Write code (Java)
Not your programming language? Set your preferences so we can display relevant code examples
package phidgetsrover;
//Add Phidgets Library
import com.phidget22.*;
public class PhidgetsRover {
public static void main(String[] args) throws Exception {
//Connect to wireless rover
Net.addServer("", "192.168.100.1", 5661, "", 0);
//Create
DCMotor leftMotors = new DCMotor();
DCMotor rightMotors = new DCMotor();
//Address
leftMotors.setChannel(0);
rightMotors.setChannel(1);
//Open
leftMotors.open(5000);
rightMotors.open(5000);
//Increase acceleration
leftMotors.setAcceleration(leftMotors.getMaxAcceleration());
rightMotors.setAcceleration(rightMotors.getMaxAcceleration());
//Move forward at full speed
leftMotors.setTargetVelocity(1);
rightMotors.setTargetVelocity(1);
//Wait for 1 second
Thread.sleep(1000);
//Reverse at full speed
leftMotors.setTargetVelocity(-1);
rightMotors.setTargetVelocity(-1);
//Wait for 1 second
Thread.sleep(1000);
//Stop motors
leftMotors.setTargetVelocity(0);
rightMotors.setTargetVelocity(0);
}
}
//Add Phidgets Library
import com.phidget22.*;
public class PhidgetsRover {
public static void main(String[] args) throws Exception {
//Connect to wireless rover
Net.addServer("", "192.168.100.1", 5661, "", 0);
//Create
DCMotor leftMotors = new DCMotor();
DCMotor rightMotors = new DCMotor();
//Address
leftMotors.setHubPort(5);
leftMotors.setChannel(0);
rightMotors.setHubPort(5);
rightMotors.setChannel(1);
//Open
leftMotors.open(5000);
rightMotors.open(5000);
//Increase acceleration
leftMotors.setAcceleration(leftMotors.getMaxAcceleration());
rightMotors.setAcceleration(rightMotors.getMaxAcceleration());
//Move forward at full speed
leftMotors.setTargetVelocity(1);
rightMotors.setTargetVelocity(1);
//Wait for 1 second
Thread.sleep(1000);
//Reverse at full speed
leftMotors.setTargetVelocity(-1);
rightMotors.setTargetVelocity(-1);
//Wait for 1 second
Thread.sleep(1000);
//Stop motors
leftMotors.setTargetVelocity(0);
rightMotors.setTargetVelocity(0);
}
}
//Add Phidgets Library
import com.phidget22.*;
//Define
DCMotor leftMotors;
DCMotor rightMotors;
void setup(){
try{
//Connect to wireless rover
Net.addServer("","192.168.100.1", 5661,"",0);
//Create
leftMotors = new DCMotor();
rightMotors = new DCMotor();
//Address
leftMotors.setChannel(0);
rightMotors.setChannel(1);
//Open
leftMotors.open(5000);
rightMotors.open(5000);
//Increase acceleration
leftMotors.setAcceleration(leftMotors.getMaxAcceleration());
rightMotors.setAcceleration(rightMotors.getMaxAcceleration());
}catch(Exception e){
//Handle Exceptions
e.printStackTrace();
}
}
void draw(){
try{
//Move forward at full speed
leftMotors.setTargetVelocity(1);
rightMotors.setTargetVelocity(1);
//Wait for 1 second
delay(1000);
//Reverse at full speed
leftMotors.setTargetVelocity(-1);
rightMotors.setTargetVelocity(-1);
//Wait for 1 second
delay(1000);
//Stop motors
leftMotors.setTargetVelocity(0);
rightMotors.setTargetVelocity(0);
//Only execute draw once for this example
noLoop();
}catch(Exception e){
//Handle Exceptions
e.printStackTrace();
}
}
Write code (Python)
Not your programming language? Set your preferences so we can display relevant code examples.
