def enable_servos():
global servo1, servo3, servo1clk, servo3clk
servos_enabled = True
rcpy.servo.enable()
# Enable steering servo
if not servo1:
from rcpy.servo import servo1
servo1.set(0)
if not servo1clk:
servo1clk = rcpy.clock.Clock(servo1, 0.02)
servo1clk.start()
# Enable throttle
if not servo3:
from rcpy.servo import servo3
servo3.set(0)
if not servo3clk:
servo3clk = rcpy.clock.Clock(servo3, 0.02)
servo3clk.start()
time.sleep(1)
print("Arming throttle")
servo3.set(-0.1)
time.sleep(3)
servo3.set(0)
def set_servos(throttle, steering):
throttle = THROTTLE_SERVO_MIN + ((throttle / 100) *
(THROTTLE_SERVO_MAX - THROTTLE_SERVO_MIN))
steering = STEERING_SERVO_MIN + ((steering / 180) *
(STEERING_SERVO_MAX - STEERING_SERVO_MIN))
servo3.set(throttle)
servo1.set(steering)
def disable_servos():
servos_enabled = False
print("Disarming throttle")
servo1.set(0)
servo3.set(0)
time.sleep(1)
rcpy.servo.disable()
if servo1clk:
servo1clk.stop()
if servo3clk:
servo3clk.stop()
def set_servos(throttle, steering):
global servos_enabled, servos_paused
if not servos_enabled:
enable_servos()
if not servos_paused:
throttle = THROTTLE_SERVO_MIN + ((throttle/100) * (THROTTLE_SERVO_MAX - THROTTLE_SERVO_MIN))
steering = STEERING_SERVO_MIN + ((steering/180) * (STEERING_SERVO_MAX - STEERING_SERVO_MIN))
servo3.set(throttle)
servo1.set(steering)
else:
servo3.set(0)
servo1.set(0)
def enable_steering_and_throttle(self):
rcpy.servo.enable()
# Enable steering servo
servo1.set(0)
servo1clk = rcpy.clock.Clock(servo1, 0.02)
servo1clk.start()
# Enable throttle
servo3.set(0)
servo3clk = rcpy.clock.Clock(servo3, 0.02)
servo3clk.start()
time.sleep(1)
print("Arming throttle")
servo3.set(-0.1)
time.sleep(3)
servo3.set(0)
#!/usr/bin/env python3
import os, sys
if not os.geteuid() == 0:
sys.exit("\nPlease run as root.\n")
if sys.version_info < (3, 0):
sys.exit("\nPlease run under python3.\n")
print("Importing Python modules, please be patient.")
import cv2, rcpy, datetime, time, numpy, pygame, threading, math
# Enable steering servo
from rcpy.servo import servo1
rcpy.servo.enable()
servo1.set(0)
servo1clk = rcpy.clock.Clock(servo1, 0.02)
servo1clk.start()
# Enable throttle
from rcpy.servo import servo3
rcpy.servo.enable()
servo3.set(0)
servo3clk = rcpy.clock.Clock(servo3, 0.02)
servo3clk.start()
time.sleep(1)
print("Arming throttle")
servo3.set(-0.1)
time.sleep(3)
servo3.set(0)
# This file was originally part of the OpenMV project.
# Copyright (c) 2013-2017 Ibrahim Abdelkader <*****@*****.**> & Kwabena W. Agyeman <*****@*****.**>
#!/usr/bin/env python3
import os, sys
if not os.geteuid() == 0:
sys.exit("\nPlease run as root.\n")
if sys.version_info < (3, 0):
sys.exit("\nPlease run under python3.\n")
import rcpy, time
from rcpy.servo import servo1
rcpy.servo.enable()
servo1.set(0)
servo1clk = rcpy.clock.Clock(servo1, 0.02)
servo1clk.start()
time.sleep(1)
servo1.set(-0.4)
time.sleep(1)
servo1.set(0.6)
time.sleep(1)
servo1.set(0)
time.sleep(1)
servo1clk.stop()
rcpy.servo.disable()
