def __init__(self, motorhat_addr=0x6f):
# Setup the motorhat with the passed in address
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
# Setup the Leds
self.leds = leds_led_shim.Leds()
# Set up servo motors for pan and tilt.
self.servos = Servos(addr=motorhat_addr, deflect_90_in_ms=1)
# Setup The Distance Sensors
self.left_distance_sensor = DistanceSensor(echo=17,
trigger=27,
queue_len=2)
self.right_distance_sensor = DistanceSensor(echo=5,
trigger=6,
queue_len=2)
# Setup the Encoders
EncoderCounter.set_constants(self.wheel_diameter_mm,
self.ticks_per_revolution)
self.left_encoder = EncoderCounter(4)
self.right_encoder = EncoderCounter(26)
# ensure the motors get stopped when the code exits
atexit.register(self.stop_all)
def __init__(self, motorhat_addr=0x6f, drive_enabled=True):
# Setup the motorhat with the passed in address
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
# get local variable for each motor
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
self.drive_enabled = drive_enabled
# ensure the motors get stopped when the code exits
atexit.register(self.stop_all)
# Setup the line sensors
self.left_line_sensor = LineSensor(23, queue_len=3, pull_up=True)
self.right_line_sensor = LineSensor(16, queue_len=3, pull_up=True)
# Setup The Distance Sensors
self.left_distance_sensor = DistanceSensor(17, 27)
self.right_distance_sensor = DistanceSensor(5, 6)
# Setup the Encoders
EncoderCounter.set_constants(self.wheel_diameter_mm,
self.ticks_per_revolution)
self.left_encoder = EncoderCounter(4)
self.right_encoder = EncoderCounter(26)
# Setup the Leds
self.leds = leds_8_apa102c.Leds()
# Set up servo motors for pan and tilt.
self.servos = Servos(addr=motorhat_addr)
def __init__(self):
self.display = None
print("Booting SpotMicroAI")
# self.display=RobotDisplay()
self.gyro = Gyro()
self.servos = Servos()
self.Kinematic = Kinematic()
self.network = Network()
# For testing purposed
self.mode = ModeStandby(self.servos)
def __init__(self, config_file): self.config = Config() self.config.read_config(config_file) self.servos = Servos(16, self.config.mimimum_pulse, self.config.maximum_pulse, self.config.kill_angle) legs = [] for i in range(4): leg = Leg(i, ) leg.servos(*(self.servos.servo[x] for x in leg_pins[i])) leg.offsets(*offsets[i]) leg.limbs(*lengths) legs.append(leg) self.leg0, self.leg1, self.leg2, self.leg3 = legs
def __init__(self, config_file):
self.config = Config()
self.config.read_config(config_file)
self.servos = Servos(16, self.config.mimimum_pulse, self.config.maximum_pulse, self.config.kill_angle, self.config.angle_offsets)
legs = []
for i in range(4):
leg_config = self.config["leg"+str(i+1)]
leg = Leg(leg_config["quadrants"], leg_config["positions"])
leg.servos(*(self.servos[x] for x in leg_config["servo_pins"]))
leg.limbs(*leg_config["limb_lengths"])
legs.append(leg)
self.leg0, self.leg1, self.leg2, self.leg3 = legs
def __init__(self):
self.GPIO_FRONTTRIGGER = 20
self.GPIO_BACKTRIGGER = 5
self.GPIO_FRONTECHO = 6
self.GPIO_BACKECHO = 12
FRONTSERVO = 6
BACKSERVO = 7
#set GPIO direction (IN / OUT)
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.GPIO_FRONTECHO, GPIO.IN)
GPIO.setup(self.GPIO_BACKECHO, GPIO.IN)
GPIO.setup(self.GPIO_FRONTTRIGGER, GPIO.OUT)
GPIO.output(self.GPIO_FRONTTRIGGER, False)
GPIO.setup(self.GPIO_BACKTRIGGER, GPIO.OUT)
GPIO.output(self.GPIO_BACKTRIGGER, False)
# initialise direction servos
self.servos = Servos(FRONTSERVO, BACKSERVO)
servoPositions = self.servos.FirstScanPosition()
self.frontServoDirection = servoPositions[0]
self.backServoDirection = servoPositions[1]
self.scannerActive = False
