class ServoCalibration:
__kit = None
__looper = True
__keyboardInput = None
__steering = None
def __init__(self, servoKit):
self.__kit = servoKit
self.__keyboardInput = KeyboardInput("Steering Calibration")
self.__steering = Steering(
self.__kit,
steeringStatusFile=os.path.abspath(
os.path.join(os.path.dirname(__file__), "..")) +
"/config/steering_status.json")
def increment_position(self, index, value):
if (key == 'w'):
self.__steering.increment_position(index, 1)
self.__steering.update_servos()
elif (ord(key) == 16):
self.__steering.move_servo_by(index, 1)
elif (key == 'z'):
self.__steering.decrement_position(index, 1)
self.__steering.update_servos()
elif (ord(key) == 17):
self.__steering.move_servo_by(index, -1)
elif (key == 'q'):
self.__steering.save_steering_status()
waitForWheel = False
time.sleep(0.01)
class ServoCalibration:
__kit = None
__looper = True
__keyboardInput = None
__steering = None
__suspension = None
def __init__(self, servoKit):
self.__kit = servoKit
self.__keyboardInput = KeyboardInput("Steering Calibration")
config_file = servoStatusFile = os.path.abspath(
os.path.join(os.path.dirname(__file__),
"..")) + "/config/servo_status.json"
self.__steering = Steering(self.__kit, config_file)
self.__suspension = Suspension(self.__kit, config_file)
def menu(self):
self.__keyboardInput.clear()
print("J2 Controller Steering Calibration Menu:")
print()
print("c: Setup Wheel ports (On Adafruit PWM Board)")
print("n: Setup Suspension ports (On Adafruit PWM Board)")
print("w: Front left Wheel")
print("e: Front right Wheel")
print("s: Rear left Wheel")
print("d: Rear right Wheel")
print("o: Front Suspension")
print("k: Rear Suspension")
print("r: Save current status")
print("t: Reset all to *_start angle in sttering_status.json")
print("a: Set Actuation Angle")
print("--------------------")
print("q: Back")
print("")
self.waitForInput()
def waitForInput(self):
while self.__looper:
keyp = self.__keyboardInput.readkey()
if (keyp == 'q'):
print("Saving...")
self.__steering.save_servo_status()
print("Quit")
self.__looper = False
elif (keyp == 'c'):
print("Enter Port on which front_left steering motor is: ")
self.__steering.set_steering_port(Steering.FRONT_LEFT_POS,
input())
print("Enter Port on which front_right steering motor is: ")
self.__steering.set_steering_port(Steering.FRONT_RIGHT_POS,
input())
print("Enter Port on which rear_left steering motor is: ")
self.__steering.set_steering_port(Steering.REAR_LEFT_POS,
input())
print("Enter Port on which rear_right steering motor is: ")
self.__steering.set_steering_port(Steering.REAR_RIGHT_POS,
input())
self.__steering.save_servo_status()
elif (keyp == 'w'):
self.calibrate_steering(1)
elif (keyp == 'e'):
self.calibrate_steering(2)
elif (keyp == 's'):
self.calibrate_steering(3)
elif (keyp == 'd'):
self.calibrate_steering(4)
elif (keyp == 'r'):
self.__steering.save_servo_status()
print("Saved to file", end='\r', flush=True)
elif (keyp == 't'):
self.__steering.move_servo_to(
Steering.FRONT_LEFT_POS,
self.__steering.servo_status.front_left_start)
self.__steering.move_servo_to(
Steering.FRONT_RIGHT_POS,
self.__steering.servo_status.front_right_start)
self.__steering.move_servo_to(
Steering.REAR_LEFT_POS,
self.__steering.servo_status.rear_left_start)
self.__steering.move_servo_to(
Steering.REAR_RIGHT_POS,
self.__steering.servo_status.rear_right_start)
print("\r\n Servos updated")
print("\r\n Servo status")
self.__steering.print_servo_stats()
elif (keyp == 'a'):
print("Set actuation degrees [180-270]: ")
self.__steering.set_actuation_degrees(int(input()))
time.sleep(0.01)
def calibrate_steering(self, index):
waitForWheel = True
keyboardInput = KeyboardInput("Calibrate Steering:")
print(
"Press Up/Down to test or w/z to adjust wheel delta, 0 to reset, q when done"
)
while waitForWheel:
key = keyboardInput.readkey()
if (key == 'w'):
self.__steering.increment_position(index, 1)
self.__steering.update_servos()
elif (ord(key) == 16):
self.__steering.move_servo_by(index, 1)
elif (key == 'z'):
self.__steering.decrement_position(index, 1)
self.__steering.update_servos()
elif (ord(key) == 17):
self.__steering.move_servo_by(index, -1)
elif (key == 'q'):
self.__steering.save_servo_status()
waitForWheel = False
time.sleep(0.01)