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: