def __init__(self, motor_pins, pen_pin, best_callback): self.__PEN_PIN = pen_pin self.__pi = pigpio.pi() self.__pi.set_mode(self.__PEN_PIN, pigpio.OUTPUT) self.__x = 0 self.__y = 0 self.__one_step_x = 1 self.__one_step_y = 1 self.__cam_width = 640 self.__cam_height = 480 self.__paper_width = 210 self.__paper_height = 297 self.__width_scale = self.__paper_height / self.__cam_height self.__height_scale = self.__paper_width / self.__cam_width self.__scale = min(self.__paper_height / self.__cam_height, self.__paper_width / self.__cam_width) self.__motors = StepperMotor.StepperMotor(motor_pins, best_callback)
return to_return #else: # return False def reset(self): self.angle_index = 0 #def next_available_angle(): # for angle in AVAILABLE_ANGLES: # yield angle if __name__ == "__main__": try: init_gpio() color_detector = ColorDetector.ColorDetector() stepper_motor = StepperMotor.StepperMotor(STEPPER_MOTOR_IN1, STEPPER_MOTOR_IN2, STEPPER_MOTOR_IN3, STEPPER_MOTOR_IN4) linear_selenoid = LinearSelenoid.LinearSelenoid(SELENOID_PIN) angle_generator = AngleGenerator(AVAILABLE_ANGLES) color_to_angle = {} #angle_generator = next_available_angle() new_angle = 0.0 print 'Waiting...' GPIO.output(STANDBY_LED, True) #GPIO.wait_for_edge(PAUSE_RESUME_BUTTON, GPIO.RISING)#Wait for first button press GPIO.add_event_detect(PAUSE_RESUME_BUTTON, GPIO.RISING, callback=pause_resume, bouncetime=1000) while keep_going:
#!/usr/bin/env python import Adafruit_BBIO.GPIO as GPIO from time import sleep from StepperMotor import * from termcolor import colored import math from IMU import * from Omnibot import * from PID import * motorYellow = StepperMotor("P9_21", "P9_23", "P9_16", "P9_25", "P9_27", "P9_22", StepperMotor.HALF_STEP) motorGreen = StepperMotor("P8_8", "P8_10", "P8_19", "P8_12", "P8_14", "P8_13", StepperMotor.HALF_STEP) motorBlue = StepperMotor("P9_24", "P9_26", "P9_42", "P9_30", "P9_41", "P9_28", StepperMotor.HALF_STEP) motorBlue.forward(10) sleep(.25) motorBlue.stop() motorGreen.forward(10) sleep(.25) motorGreen.stop() motorYellow.forward(10) sleep(.25) motorYellow.stop() sleep(5)
import Adafruit_BBIO.GPIO as GPIO import time from StepperMotor import * steppingMode = SteppingMode("P9_23", "P9_25", "P9_27") motorBlue = StepperMotor("P9_22", "P9_24") motorGreen = StepperMotor("P9_16", "P9_15") motorYellow = StepperMotor("P9_42", "P9_41") steppingMode.setMode(5) motorBlue.forward(3) motorGreen.forward(10) motorYellow.forward(20) time.sleep(2) motorBlue.reverse(3) motorGreen.reverse(10) motorYellow.reverse(20) time.sleep(10) motorBlue.stop() motorGreen.stop() motorYellow.stop()