def __init__(self, comPort, pinNumbers):
assert len(pinNumbers) > 0, "Parameter pinNumbers has to contain at least one number"
assert type(pinNumbers[0]) is int and type(pinNumbers[1]) is int, "pinNumbers must contain integers"
self.arduino = Board(comPort, boards.BOARDS["arduino_due"])
if(len(pinNumbers)>1):
self.pins = pinNumbers[:2]
else:
self.pins = pinNumbers
self.servos = servoFirmata.servoFirmata(self.arduino, self.pins, [90,90])
time.sleep(2)
from pyfirmata import Board, util, boards from random import randint import math PORT = '/dev/cu.usbmodem1411' def test_handle(*data): print list(data[::2]) b = Board(PORT, boards.BOARDS['arduino'], 57600) b.add_cmd_handler(0x71, test_handle) random_strings = [] for i in xrange(10): r = map(lambda x: randint(0, 127), xrange(8))] print r s = ''.join(map(lambda x: chr(x), r)) b.send_sysex(0x71, util.str_to_two_byte_iter(s)) print '=================' b.pass_time(2) while b.bytes_available(): b.iterate()
# set the post
Comport = "/dev/ttyACM0"
#-------------select servo locations------------
servoPos1 = GUI.selectPoint(camera.getNewFrame())
GUI.setCircle(servoPos1, 5, (0, 0, 255))
servoPos2 = GUI.selectPoint(camera.getNewFrame())
GUI.setCircle(servoPos2, 5, (0, 0, 255))
servoPos3 = GUI.selectPoint(camera.getNewFrame())
GUI.setCircle(servoPos3, 5, (0, 0, 255))
print('servo positions set')
#-----------------------------------------------
# create a Board object
arduino = Board(Comport, boards.BOARDS["arduino_due"])
# set initial servo position
servoInitPos = 65
# create a servoFirmate object per servo
servoFirmata1 = servoFirmata(arduino, [2], [servoInitPos])
servoFirmata2 = servoFirmata(arduino, [3], [servoInitPos])
servoFirmata3 = servoFirmata(arduino, [4], [servoInitPos])
#---------------------------create servo objects----------------------------------------------------------------------
# calculate the avarage of servoPos2 and servoPos3 and substract servoPos1. result is direction of servo1
dirServo1 = [(servoPos2[0] + servoPos3[0]) / 2 - servoPos1[0],
(servoPos2[1] + servoPos3[1]) / 2 - servoPos1[1]]
# create servo1 object
