class CamControl:
def __init__(self):
# ServoBlaster is what we use to control servo motors
# Upper Limit for servos
self._ServoXul = 250
self._ServoYul = 230
# Lower limit for servos
self._ServoXll = 75
self._ServoYll = 75
"""
Servos are default to Servo X-axis is assigned (servo-0) GPIO 4
Servo-Y axis is assigned (servo-1) GPIO 17
"""
self.servo_X = Servo(0, self._ServoXul, self._ServoXll)
self.servo_Y = Servo(1, self._ServoYul, self._ServoYll)
def recenter(self, offset_x, offset_y):
# TODO
print("Centering camera...")
def left(self, distance, speed):
print "left"
self.servo_X.moveClockwise(distance, speed)
return
def right(self, distance, speed):
print "right"
self.servo_X.moveCounterClockwise(distance, speed)
return
def down(self, distance, speed):
print "down"
self.servo_Y.moveCounterClockwise(distance, speed)
return
def up(self, distance, speed):
print "up"
self.servo_Y.moveClockwise(distance, speed)
return
"""
Functions for tuning
"""
def sweep(self):
i = 0
step = 1
while True:
try:
if i >= 180:
step = -1
elif i <= 0:
step = 1
self.servo_X.setDegree(i)
self.servo_Y.setDegree(i)
i += step
time.sleep(0.01)
self.servo_X.rest()
self.servo_Y.rest()
except KeyboardInterrupt:
break
print("\ntidying up")
