'/etc/' + CFG_FILE_NAME,
os.path.expanduser('~/.' + CFG_FILE_NAME)
]
cfg = simpleconfig.parse(files=dflt_search_path, defaults={
'port' : dspin.RASPI_SPI_DEVICE,
'max_speed' : 1000,
'step_mode' : 7,
'resolution' : 400,
'stdby_gpio' : 24,
'cs_gpio' : 26,
'not_busy_gpio' : 22
})
parser = cli.get_argument_parser(
description="Demonstration of controlling a stepper motor with a dSPIN chip via SPI."
)
parser.add_argument('-R', '--resolution',
help="Stepper motor resolution (steps/turn)",
dest='resolution',
type=int,
default=cfg['resolution']
)
parser.add_argument('-M', '--max-speed',
help="Maximum speed (steps/sec)",
dest='max_speed',
type=int,
default=cfg['max_speed']
)
parser.add_argument('-S', '--step-mode',
help="Step mode (in range 0=full step,... 7=1/128 step)",
""" DMXL servo id CLI argument type checker."""
try:
dmxlid = int(s)
if 1 <= dmxlid <= 250:
return dmxlid
else:
raise ValueError()
except ValueError:
raise ArgumentTypeError('must be a positive integer')
def sigterm_handler(signum, frame):
log.getLogger('sighandler').info('!! SIGTERM caught !!')
ControlServerHandler._shutdown_requested = True #pylint: disable=W0212
if __name__ == '__main__':
parser = cli.get_argument_parser(description='Dual beacons controller')
parser.add_argument('-i', '--intf_dev',
help='device of the DMXL bus interface',
default='/dev/ttyACM0',
dest='intf_dev'
)
parser.add_argument('-l', '--left_id',
help='id of left beacon servo',
default=2,
type=_servo_id,
dest='left_id'
)
parser.add_argument('-r', '--right_id',
help='id of right beacon servo',
default=1,
sequence = robot.song_sequence_record(0, s.score)
robot.song_sequence_play(sequence)
if __name__ == '__main__':
dflt_search_path = [
'/etc/demo-create.cfg',
os.path.expanduser('~/.demo-create.cfg')
]
cfg = simpleconfig.parse(files=dflt_search_path, defaults={
'port' : '/dev/ttyUSB0'
})
parser = cli.get_argument_parser(
description="Demonstration of controlling a iRobot Create robot with Python scripts."
)
parser.add_argument(dest='demo',
metavar='DEMO_NAME',
choices=_all_demos.keys() + ['?'],
nargs=1,
help="demonstration selector. Use '?' for a detailed list"
)
parser.add_argument('-p', '--port',
help="Create connection serial port",
dest='port',
default=cfg['port']
)
parser.add_argument('-T', '--trace',
help="""Trace the communications with the Create and set the display format
('d' = decimal, 'h' = hex)""",
