class Robot4WD(Robot):
STEER_PID = 1
TILT_PID = 0
LIGHTS_PID = 5
MOTOR_ENABLE_PID = 3
MOTOR_ORIENTATION_PID = (8, 10)
def __init__(self):
self.pin_layout = GPIOPinLayout()
self.steer_servo = Servo(self.pin_layout.create_servo_pin(self.STEER_PID), 147, 112, 182)
self.pan_servo = Servo(self.pin_layout.create_servo_pin(self.TILT_PID), 152, 122, 182)
self.motor = Motor(self.pin_layout.create_pwm_pin(self.MOTOR_ENABLE_PID),
(self.pin_layout.create_output_pin(self.MOTOR_ORIENTATION_PID[0]),
self.pin_layout.create_output_pin(self.MOTOR_ORIENTATION_PID[1])))
movement_controller = MotorServoMovementController(self.motor, self.steer_servo)
camera_controller = PanCameraController(self.pan_servo)
super(Robot4WD, self).__init__(movement_controller, camera_controller)
def stop(self):
self.movement_controller.stop()
self.camera_controller.stop()
self.steer_servo.angle = self.steer_servo.neutral_angle
self.pan_servo.angle = self.pan_servo.neutral_angle
self.motor.speed = 0 #TODO: neutral_speed ?
def __init__(self):
self.pin_layout = GPIOPinLayout()
self.steer_servo = Servo(self.pin_layout.create_servo_pin(self.STEER_PID), 147, 112, 182)
self.pan_servo = Servo(self.pin_layout.create_servo_pin(self.TILT_PID), 152, 122, 182)
self.motor = Motor(self.pin_layout.create_pwm_pin(self.MOTOR_ENABLE_PID),
(self.pin_layout.create_output_pin(self.MOTOR_ORIENTATION_PID[0]),
self.pin_layout.create_output_pin(self.MOTOR_ORIENTATION_PID[1])))
movement_controller = MotorServoMovementController(self.motor, self.steer_servo)
camera_controller = PanCameraController(self.pan_servo)
super(Robot4WD, self).__init__(movement_controller, camera_controller)
