# ////////////////////////////////////////////////////////////////
# // DECLARE APP CLASS AND SCREENMANAGER //
# // LOAD KIVY FILE //
# ////////////////////////////////////////////////////////////////
class MyApp(App):
def build(self):
self.title = "Robotic Arm"
return sm
Builder.load_file('main.kv')
Window.clearcolor = (.1, .1, .1, 1) # (WHITE)
cyprus.open_spi()
# ////////////////////////////////////////////////////////////////
# // SLUSH/HARDWARE SETUP //
# ////////////////////////////////////////////////////////////////
sm = ScreenManager()
arm = stepper(port=0, speed=10)
# ////////////////////////////////////////////////////////////////
# // MAIN FUNCTIONS //
# // SHOULD INTERACT DIRECTLY WITH HARDWARE //
# ////////////////////////////////////////////////////////////////
class MainScreen(Screen):
from pidev.Cyprus_Commands import Cyprus_Commands_RPi as ccrpi
ccrpi.open_spi()
from pidev import stepper
##led = stepper(port = 1, speed = 50)
##for i in range(1, 255):
## print("lup")
ccrpi.write_pwm(1, ccrpi.COMPARE_MODE, ccrpi.LESS_THAN)
ccrpi.write_pwm(1, ccrpi.PERIOD, .001)
ccrpi.write_pwm(1, ccrpi.COMPARE, .001)
ccrpi.write_pwm(2, ccrpi.COMPARE_MODE, ccrpi.LESS_THAN)
ccrpi.write_pwm(2, ccrpi.PERIOD, .001)
ccrpi.write_pwm(2, ccrpi.COMPARE, .001)
## ccrpi.set_servo_speed(1, -0.5)