尝试获取速度变量，TypeError:需要整数

Question

所以，我用树莓皮编程机器人，使用笔记本电脑的xbox控制器输入命令。使用Python2.7编程

我得到了一个错误时，试图使用从轴控制器的幅度，得到速度控制的电机。在

但是如果我声明一个确定的速度。 但是如果我使用这个量值，它会给出一个错误，即使我打印出变量，也会显示得很好。在

这是我得到的错误

executing forward...
max speed is
23
Traceback (most recent call last):
File "driverMain.py", line 103, in <module>
main()
File "driverMain.py", line 69, in main
frontCon.allForward(maxSpeed)
File "/home/pi/xbox/sabretooth.py", line 11, in allForward
self.leftMotor.drive('forward', speed)
File "/home/pi/xbox/sabretooth.py", line 32, in drive
self.port.write(chr(speed))
TypeError: an integer is required

*pc上的部分代码

^{pr2}$

*树莓的部分代码

frontCon = controller(serialPort, baudRate, 130)
rearCon = controller(serialPort, baudRate, 129)


#set up socket
host = ''
port = 12345
sock = socket.socket()
sock.bind((host,port))

sock.listen(5)
while True:
    c, addr = sock.accept()
    command,maxSpeed = c.recv(1024).split('|')

    print(command)
    print(maxSpeed)
#### this print shows the speed value correctly
#### if i insert this maxspeed code  
##   maxSpeed = 120    
## here for example, the program works correctly, otherwise i get an error
## even tho without it, the print work fine

#### later in the code 
    elif command == 'forward':
        print('executing forward...')
        print('max speed is')
        print(maxSpeed)
        frontCon.allBack(maxSpeed)
        rearCon.allBack(maxSpeed)

*剑齿

import serial

class controller(object):
   def __init__(self, port, baudRate, address):
        self.port = serial.Serial(port, baudRate, timeout=1)
        self.address = address
        self.leftMotor = motor(self.port, address, 1)
        self.rightMotor = motor(self.port, address, 2)

    def allForward(self, speed):
        self.leftMotor.drive('forward', speed)
        self.rightMotor.drive('forward', speed)

    def allBack(self, speed):
        self.leftMotor.drive('back', speed)
        self.rightMotor.drive('back', speed)

class motor(object):
    #motorNum is 1 or 2, depending on which motor you wish to control
    def __init__(self, serial, controllerAddress, motorNum):
        self.port = serial
        self.address = controllerAddress
        self.motorNum = motorNum
        if motorNum == 1:
            self.commands = {'forward': 0, 'back': 1}
        elif motorNum == 2:
            self.commands = {'forward': 4, 'back': 5}

    def drive(self, direction, speed):
        self.port.write(chr(self.address))
        self.port.write(chr(self.commands[direction]))
        self.port.write(chr(speed))
        self.port.write(chr(int(bin((self.address + self.commands[direction] + speed) & 0b01111111), 2)))

我还尝试在脚本的开头添加一个maxSpeed=50，希望它能看到变量并将其更改为接收到的任何值并将其发送到电机，但仍然会出现相同的错误。我真的不知道还能做什么，谢谢你的帮助

谢谢你抽出时间

Answer 1

根据|接收并拆分后，maxSpeed将是一个字符串，您需要在传递给allForward和{}时将其转换为int

    frontCon.allBack(int(maxSpeed))
    rearCon.allBack(int(maxSpeed))