class Turret(object):
left = 1
right = -1
def __init__(self, tilt_min=0, tilt_max=180):
self.min_angle = tilt_min
self.max_angle = tilt_max
self._init_servos()
self._init_stepper()
self._init_led()
def _init_servos(self):
#init global PWM
self.pwm = Adafruit_PCA9685.PCA9685()
#init servos
self.servos = ServoPair(self.pwm,
chan_a=0,
chan_b=1,
min=self.min_angle,
max=self.max_angle)
#calibrate
self.servos.set_angle(90)
self.tilt_angle = 90
self.tilt_speed = 45 # Default tilt speed, in degrees per second
self.tilt_delay = 1.0 / 60.0 # time between step increments; servo pulses are only 60hz
self.tilt_loop = None
self.tilt_dir = 0 # Angle increment per step
def _init_stepper(self):
#init steppers
self.stepper = Stepper()
self.pan_angle = 0 # angle
def _init_led(self):
self.status_led = DimmerRGB(self.pwm, 8, 9, 10)
self.status_led.set_color(1, .4, 0)
def tilt_to(self, angle):
self.tilt_angle = max(self.min_angle, min(self.max_angle, angle))
print("tilt:{}".format(self.tilt_angle))
self.servos.set_angle(self.tilt_angle)
return self.tilt_angle == self.max_angle or self.tilt_angle == self.min_angle
def pan(self, d_angle):
self.pan_angle += d_angle
self.pan_angle %= 360
self.stepper.step_to_angle(d_angle)
def pan_forever(self, direction):
""" Direction is 1 or -1 """
self.stepper.step_forever(-direction)
def stop_pan(self):
self.stepper.stop()
def _tilt_loop(self):
maxed = self.tilt_to(self.tilt_angle - self.tilt_dir)
if maxed:
self.stop_tilt()
def tilt(self, speed=None):
""" Tilt up until told to stop
"""
if speed == None: speed = self.tilt_speed
self.tilt_dir = speed * self.tilt_delay
if self.tilt_loop: self.stop_tilt()
self.tilt_loop = task.LoopingCall(f=self._tilt_loop)
self.tilt_loop.start(self.tilt_delay)
def tilt_down(self, speed=None):
if speed == None: speed = self.tilt_speed
self.tilt(-speed)
def stop_tilt(self):
try:
self.tilt_loop.stop()
except:
pass
self.tilt_loop = None
def fire(self):
print("bang")
def calibrate(self):
print("Calibrating... DING")
def __del__(self):
IO.cleanup()
