def __init__(self, device_path=None, baud_rate=57600): self.device_path = device_path self.baud_rate = baud_rate self.portHandler = PortHandler(self.device_path, baudrate=self.baud_rate) self.portHandler.openPort() self.packetHandler = PacketHandler(XM430W350.PROTOCOL_VERSION)
from properties import properties print(properties) #Command line arguments timestamp = False verbose = False for argument in sys.argv: if argument == '-v': verbose = True elif argument == '-t': timestamp = True #Remember: launch pigpio daemon (sudo pigpiod) #declare packetHandler packetHandler = PacketHandler(verbose) #declare pigpio pi = pigpio.pi() #create servos pan = Servo(pi, properties['pan_pin'], properties['starting_position'], properties['min_position'], properties['max_position'], properties['invert_x']) #allow servos a second to connect sleep(1) def moveServos(values): pan.moveTo(pi, values[0])
## Initiate global variables ## Perhaps create a dictionary for all the attributes of a specific motor # import modules import os # for key presses, reading and writing from packet_handler import PacketHandler from port_handler import PortHandler import AX_constants as AX # Initialize PortHandler instance # Set the port path portHandler = PortHandler(AX.DEVICE_PORT) # Initialize PacketHandler instance # Set the protocol version packetHandler = PacketHandler(AX.DEVICE_PROTOCOL) def getch(): """Arguments: Return: ch Description: commands to get key presses """ if os.name == 'nt': import msvcrt return msvcrt.getch().decode() else: import sys, tty, termios fd = sys.stdin.fileno() old_settings = termios.tcgetattr(fd) try: