def Run(self, duration, newPosition, speed, direction):
#TODO https://www.google.com/search?q=pass+object+to+python+function&rlz=1C1GCEA_enUS892US892&oq=pass+object+to+python+function&aqs=chrome..69i57.5686j0j7&sourceid=chrome&ie=UTF-8
#TODO https://stackoverflow.com/questions/20725699/how-do-i-pass-instance-of-an-object-as-an-argument-in-a-function-in-python
"""
Run an actuator for a given number of milliseconds to a given position at percentage of max speed in FORWARD or BACKWARDS direction
Key arguments:
duration - Time actuator is in motion, for Servo() objects this can be used to control speed of movement
newPosition - New position between -1 and 1 that actuator should move to
speed - Speed at which actuator moves at, for Servo() objects this parameter is NOT used
direction - Set counter-clockwise (CCW or LINEAR_IN) or clockwise (CW or LINEAR_OUT) as the forward direction
Return Value:
NOTHING
"""
print("Actuator.py Run() function started!")
if(type == "S"):
currentPosition = self.actuatorObject.value()
if(currentPosition < (newPosition - Actuator.SERVO_SLACK)):
self.actuatorObject.max() #TODO THIS MAY NOT STOP AND GO ALL THE WAY TO MAX POS
elif(currentPosition > (newPosition - Actuator.SERVO_SLACK)):
self.actuatorObject.min() #TODO THIS MAY NOT STOP AND GO ALL THE WAY TO MIN POS
else:
# NEAR to new position DO NOTHING
self.actuatotObject.dettach()
elif(type == "M"):
#TODO Write motor control code
Motor.enable() #TODO CHANGE TO self.acutatorObject
currentPosition = actuatorObject.value
while(currentPosition != newPosition):
if(actuatorObject.forwardDirection == Actuator.CW):
Motor.forward(speed)
else:
Motor.reverse(speed)
currentPosition = self.actuatorObject.value
sleep(duration) #TODO signal.pause(duration)
Motor.disable()
elif(type == "R"):
relay.on()
sleep(duration) #TODO signal.pause(duration)
relay.off()
else:
self.DebugObect.Dprint("INVALID Actutator Type sent to Run method, please use S, M, R as first parameter to Actuator() Object")
self.DebugObject.Dprint("Run function completed!")
from gpiozero import Motor
import pygame
from pygame.locals import *
motor = Motor(2, 3)
motor.enable()
done = false
while not done:
event = pygame.event.poll()
if event.type == pygame.QUIT:
done = true
elif event.type == pygame.KEYUP:
if event.key == pygame.K_w:
motor.value = 0
if event.key == pygame.K_s:
motor.value = 0
else:
keys = pygame.key.get_pressed()
if keys[pygame.K_w]:
motor.forward()
elif keys[pygame.K_s]:
motor.backwards()
elif keys[pygame.K_SPACE]:
motor.stop()
