def __init__(self,
debug=False,
db="config",
bus_number=1,
channel=FRONT_WHEEL_CHANNEL):
''' setup channels and basic stuff '''
self.db = filedb.fileDB(db=db)
self._channel = channel
self._straight_angle = 90
self.turning_max = 45
self._turning_offset = int(
self.db.get('turning_offset', default_value=0))
self.wheel = Servo.Servo(self._channel,
bus_number=bus_number,
offset=self.turning_offset)
self.debug = debug
if self._DEBUG:
print(self._DEBUG_INFO, 'Front wheel PWM channel:', self._channel)
print(self._DEBUG_INFO, 'Front wheel offset value:',
self.turning_offset)
self._angle = {
"left": self._min_angle,
"straight": self._straight_angle,
"right": self._max_angle
}
if self._DEBUG:
print(
self._DEBUG_INFO,
'left angle: %s, straight angle: %s, right angle: %s' %
(self._angle["left"], self._angle["straight"],
self._angle["right"]))
def __init__(self,
lancer_exp=True,
MatCode=False,
db="Points",
defaultPoint="Point0",
setTimer=True):
# Initialisation variables
self.db = filedb.fileDB(db=db)
self.__lastpoint = Point.get_db_point(defaultPoint, self.db)
self.__com = Communication('/dev/ttyACM0')
self.__Oparam = Param()
self.__Oparam.config()
self.__Oparam.calib()
self.__side = Switch.cote()
if not self.__side:
self.__lastpoint.mirror()
self.__move = Move(self.__Oparam.odrv0)
self.__MatCode = MatCode
self.__traj = Trajectoire(param=self.__Oparam,
move=self.__move,
initial_point=self.__lastpoint,
Solo=self.__MatCode)
self.__com.waitEndMove(Communication.MSG["Initialisation"])
if setTimer:
self.__lidar = RPLidar(
'/dev/ttyUSB0') #self.__lidar = Lidar('/dev/ttyUSB0')
self.__timer = RIR_timer(
self.__com, (self.__Oparam, self.__move), self.__lidar,
lancer_exp) # Test: placé avant __init_physical
self.__lidar.start_motor()
self.set_ready()
def __init__(self, debug=False, bus_number=1, db="config"):
''' Init the direction channel and pwm channel '''
self.forward_A = True
self.forward_B = True
self.db = filedb.fileDB(db=db)
self.forward_A = int(self.db.get('forward_A', default_value=1))
self.forward_B = int(self.db.get('forward_B', default_value=1))
self.left_wheel = TB6612.Motor(self.Motor_A, offset=self.forward_A)
self.right_wheel = TB6612.Motor(self.Motor_B, offset=self.forward_B)
self.pwm = PCA9685.PWM(bus_number=bus_number)
def _set_a_pwm(value):
pulse_wide = self.pwm.map(value, 0, 100, 0, 4095)
self.pwm.write(self.PWM_A, 0, pulse_wide)
def _set_b_pwm(value):
pulse_wide = self.pwm.map(value, 0, 100, 0, 4095)
self.pwm.write(self.PWM_B, 0, pulse_wide)
self.left_wheel.pwm = _set_a_pwm
self.right_wheel.pwm = _set_b_pwm
self._speed = 0
self.debug = debug
if self._DEBUG:
print self._DEBUG_INFO, 'Set left wheel to #%d, PWM channel to %d' % (self.Motor_A, self.PWM_A)
print self._DEBUG_INFO, 'Set right wheel to #%d, PWM channel to %d' % (self.Motor_B, self.PWM_B)
def __init__(self, bus_number=1, db="config"):
""" Init the direction channel and pwm channel """
self.db = filedb.fileDB(db=db)
self.forward_A = int(self.db.get("forward_A", default_value=1))
self.forward_B = int(self.db.get("forward_B", default_value=0))
self.left_wheel = L298N.Motor(self.Motor_IN1, self.Motor_IN2, offset=self.forward_A, is_left=True)
self.right_wheel = L298N.Motor(self.Motor_IN3, self.Motor_IN4, offset=self.forward_B, is_left=False)
# PWM Setup
self.pwm = PCA9685.PWM(bus_number=bus_number)
def _set_a_pwm(value):
