def change_rudder_angle(self, delta_rudder_angle):
"""Method to change the rudder angle by a given delta_rudder_angle.
Keyword arguments:
delta_rudder_angle -- The change in angle to be processed
Side effects:
Calls the rudder_turn_to method with the constrained angle
"""
self.turn_to(
constrain(self.current_rudder_angle + delta_rudder_angle,
self.full_port_angle, self.full_starboard_angle))
def trim_in_by(self, degrees_in):
"""Method to change the sail angle by a given delta_sail_angle.
Keyword arguments:
delta_sail_angle -- The change in angle to be processed
Side effects:
Calls the sail_turn_to method with the constrained angle
"""
self.trim_boom_to(
constrain(self.current_boom_angle + degrees_in, 0,
self.max_boom_angle))
def turn_to(self, rudder_angle):
"""Method to send the rudder to a given angle. Uses rudder_angle_to_servo_angle
to get the servo angle and sends that to the regular turn_to method.
Keyword arguments:
rudder_angle -- The desired angle of the rudder
Side effects:
Calls the turn_to method of the servo class
"""
constrained_rudder_angle = constrain(rudder_angle,
self.full_port_angle,
self.full_starboard_angle)
self.servo.turn_to(
self.rudder_angle_to_servo_angle(constrained_rudder_angle))
self.current_rudder_angle = constrained_rudder_angle
def turn_to(self, angle):
"""Method to send the servo to the given angle.
Automatically constrains the angle to the servo's given limits.
Keyword arguments:
angle -- The desired angle
Side effects:
- Sets the duty cycle using the calc_duty_cycle()
- Sends the physical servo to the angle
- Sets the current_angle to the new angle
"""
constrained_angle = constrain(angle, self.full_left_angle,
self.full_right_angle)
self.pwm_pin.set_duty_cycle(self.calc_duty_cycle(constrained_angle))
self.current_angle = constrained_angle
def trim_boom_to(self, boom_angle):
"""Sends the boom to a given angle.
Uses sail_angle_to_servo_angle to get the servo angle and sends that to
the servo's turn_to method.
Keyword arguments:
sail_angle -- The desired boom angle
Returns:
The constrained boom angle that the servo was set to
Side effects:
Calls the turn_to method of the servo class
"""
constrained_boom_angle = constrain(boom_angle, 0, self.max_boom_angle)
self.servo.turn_to(
self.boom_angle_to_servo_angle(constrained_boom_angle))
self.current_boom_angle = constrained_boom_angle
return constrained_boom_angle
def trim_boom_to(self, boom_angle):
"""Sends the boom to a given angle.
Uses sail_angle_to_motor_angle to get the motor angle and sends that to
the motor's turn_to method.
Keyword arguments:
sail_angle -- The desired boom angle
Returns:
The constrained boom angle that the motor was set to
Side effects:
Calls the turn_to method of the motor class
"""
constrained_boom_angle = constrain(boom_angle, 0, self.max_boom_angle)
pub.sendMessage(
"turn sail to",
sail_ang=self.boom_angle_to_motor_angle(constrained_boom_angle))
self.current_boom_angle = constrained_boom_angle
return constrained_boom_angle