import time import pygame from pygame.locals import * import RPi.GPIO as GPIO if __name__ == "__main__": #pwm = PWM(0x40) #pwm.setPWMFreq(60) # Set frequency to 60 Hz #pwm = PWM(0x40, debug=True) servoDriver = ServoDriver() screen = pygame.display.set_mode((700, 700)) m = Mapping(screen) motor = MotorDriver() nav = Navigation(motor,screen) print "setting up rangers" r = StepSweep(servoDriver) running = True wait_for_input = True print "reading..." while running: screen.fill((255,255,255)) wait_for_input = True r.servoToStart() time.sleep(1) rangeData = [] rangeData.append(RangeData(10,120)) rangeData.append(RangeData(100,90))
nav.draw(offset,0,m.getLastPosition(),m.getLastRotation()) m.drawPosition(offset) pygame.display.flip() if __name__ == "__main__": #pwm = PWM(0x40) #pwm.setPWMFreq(60) # Set frequency to 60 Hz #pwm = PWM(0x40, debug=True) servoDriver = ServoDriver() screen = pygame.display.set_mode((700, 700)) pygame.display.init() m = Mapping(screen); print "setting up rangers" r = StepSweep(servoDriver) motor = MotorDriver() nav = Navigation(motor,screen) running = True wait_for_results = False offset = [0,0] r.start() r.servoToStart() time.sleep(0.7) print "reading..." while running: if wait_for_results: time.sleep(0.02) if r.isDone():