pulse_wide = self.pwm.map(value, 0, 100, 0, 4095)
self.pwm.write(self.PWM_A, 0, int(pulse_wide))
def _set_b_pwm(value):
pulse_wide = self.pwm.map(value, 0, 100, 0, 4095)
self.pwm.write(self.PWM_B, 0, int(pulse_wide))
self.left_wheel.pwm = _set_a_pwm
self.right_wheel.pwm = _set_b_pwm
self._speed = 0
self.debug = int(self.db.get("debug", default_value=0))
if self._DEBUG:
print(self._DEBUG_INFO, 'Set left wheel to IN1 #%d, IN2 #%d PWM channel to %d' % (self.Motor_IN1, self.Motor_IN2, self.PWM_A))
print(self._DEBUG_INFO, 'Set right wheel to IN3 #%d, IN4 #%d PWM channel to %d' % (self.Motor_IN3, self.Motor_IN3, self.PWM_B))
def __init__(self, debug=False, db="config"):
''' setup channels and basic stuff '''
self.db = filedb.fileDB(db=db)
self._straight_angle = 0
self.turning_max = 40
self._min_angle = -self.turning_max
self._max_angle = self.turning_max
self._turning_offset = int(
self.db.get('turning_offset', default_value=0))
self._angle = {
"left": self._min_angle,
"straight": self._straight_angle,
"right": self._max_angle
}
self._nowAngle = self._straight_angle
def __init__(self, debug=False, bus_number=1, db="config", address=0x40):
''' Init the servo channel '''
self.db = filedb.fileDB(db=db)
self.pan_offset = int(self.db.get('pan_offset', default_value=0))
self.tilt_offset = int(self.db.get('tilt_offset', default_value=0))
self.pan_servo = Servo.Servo(self.pan_channel, bus_number=bus_number, offset=self.pan_offset, address= address )
self.tilt_servo = Servo.Servo(self.tilt_channel, bus_number=bus_number, offset=self.tilt_offset, address = address)
self.debug = debug
if self._DEBUG:
print self._DEBUG_INFO, 'Pan servo channel:', self.pan_channel
print self._DEBUG_INFO, 'Tilt servo channel:', self.tilt_channel
print self._DEBUG_INFO, 'Pan offset value:', self.pan_offset
print self._DEBUG_INFO, 'Tilt offset value:', self.tilt_offset
self.current_pan = 0
self.current_tilt = 0
self.ready()
self.close_all()
self.display_status = 'SCREENSAVER'
def close_all(self):
mirror.text.pack_forget()
mirror.picture.pack_forget()
mirror.clock.pack_forget()
mirror.weather.pack_forget()
mirror.news.pack_forget()
mirror.text.is_displayed = False
mirror.clock.is_displayed = False
mirror.weather.is_displayed = False
mirror.news.is_displayed = False
self.random_timer_stop()
conf = filedb.fileDB(db=CODE_DIR+'config/config')
def main():
global mirror, gooole_assistant, status_handler
mirror = Mirror()
gooole_assistant = Google_Assistant()
status_handler = Status_Handler()
status_handler.start()
gooole_assistant.start()
mirror.tk.mainloop()
def destory():
status_handler.status_detect.join()
gooole_assistant.google_assistant.join()
quit()
def close_all(self):
mirror.text.pack_forget()
mirror.picture.pack_forget()
mirror.clock.pack_forget()
mirror.weather.pack_forget()
mirror.news.pack_forget()
mirror.text.is_displayed = False
mirror.clock.is_displayed = False
mirror.weather.is_displayed = False
mirror.news.is_displayed = False
mirror.news.is_detail_displayed = False
self.random_timer_stop()
conf = filedb.fileDB(db=CODE_DIR + 'samba_files/config.txt')
def main():
global mirror, google_assistant, status_handler
run_command('xset s off')
run_command('xset -dpms')
mirror = Mirror()
google_assistant = Google_Assistant()
status_handler = Status_Handler()
status_handler.start()
google_assistant.start()
mirror.tk.mainloop()
