def __init__(self, comPort, pinNumbers):
assert len(pinNumbers) > 0, "Parameter pinNumbers has to contain at least one number"
assert type(pinNumbers[0]) is int and type(pinNumbers[1]) is int, "pinNumbers must contain integers"
self.arduino = Board(comPort, boards.BOARDS["arduino_due"])
if(len(pinNumbers)>1):
self.pins = pinNumbers[:2]
else:
self.pins = pinNumbers
self.servos = servoFirmata.servoFirmata(self.arduino, self.pins, [90,90])
time.sleep(2)
class Board(SerializableModel):
pk = None
port = None
pins = None
name = None
written_pins = set()
json_export = ("pk", "port", "pins", "url")
def __init__(self, pk, port, layout=DEFAULT_LAYOUT, *args, **kwargs):
self.pk = pk
self.port = port
self._board = FirmataBoard(self.port, layout)
self.pins = {
"analog": dict(((pin.pin_number, Pin(pk, pin.pin_number, type="analog")) for pin in self._board.analog)),
"digital": dict(((pin.pin_number, Pin(pk, pin.pin_number, type="digital")) for pin in self._board.digital)),
}
[setattr(self, k, v) for k, v in kwargs.items()]
super(Board, self).__init__(*args, **kwargs)
def __del__(self):
try:
self.disconnect()
except:
print(traceback.format_exc())
@property
def url(self):
return "/%s/boards/%s/" % (API_VERSION, self.pk)
def disconnect(self):
for pin in self.written_pins:
pin.write(0)
return self._board.exit()
def get_pin(self, identifier):
a_d = identifier[0] == "a" and "analog" or "digital"
pin_nr = int(identifier[1:])
return self.pins[a_d][pin_nr]
def firmata_pin(self, firmata_identifier):
return self._board.get_pin(firmata_identifier)
def release_pin(self, firmata_identifier):
bits = firmata_identifier.split(":")
a_d = bits[0] == "a" and "analog" or "digital"
pin_nr = int(bits[1])
self._board.taken[a_d][pin_nr] = False
def __init__(self, pk, port, layout=DEFAULT_LAYOUT, *args, **kwargs):
self.pk = pk
self.port = port
self._board = FirmataBoard(self.port, layout)
self.pins = {
"analog": dict(((pin.pin_number, Pin(pk, pin.pin_number, type="analog")) for pin in self._board.analog)),
"digital": dict(((pin.pin_number, Pin(pk, pin.pin_number, type="digital")) for pin in self._board.digital)),
}
[setattr(self, k, v) for k, v in kwargs.items()]
super(Board, self).__init__(*args, **kwargs)
class servoFirmataTest:
def __init__(self, comPort, pinNumbers):
assert len(pinNumbers) > 0, "Parameter pinNumbers has to contain at least one number"
assert type(pinNumbers[0]) is int and type(pinNumbers[1]) is int, "pinNumbers must contain integers"
self.arduino = Board(comPort, boards.BOARDS["arduino_due"])
if(len(pinNumbers)>1):
self.pins = pinNumbers[:2]
else:
self.pins = pinNumbers
self.servos = servoFirmata.servoFirmata(self.arduino, self.pins, [90,90])
time.sleep(2)
def execute(self):
print("Servo zero to pos 0")
self.servos.setPosition(0, 0)
time.sleep(3)
print("Servo one to pos 0")
self.servos.setPosition(1, 0)
time.sleep(3)
print("Servo zero and one to pos 90")
self.servos.setPosition(0, 90)
self.servos.setPosition(1, 90)
time.sleep(3)
print("Test complete")
self.arduino.exit()
return True
from pyfirmata import Board, util, boards from random import randint import math PORT = '/dev/cu.usbmodem1411' def test_handle(*data): print list(data[::2]) b = Board(PORT, boards.BOARDS['arduino'], 57600) b.add_cmd_handler(0x71, test_handle) random_strings = [] for i in xrange(10): r = map(lambda x: randint(0, 127), xrange(8))] print r s = ''.join(map(lambda x: chr(x), r)) b.send_sysex(0x71, util.str_to_two_byte_iter(s)) print '=================' b.pass_time(2) while b.bytes_available(): b.iterate()
# set the post
Comport = "/dev/ttyACM0"
#-------------select servo locations------------
servoPos1 = GUI.selectPoint(camera.getNewFrame())
GUI.setCircle(servoPos1, 5, (0, 0, 255))
servoPos2 = GUI.selectPoint(camera.getNewFrame())
GUI.setCircle(servoPos2, 5, (0, 0, 255))
servoPos3 = GUI.selectPoint(camera.getNewFrame())
GUI.setCircle(servoPos3, 5, (0, 0, 255))
print('servo positions set')
#-----------------------------------------------
# create a Board object
arduino = Board(Comport, boards.BOARDS["arduino_due"])
# set initial servo position
servoInitPos = 65
# create a servoFirmate object per servo
servoFirmata1 = servoFirmata(arduino, [2], [servoInitPos])
servoFirmata2 = servoFirmata(arduino, [3], [servoInitPos])
servoFirmata3 = servoFirmata(arduino, [4], [servoInitPos])
#---------------------------create servo objects----------------------------------------------------------------------
# calculate the avarage of servoPos2 and servoPos3 and substract servoPos1. result is direction of servo1
dirServo1 = [(servoPos2[0] + servoPos3[0]) / 2 - servoPos1[0],
(servoPos2[1] + servoPos3[1]) / 2 - servoPos1[1]]
# create servo1 object