def __init__(self):
pwm = PWM(self.I2C_ADDRESS)
pwm.setPWMFreq(self.FREQUENCY)
self.pwm = pwm
self.right_motor = TowerProSG5010(pwm, self.RIGHT_MOTOR_CHANNEL,
TowerProSG5010RightData,
MotorPosition.RIGHT)
self.left_motor = TowerProSG5010(pwm, self.LEFT_MOTOR_CHANNEL,
TowerProSG5010LeftData,
MotorPosition.LEFT)
self.camera_motor = TowerProSG90(pwm, self.CAMERA_MOTOR_CHANNEL,
TowerProSG90Data, True)
self.led1 = Led(pwm, self.LED1_CHANNEL)
self.led2 = Led(pwm, self.LED2_CHANNEL)
self.led3 = Led(pwm, self.LED3_CHANNEL)
self.led4 = Led(pwm, self.LED4_CHANNEL)
self.led5 = Led(pwm, self.LED5_CHANNEL)
self.led_array = [
self.led3, self.led2, self.led4, self.led1, self.led5
]
self.status_led = Led(pwm, self.STATUS_LED_CHANNEL)
self.status_led.set_brightness(100)
self.socket, self.connection, self.client_address = None, None, None
self.initialize_socket()
def __init__(self, servo_data, position=MotorPosition.LEFT):
self.pwm = PWM(self.ADDRESS)
self.pwm.setPWMFreq(self.FREQUENCY)
if position == MotorPosition.LEFT:
self.servo = TowerProSG5010(self.pwm, self.CHANNEL_LEFT, servo_data, position)
else:
self.servo = TowerProSG5010(self.pwm, self.CHANNEL_RIGHT, servo_data, position)
class TowerProSG5010Test():
ADDRESS = 0x40
FREQUENCY = 50
CHANNEL_LEFT = 0
CHANNEL_RIGHT = 15
def __init__(self, servo_data, position=MotorPosition.LEFT):
self.pwm = PWM(self.ADDRESS)
self.pwm.setPWMFreq(self.FREQUENCY)
if position == MotorPosition.LEFT:
self.servo = TowerProSG5010(self.pwm, self.CHANNEL_LEFT, servo_data, position)
else:
self.servo = TowerProSG5010(self.pwm, self.CHANNEL_RIGHT, servo_data, position)
def test_speed(self, speed):
pwm_value = self.servo.set_speed(speed)
print('PWM back: {} PWM stop: {} PWM forward: {} PWM value: {} Speed: {}'.format(self.servo.backwards_value,
self.servo.stop_value,
self.servo.forward_value,
pwm_value, speed))
def test_speed_automatic(self):
test_values = [100, 50, 0, -50, -100]
for speed in test_values:
self.test_speed(speed)
time.sleep(2)
def test_speed_incremental(self):
print('')
for speed in range(-100, 101):
self.servo.set_speed(speed)
if speed % 10 == 0:
print('Speed : {}'.format(speed))
time.sleep(0.05)
def test_speed_interactive(self):
while True:
speed = int(input('Speed: '))
self.test_speed(speed)
class TowerProSG90Test():
ADDRESS = 0x40
FREQUENCY = 50
CHANNEL = 7
def __init__(self, servo_data, inverted=False):
self.pwm = None
self.pwm = PWM(self.ADDRESS)
self.pwm.setPWMFreq(self.FREQUENCY)
self.servo = TowerProSG90(self.pwm, self.CHANNEL, servo_data, inverted)
def test_angle(self, angle):
pwm_value = self.servo.set_angle(angle)
print(
'PWM right: {} PWM middle: {} PWM left: {} PWM value: {} Angle: {}'
.format(self.servo.right_value, self.servo.middle_value,
self.servo.left_value, pwm_value, angle))
def test_angle_automatic(self):
test_values = [90, 45, 0, -45, -90]
for angle in test_values:
self.test_angle(angle)
time.sleep(2)
def test_angle_incremental(self):
print('')
for angle in range(-90, 91):
self.servo.set_angle(angle)
if angle % 10 == 0:
print('Angle: {}'.format(angle))
time.sleep(0.01)
def test_angle_interactive(self):
while True:
angle = int(input('Angle: '))
self.test_angle(angle)
class LedTest():
ADDRESS = 0x40
FREQUENCY = 50
CHANNEL = 6
def __init__(self):
self.pwm = PWM(self.ADDRESS)
self.pwm.setPWMFreq(self.FREQUENCY)
self.led = Led(self.pwm, self.CHANNEL)
def test_brightness(self, brightness):
pwm_value = self.led.set_brightness(brightness)
print('PWM min: {} PWM max: {} PWM value: {} Brightness: {}'.format(
self.led.OFF_VALUE, self.led.ON_VALUE, pwm_value, brightness))
def test_brightness_automatic(self):
test_values = [50, 100, 0, 25, 75]
for brightness in test_values:
self.test_brightness(brightness)
time.sleep(2)
def test_brightness_incremental(self):
for brightness in range(101):
self.led.set_brightness(brightness)
if brightness % 10 == 0:
print('Brightness: {}'.format(brightness))
time.sleep(0.01)
def test_brightness_interactive(self):
while True:
brightness = int(input('Brightness: '))
self.test_brightness(brightness)
def __init__(self, servo_data, inverted=False):
self.pwm = None
self.pwm = PWM(self.ADDRESS)
self.pwm.setPWMFreq(self.FREQUENCY)
self.servo = TowerProSG90(self.pwm, self.CHANNEL, servo_data, inverted)
def __init__(self):
self.pwm = PWM(self.ADDRESS)
self.pwm.setPWMFreq(self.FREQUENCY)
self.led = Led(self.pwm, self.CHANNEL)