def initMotors():
global servos
MAXANGLE = 850
MINANGLE = 310
#initialize servos
servos = ax12.Ax12()
#set max min angles in the motors
for mt in range (1, 6+1):
if(mt%2==1):
servos.setAngleLimit(mt, MINANGLE, MAXANGLE)
else:
servos.setAngleLimit(mt, 1024-MAXANGLE, 1024-MINANGLE)
#need to sleep between each command
sleep(0.05)
p = 800
for i in range(2):
for mt in range(1,6+1):
#even motors now doesn't change
pp = p if mt%2==1 else 1024-p
servos.moveSpeedRW(mt,pp,250)
sleep(0.01)
servos.action()
p = 1320 - p
sleep(3.7)
def initMotors():
global servos
servos = ax12.Ax12()
p = 800
for i in range(2):
for mt in range(1, 6 + 1):
pp = p if mt % 2 == 0 else 1024 - p
servos.moveSpeedRW(mt, pp, 450)
sleep(0.01)
servos.action()
p = 1320 - p
sleep(3.7)
GPIO.setup(26, GPIO.IN)
GPIO.setup(12, GPIO.IN)
GPIO.setup(16, GPIO.IN)
GPIO.setup(20, GPIO.IN)
# - - - - - - - - - - - - - - - -
# - - - GLOBAL OBJECTS - - - - -
# - - - - - - - - - - - - - - - -
jD = JsonDump()
imageProObj = ImPro()
spi = spidev.SpiDev()
spi.open(0, 0)
servos = ax12.Ax12()
switchObj = SwitchObj()
servoHandlerObj = [0]
servoHandlerObj.append(servoHandler(1, 500, servos))
servoHandlerObj.append(servoHandler(2, 500, servos))
servoHandlerObj.append(servoHandler(3, 500, servos))
servoHandlerObj.append(servoHandler(4, 500, servos))
# - - - - - - - - - - - - - - - -
# - CHECK MOVE DEMANDED FLAGS - -
# - - - - - - - - - - - - - - - -
def checkMoveDemandedFlags(servoID):
controlBit = False
for i in range(len(servoID)):
def servoSetup():
global servo
servo = ax12.Ax12()
servo.__init__()
print "hola"
servo.setLedStatus(1, 0)
def servoSetup():
global servo
servo = ax12.Ax12()
servo.__init__()
servo.setLedStatus(1, 1)