class HardwareDevices():
_bodyLeds = None
_arms = None
_neck = None
_servoManager = None
_servos = None
__singleton = None
_released = False
@staticmethod
def singleton():
if (HardwareDevices.__singleton == None):
HardwareDevices.__singleton = HardwareDevices()
return HardwareDevices.__singleton
@property
def arms(self):
return self._arms
@property
def neck(self):
return self._neck
@property
def BodyLeds(self):
return self._bodyLeds
def __init__(self):
self._servos = LX16AServos()
self._servoManager = SmartServoManager(lX16AServos=self._servos,
ramp=0,
maxSpeed=1)
self._arms = Arms(self._servoManager)
self._neck = Neck(self._servoManager)
self._servoManager.Start()
self._neck.SetLeftRight(0)
self._neck.SetUpDown(0)
self._bodyLeds = RgbLeds([
my_path + '/../Gfx/Body/hearth2.gif',
my_path + '/../../RoobertGifs/e8nZC.gif',
my_path + '/../../RoobertGifs/U9LwW86.gif',
my_path + '/../../RoobertGifs/Spin_Toad.gif',
my_path + '/../../RoobertGifs/haleye.gif',
my_path + '/../../RoobertGifs/Yoshi_render.gif'
])
def Release(self):
if (self._released == False):
self._released = True
print("releasing hardware devices")
if (self._bodyLeds != None):
self._bodyLeds.Release()
if (self._arms != None):
self._arms.Release()
if (self._neck != None):
self._neck.Release()
if (self._servoManager != None):
self._servoManager.Release()
if (self._servos != None):
self._servos.Release()
def __del__(self):
self.Release()
