armDisarm,
 	style="Default.TButton")
 guideRightButton.grid(
 	column=2, 

Gcart.py

@@ -110,7 +110,7 @@ def setSpeed(requestSpeed):
 		spread=speedDict[upperVal]-speedDict[lowerVal]
 		rc8Val=int((requestSpeed-lowerVal)*spread+speedDict[lowerVal])
 
-	v.channels.overrides = {7:rc8Val}
+	v.channels.overrides["8"] = rc8Val
 
 def setSpeedonRelease(instanceVar):
 	setSpeed(speedScaleVal.get())
@@ -314,7 +314,6 @@ def sendCart(sendCartControl):
 		sendCartControl.wait()
 		print "Started sending tractor process"
 		while v.mode.name!="GUIDED":
-			print "got here"
 			v.mode = VehicleMode("GUIDED")
 			time.sleep(1)
 			print v.mode.name

TractorControls/Brand/John Deere/7930/SpeedControlLever/speedlevercal

@@ -4,3 +4,7 @@ high is (high location first range)
 multiply these numbers by 4 to get dac values
 high 544      156
 low  257       78
+
+below is calibrated dictionary for my tractor needs to be placed in Gcart.py
+at approx line 100
+{0: 1000, 1: 1127, 2: 1222, 3: 1330, 4: 1431, 5: 1538, 6: 1650, 7: 1761, 8: 2000}