#!/usr/bin/python
import RPi.GPIO as GPIO
from lib.Adafruit_PWM_Servo_Driver import PWM
from lib import xbox_read
import time
import math
# Initialise the PWM device using the default address
pwm = PWM(0x40,
debug=True) #connects to breakout board address 0x40 in debug mode
pwm2 = PWM(0x41, debug=True)
# Default calibration values
#32768 max range in xbox controller analog stick / 255 for triggers
move = 0
move2 = 500 #used for pwm signal max value
servoMin = 500 #used for min value for drive servos
servoMove = 150 #used for min value for camera servos
servoMoveBasket = 400 #used for min value for basket servos
servoMoveArm = 400 #used for min values for arm servos
menu = 1 #used to toggle between camera servos and capture carry servos
pwm.setPWMFreq(50)
pwm2.setPWMFreq(2000) # Set frequency to 50 Hz
#main loop
while (True):
for event in xbox_read.event_stream(
deadzone=6000
): #looks for a button to be pressed sets deadzone (sensitivity) to 6000
if (event.key == 'Y1' and event.value > 0
#!/usr/bin/python
import RPi.GPIO as GPIO
from lib.Adafruit_PWM_Servo_Driver import PWM
from lib import xbox_read
import time
# Initialise the PWM device using the default address
pwm = PWM(0x40, debug=True)
# Initialise the GPIO output channels
GPIO.setmode(GPIO.BCM)
FORWARD = 21
BACKWARD = 17
GPIO.setup(FORWARD, GPIO.OUT)
GPIO.setup(BACKWARD, GPIO.OUT)
direction = None
# Setup direction of travel
def setDirection(new_direction):
global direction # One global property, cut me some slack
if direction:
GPIO.output(direction,False)
GPIO.output(new_direction,True)
direction = new_direction
setDirection(FORWARD)
# Default calibration values
servoMid = 425
servoWidth = 180
