def __init__(self): self._interrupted = False self._lock = threading.RLock() self._cmdThread = None self.motor = Motor.Motor() self.sonic = Ultrasonic.Ultrasonic() self.adc = ADC.Adc() self.servo = servo.Servo() self.stop() self.pointSonic()
if __name__ == '__main__': print('Initialize gamepad control...') myPad = gamepad.Gamepad() myPad.set_scale(.05, 800, .95, 4095) print('Initialize motor control...') myEngine = Motor.Motor() print('Initialize servo control ... ') myServo = ServoControl(debug = True) print('Initialize Buzzer Driver...') myBuzzer = Buzzer.Buzzer() print('Initialize ADC Driver...') myAdc = ADC.Adc() Thread_Monitor = threading.Thread(target = monitorBattery, args=[myAdc, myBuzzer]) Thread_Monitor.start() print('Initialize LED Driver...') myLed = Led.Led() try: print('Center camera head...') myServo.center() time.sleep(2) print('Enter 50ms control loop...') disableMotor = False while True: # 1st stick controls the wheel motors