def initialise():
GpioInterface.initialise()
Peripherals.motion_sensor = MotionSensor(14)
Peripherals.laser = Laser(4)
Peripherals.laser.turnOff()
Peripherals.gimbal = Gimbal(3, 2)
Peripherals.audio = AudioInterface()
Peripherals.button = Button(15)
def setAngle(self, angleDegrees: float) -> None:
position = angleDegrees * (
Servo._maxPosition - Servo._minPosition) / 180 + Servo._minPosition
position = min(position, Servo._maxPosition)
position = max(position, Servo._minPosition)
GpioInterface.setServoPosition(self.pin, position)
def turnOn(self) -> None:
GpioInterface.writePin(self.pin, True)
def __init__(self, pin: int):
self.pin = pin
GpioInterface.setup(self.pin, GpioInterface.OUT)
def turnOff(self) -> None:
GpioInterface.writePin(self.pin, False)
def isPressed(self) -> bool:
return not GpioInterface.readPin(self.pin)
def destroy():
Peripherals.laser.turnOff()
Peripherals.gimbal.destroy()
GpioInterface.destroy()
def isMotionDetected(self) -> bool:
return GpioInterface.readPin(self.pin)