def test_servo():
print("Testing servo")
s = Servo()
s.angle(0, 90)
time.sleep(2)
s.angle(0, 0)
time.sleep(2)
s.angle(0, 180)
time.sleep(2)
s.angle(0, 90)
time.sleep(2)
s.angle(0, 180)
time.sleep(2)
next_update = time + datetime.timedelta(days=1)
try:
while True:
time = datetime.datetime.utcnow()
# The positions are returned in Earth-centric, Earth fixed coords. I need to convert those.
ecef_location = locations.Location('station', *ecef_to_llh(predictor.get_only_position(time)))
### Convert ECEF to alt, az ###
az, elev = me.get_azimuth_elev_deg(ecef_location)
lcd.set_cursor(0,1)
lcd.message("{:<8.2f}{:>8.2f}".format(az, elev))
# Move the actuators to the right angles
elevation_actuator.angle = elev
azimuth_actuator.to_angle(az, block=True)
stop = time + datetime.timedelta(seconds=DELAY)
while datetime.datetime.utcnow() < stop:
sleep(0.1)
if next_update < time:
# Home the stepper
lcd.clear()
lcd.set_cursor(0,0)
lcd.message("Re-homing\nstepper motor... ")
azimuth_actuator.home(switch, home_angle)
try:
station_names, satlist = get_satlist()
predictor, tracking = get_satellite(current_index, station_names, satlist)
from servo import Servo
device = Servo()
try:
while True:
device.angle = input("Digite um angulo destino ")
device.set_angle()
except KeyboardInterrupt:
GPIO.cleanup()
print("Homing the stepper motor... ", end='')
move.home(switch)
print("Done!")
servo_angle = 0
stepper_angle = 0
try:
while True:
stepper_angle += 45
servo_angle += 15
if servo_angle >= servo.max_angle:
servo_angle = servo.min_angle
print("Moving to {} deg".format(stepper_angle))
move.to_angle(stepper_angle, block=True)
servo.angle = servo_angle
time.sleep(DELAY)
stepper_angle += 0
servo_angle += 15
if servo_angle >= servo.max_angle:
servo_angle = servo.min_angle
print("Moving to {} deg".format(stepper_angle))
move.to_angle(stepper_angle)
servo.angle = servo_angle
time.sleep(DELAY)
except KeyboardInterrupt:
acc = []
gyro = []
while True:
#start = utime.ticks_ms()
accelerometer = sensor.accel
gyrometer = sensor.gyro
acc = umatrix.matrix([accelerometer.x, accelerometer.y, accelerometer.z],
cstride=1,
rstride=3,
dtype=float)
gyro = umatrix.matrix([gyrometer.x, gyrometer.y, gyrometer.z],
cstride=1,
rstride=3,
dtype=float)
#print("acceleration [X:%0.2f, Y:%0.2f, Z:%0.2f] gyro [X:%0.2f, Y:%0.2f, Z:%0.2f] \n"
# %(accelerometer.x, accelerometer.y, accelerometer.z, gyrometer.x * math.pi/180, gyrometer.y * math.pi/180, gyrometer.z * math.pi/180))
#print("temperature [T:%0.2f]\n" %(sensor.temperature))
ahrs.update_imu(gyro * math.pi / 180.0, acc)
(roll, pitch, yaw) = ahrs.quaternion.to_euler()
print("roll: %0.2f, pitch: %0.2f yaw: %0.2f\n" % (roll, pitch, yaw))
servo0.angle(math.pi / 2 - pitch)
servo1.angle(math.pi / 2 + yaw)
#print("Elapsed: %d" % (utime.ticks_ms() - start))
