def send_pwm_continuesly(self):
with navio.pwm.PWM(self.rc_channel) as pwm:
pwm.enable()
pwm.set_period(50)
def _max_pwm():
pwm.set_duty_cycle(self.max_pwm)
def send_max_pwm():
rospy.loginfo("Sending max pwm ({}) to {}. channel...".format(
self.min_pwm, self.rc_channel))
try:
_max_pwm()
except:
rospy.logerr("Error occured while sending max pwm...")
rospy.loginfo("Sent")
self.pub_stat.publish("open")
def _min_pwm():
pwm.set_duty_cycle(self.min_pwm)
def send_min_pwm():
rospy.loginfo("Sending max pwm ({}) to {}. channel...".format(
self.min_pwm, self.rc_channel))
try:
_min_pwm()
except:
rospy.logerr("Error occured while sending min pwm...")
rospy.loginfo("Sent")
self.pub_stat.publish("close")
while (True):
if self.next_state == self.state:
if self.state == "open":
rospy.loginfo("STILL open")
send_min_pwm()
elif self.state == "close":
rospy.loginfo("STILL close")
send_max_pwm()
else:
rospy.logerr(
"States are the same but... unknown error happend..."
)
else:
if self.next_state == "open":
rospy.loginfo("RECEIVED open")
send_min_pwm()
self.change_state("open")
elif self.next_state == "close":
rospy.loginfo("RECEIVED close")
send_max_pwm()
self.change_state("close")
else:
rospy.logerr("Ooo!")
rospy.spin()
def main():
pwm = navio.pwm.PWM(PWM_OUTPUT)
pwm.initialize()
pwm.set_period(50)
pwm.enable()
loop_for(2, pwm.set_duty_cycle, SERVO_MAX)
loop_for(2, pwm.set_duty_cycle, SERVO_MIN)
loop_for(2, pwm.set_duty_cycle, SERVO_NOM)
while (True):
loop_for(1, pwm.set_duty_cycle, 1.3)
pwm = navio.pwm.PWM(PWM_OUTPUT) pwm2 = navio.pwm.PWM(PWM_OUTPUT2) pwm3 = navio.pwm.PWM(PWM_OUTPUT3) pwm4 = navio.pwm.PWM(PWM_OUTPUT4) pwm.initialize() pwm2.initialize() pwm3.initialize() pwm4.initialize() pwm.set_period(50) pwm2.set_period(50) pwm3.set_period(50) pwm4.set_period(50) pwm.enable() pwm2.enable() pwm3.enable() pwm4.enable() t1 = threading.Thread(target=servo, args=[]) t1.start() stream = io.BytesIO() print "*****Command*****" print "demarrage = 1 palm (pomme de la main)" print "arret = 1 fists" print "acceleration = 2 palm" print "decceleration = 2 fist" print "photo = palm when drone is ON"