def turn_by_degree_immediate(self, degree: float):
duty = (Servo.convert_from_degree(Servo.sanitize_degree(abs(degree))) -
Servo.MIN) * (-1 if degree < 0 else 1)
self.log(
str(duty) + " turn_by_degree_immediate(" + str(degree) + "), " +
str(self.current_rotation()) + " -> " +
str(self.current_rotation() + degree) + " == " +
str(self.current_pulsewidth) + " -> " +
str(self.current_pulsewidth + duty))
self.current_pulsewidth += duty
self.pi.set_servo_pulsewidth(self.pin, self.current_pulsewidth)
def turn_to_degree_inverted(self, degree: float, speed: int):
"""
speed: 1-100
:param degree:
:param speed:
:return:
"""
degree_pulsewidth = Servo.convert_from_degree(degree)
sleep = (-(1 / 100) * speed + 1.1) * Servo.SPEED_SCALE
counting_clockwise = degree_pulsewidth > self.current_pulsewidth
self.log("turn_to_degree_inverted(" + str(degree) + ", " + str(speed) +
")")
while True:
self.pi.set_servo_pulsewidth(self.pin, self.current_pulsewidth)
self.current_pulsewidth += self.step_pulsewidth * (
1 if counting_clockwise else -1)
time.sleep(sleep)
if abs(self.current_pulsewidth -
degree_pulsewidth) <= self.step_pulsewidth:
self.current_pulsewidth = degree_pulsewidth
self.pi.set_servo_pulsewidth(self.pin, self.current_pulsewidth)
time.sleep(sleep)
break
def is_at_degree(self, degree: float):
return Servo.is_degrees_equal(self.current_rotation(), degree)
def turn_to_degree_immediate(self, degree: float):
duty = Servo.convert_from_degree(Servo.sanitize_degree(degree))
self.current_pulsewidth = duty
self.pi.set_servo_pulsewidth(self.pin, duty)
def turn_by_degree(self, degree, speed):
deg = Servo.sanitize_degree(self.current_rotation() + degree)
self.log("turn_by_degree(" + str(degree) + ", " + str(speed) +
") from " + str(self.current_rotation()) + " to " + str(deg))
self.turn_to_degree_inverted(deg, speed)
def current_rotation(self):
"""
:return: The current angle in degrees of the servo
"""
return Servo.convert_to_degree(self.current_pulsewidth)
def __init__(self, pi: pigpio.pi, gpio_pin: int):
super().__init__(pi, gpio_pin)
self.current_pulsewidth = Servo.MID
self.step_pulsewidth = Servo.convert_from_degree(
STEP_WIDTH) - Servo.MIN