def __init__(self):
robohat.init()
print("Robohat version: ", robohat.version())
self.sstate[self.tilt] = 0
self.sstate[self.pan] = 0
robohat.setServo(self.pan, self.sstate[self.pan])
robohat.setServo(self.tilt, self.sstate[self.tilt])
def init():
global settings
if os.path.exists("johnny_settings.json"):
settings = json.load(open("johnny_settings.json", "r"))
else:
settings["tilt_centre"] = 0
settings["rotation_angle"] = 0
settings["speed"] = 100
json.dumps(settings, open("johnny_settings.json", "w"))
robohat.init()
robohat.setServo(1, settings["rotation_angle"])
def right_pulse():
global settings
# Check right
robohat.setServo(settings["rotation_angle"] + 45)
time.sleep(0.3)
distance = int(robohat.getDistance())
# Face forwards
robohat.setServo(settings["rotation_angle"])
return distance
def doServo(self, item):
sid = item['servo']
val = item['val']
step = 5
if (val < self.sstate[sid]):
step = -step
#current - target
for s in range(self.sstate[sid], val, step):
robohat.setServo(sid, s)
time.sleep(0.0001)
robohat.setServo(sid, val)
self.sstate[sid] = val
def doServos():
robohat.setServo(pan, pVal)
robohat.setServo(tilt, tVal)
def tiltLeft():
global tiltVal, tiltId
tiltVal = max(-max_range, tiltVal - step_size)
robohat.setServo(tiltId, tiltVal)
def tiltRight():
global tiltVal, tiltId
tiltVal = min(max_range, tiltVal + step_size)
robohat.setServo(tiltId, tiltVal)
def panUp():
global panVal, panId
panVal = min(max_range, panVal + step_size)
robohat.setServo(panId, panVal)
def panDown():
global panVal, panId
panVal = max(-max_range, panVal - step_size)
robohat.setServo(panId, panVal)
import time
import threading
robohat.init()
max_range = 45
step_size = 3
runtime = 10
if len(sys.argv) > 1 and sys.argv[1]:
runtime = int(sys.argv[1])
panId = 0
tiltId = 1
panVal = 0
tiltVal = 0
robohat.setServo(panId, panVal)
robohat.setServo(tiltId, tiltVal)
def panDown():
global panVal, panId
panVal = max(-max_range, panVal - step_size)
robohat.setServo(panId, panVal)
def panUp():
global panVal, panId
panVal = min(max_range, panVal + step_size)
robohat.setServo(panId, panVal)
def tiltLeft():
global tiltVal, tiltId
tiltVal = max(-max_range, tiltVal-step_size)
robohat.setServo(tiltId, tiltVal)
def tiltRight():
global tiltVal, tiltId
tiltVal = min(max_range, tiltVal+step_size)
robohat.setServo(tiltId, tiltVal)
def panUp():
global panVal, panId
panVal = min(max_range, panVal+step_size)
robohat.setServo(panId, panVal)
def panDown():
global panVal, panId
panVal = max(-max_range, panVal-step_size)
robohat.setServo(panId, panVal)
import threading
import thread
robohat.init()
max_range = 45
step_size = 3
runtime = 10
if len(sys.argv) > 1 and sys.argv[1]:
runtime = int(sys.argv[1])
panId = 0
tiltId = 1
panVal = 0
tiltVal = 0
robohat.setServo(panId, panVal)
robohat.setServo(tiltId, tiltVal)
def panDown():
global panVal, panId
panVal = max(-max_range, panVal-step_size)
robohat.setServo(panId, panVal)
def panUp():
global panVal, panId
panVal = min(max_range, panVal+step_size)
robohat.setServo(panId, panVal)
def tiltRight():
global tiltVal, tiltId
tiltVal = min(max_range, tiltVal+step_size)
def doServos():
robohat.setServo(pan, pVal)
robohat.setServo(tilt, tVal)