#Add Phidgets library
from Phidget22.Phidget import *
from Phidget22.Net import *
from Phidget22.Devices.DCMotor import *
#Required for sleep statement
import time
#Connect to your rover
Net.addServer("", "192.168.100.1", 5661, "", 0)
#Create
leftMotors = DCMotor()
rightMotors = DCMotor()
#Address
leftMotors.setChannel(0)
rightMotors.setChannel(1)
#Open
leftMotors.openWaitForAttachment(5000)
rightMotors.openWaitForAttachment(5000)
#Increase acceleration
leftMotors.setAcceleration(leftMotors.getMaxAcceleration())
rightMotors.setAcceleration(rightMotors.getMaxAcceleration())
#Move forward at full speed
leftMotors.setTargetVelocity(1)
rightMotors.setTargetVelocity(1)
#Wait for 1 second
time.sleep(1)
#Reverse at full speed
leftMotors.setTargetVelocity(-1)
rightMotors.setTargetVelocity(-1)
#Wait for 1 second
time.sleep(1)
#Stop motors
leftMotors.setTargetVelocity(0)
rightMotors.setTargetVelocity(0)
Write code (C#)
Not your programming language? Set your preferences so we can display relevant code examples
//Add Phidgets Library
using Phidget22;
namespace PhidgetsRover{
class Program{
static void Main(string[] args){
//Connect to wireless rover
Net.AddServer("", "192.168.100.1", 5661, "", 0);
//Create
DCMotor leftMotors = new DCMotor();
DCMotor rightMotors = new DCMotor();
//Address
leftMotors.Channel = 0;
rightMotors.Channel = 1;
//Open
leftMotors.Open(5000);
rightMotors.Open(5000);
//Increase acceleration
leftMotors.Acceleration = leftMotors.MaxAcceleration;
rightMotors.Acceleration = rightMotors.MaxAcceleration;
//Move forward at full speed
leftMotors.TargetVelocity = 1;
rightMotors.TargetVelocity = 1;
//Wait for 1 second
System.Threading.Thread.Sleep(1000);
//Reverse at full speed
leftMotors.TargetVelocity = -1;
rightMotors.TargetVelocity = -1;
//Wait for 1 second
System.Threading.Thread.Sleep(1000);
//Stop motors
leftMotors.TargetVelocity = 0;
rightMotors.TargetVelocity = 0;
}
}
}
Write code (Swift)
Not your programming language? Set your preferences so we can display relevant code examples
Create two buttons
import Cocoa
//Add Phidgets Library
import Phidget22Swift
class ViewController: NSViewController {
//Create
let leftMotors = DCMotor()
let rightMotors = DCMotor()
override func viewDidLoad() {
super.viewDidLoad()
do{
//Connect to wireless rover
try Net.addServer(serverName: "", address: "192.168.100.1", port: 5661, flags: 0)
//Address
try leftMotors.setChannel(0)
try rightMotors.setChannel(1)
//Subscribe to event
let _ = leftMotors.attach.addHandler(leftMotors_onAttach)
let _ = rightMotors.attach.addHandler(rightMotors_onAttach)
//Open
try leftMotors.open()
try rightMotors.open()
}catch{
print(error)
}
}
func leftMotors_onAttach(sender:Phidget){
do{
//Increase acceleration
try leftMotors.setAcceleration(leftMotors.getMaxAcceleration())
}catch{
print(error)
}
}
func rightMotors_onAttach(sender:Phidget){
do{
//Increase acceleration
try rightMotors.setAcceleration(rightMotors.getMaxAcceleration())
}catch{
print(error)
}
}
@IBAction func moveRover(_ sender: Any) {
do{
//Move forward at full speed
try leftMotors.setTargetVelocity(1)
try rightMotors.setTargetVelocity(1)
//Wait for 1 second
sleep(1)
//Reverse at full speed
try leftMotors.setTargetVelocity(-1)
try rightMotors.setTargetVelocity(-1)
//Wait for 1 second
sleep(1)
//Stop motors
try leftMotors.setTargetVelocity(0)
try rightMotors.setTargetVelocity(0)
}catch{
print(error)
}
}
}
Code review
After running the code above, you will notice that the rover now performs as you would expect, and ends up in approximately the same position it started. Moving forward, make sure to always increase the acceleration in your rover projects!
For advanced users: If you have not completed the Getting Started Kit Advanced Lessons about Using the Sensor API and Using the Phidget API, consider reviewing them. The 2x DC Motor Phidget does not have a device tutorial page, however, you can view the API on the product page here.
What’s Next
Congratulations on improving your rover! Improve it further by pressing the Finish button below and moving onto the Thumbstick project!
Troubleshoot
- Your rover should drive in the direction that the Sonar Phidget is facing. If it isn’t, simply use negative values for your Target Velocity. This will make the motors spin the opposite direction!
- Make sure everything is plugged in properly and your VINT Hub is connected to your computer.
- Stop running other programs that are using your Phidgets before running a program.
If you are still having issues visit Advanced Troubleshooting
