def test_device():
"""
Initial arming and testing of Maestro servo Device.
:return: <Int> 0 on success
"""
servo = maestro.Device()
print('[SERVO] SERVO CONNECTION ESTABLISHED....')
# 3 ESC, 5 STEERING
servo.set_acceleration(cfg.STEERING, 50)
servo.set_acceleration(cfg.ESC, 100)
print('[SERVO] SENT SIGNAL....')
servo.set_target(cfg.STEERING, cfg.MAX_RIGHT)
time.sleep(1)
servo.set_target(cfg.STEERING, cfg.MAX_LEFT)
time.sleep(1)
servo.set_target(cfg.STEERING, cfg.MAX_RIGHT)
time.sleep(1)
servo.set_target(cfg.STEERING, cfg.CENTER)
print('[SERVO] STEERING ARMED....')
time.sleep(1)
servo.set_target(cfg.ESC, cfg.MAX_SPEED)
servo.set_target(cfg.ESC, cfg.NEUTRAL)
print('[SERVO] MOTOR ARMED....')
time.sleep(1)
print('[DEBUG] Exiting test_Device function')
return 0
def auto_connect(self):
port_list = ports.serial_ports()
for port in port_list:
if self.verbose: print('+ Trying port', port, end='')
self.device = maestro.Device(con_port=False, ser_port=port)
success = self.test_connection()
if success: break
if self.verbose: print('\t--> Rejected')
if success and self.verbose: print('\t--> OK')
def __init__(self, debug, servo_attached, gps_attached):
self.gps_attached = gps_attached
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.sock.settimeout(0.1)
self.connect_to_server()
print("Connected on port ", cfg.HOST_PORTS, ". Ready to receive data.")
self.servo = maestro.Device()
self.debug = debug
self.servo_attached = servo_attached
def servo_ctl(servo_num, val):
"""
Function to send signal to Maestro servo Device for execution
:param servo_num: <Int> 3 for speed, 5 for steering
:param val: <Int> qms pulse value for the servo to execute
:return: <Int> 0 on success
"""
servo = maestro.Device()
servo.set_acceleration(cfg.STEERING, 50)
servo.set_acceleration(cfg.ESC, 100)
servo.set_target(servo_num, val)
print('[DEBUG] Exiting servo_ctl function')
return 0
def manual_connect(self, ser_port):
self.device = maestro.Device(con_port=False, ser_port=ser_port)