self.endthread = False
self.HistoryFront = [[0.0, 0.0, 0.0, 0.0, 0.0]]
self.HistoryBack = [[0.0, 0.0, 0.0, 0.0, 0.0]]
self.FrontDeltas = [[0.0, 0.0, 0.0, 0.0, 0.0]]
self.BackDeltas = [[0.0, 0.0, 0.0, 0.0, 0.0]]
self.FrontDeltaDelta = [0.0, 0.0, 0.0, 0.0, 0.0]
self.BackDeltaDelta = [0.0, 0.0, 0.0, 0.0, 0.0]
# initialise current distance readings
self.frontDistance = {
ServoDirection.Left: -1.0,
ServoDirection.OffLeft: -1.0,
ServoDirection.Ahead: -1.0,
ServoDirection.OffRight: -1.0,
ServoDirection.Right: -1.0
}
self.backDistance = {
ServoDirection.Left: -1.0,
ServoDirection.OffLeft: -1.0,
ServoDirection.Ahead: -1.0,
ServoDirection.OffRight: -1.0,
ServoDirection.Right: -1.0
}
time.sleep(1)
def __init__(self, motorhat_addr=0x6f):
# set up motorhat with address parameter
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
# get local variable for each motor
self.left_motor_rear = self._mh.getMotor(1)
self.left_motor_front = self._mh.getMotor(2)
self.right_motor_rear = self._mh.getMotor(4)
self.right_motor_front = self._mh.getMotor(3)
# make sure motors stop when code exits
atexit.register(self.stop_motors)
# Set up servo motors for pan and tilt
self.servos = Servos(addr=motorhat_addr)
def __init__(self, motorhat_addr=0x6f):
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
atexit.register(self.stop_motors)
# Setup the line sensors
self.right_line_sensor = LineSensor(23, queue_len=3, pull_up=True)
self.left_line_sensor = LineSensor(16, queue_len=3, pull_up=True)
self.right_line_sensor_stuck = ""
self.left_line_sensor_stuck = ""
self.servos = Servos(addr=motorhat_addr)
def __init__(self, motorhat_addr=0x6f):
# Setup the motorhat with the passed in address
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
# get local variable for each motor
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
# ensure the motors get stopped when the code exits
atexit.register(self.stop_all)
# Setup the line sensors
self.left_line_sensor = LineSensor(23, queue_len=3, pull_up=True)
self.right_line_sensor = LineSensor(16, queue_len=3, pull_up=True)
# Setup the Leds
self.leds = leds_8_apa102c.Leds()
# Set up servo motors for pan and tilt.
self.servos = Servos(addr=motorhat_addr)
def __init__(self, motorhat_addr=0x6f):
# Setup the motorhat with the passed in address
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
# get local variable for each motor
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
# Setup The Distance Sensors
self.left_distance_sensor = DistanceSensor(echo=17,
trigger=27,
queue_len=2)
self.right_distance_sensor = DistanceSensor(echo=5,
trigger=6,
queue_len=2)
# Setup the Leds
self.leds = leds_led_shim.Leds()
# Set up servo motors for pan and tilt.
self.servos = Servos(addr=motorhat_addr)
# ensure the motors get stopped when the code exits
atexit.register(self.stop_all)
from servos import Servos
servos = Servos(num=16, mimimum_pulse=450, maximum_pulse=2450, kill_angle=90)
servo = servos[int(input("What servo: "))]
x = input("What angle: ")
while x != "end":
try:
servo.angle = float(x)
except ValueError:
print("Must input a number")
x = input("New angle: ")
synced = False
### utils
def _reset_servos():
s.setXAxis(SERVO_CENTER)
s.setYAxis(SERVO_CENTER)
### code
trigger = Trigger()
# servo driver conf
s = Servos(SERVO_I2C_ADDRESS, SERVO_XAXIS_CHANNEL, SERVO_YAXIS_CHANNEL,
SERVO_PWM_FREQ)
_reset_servos()
def signal_handler(signal, frame):
_reset_servos()
trigger.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# pi camera setup
# camera = picamera.PiCamera()
## myo websocket handlers
def __init__(self):
print("Initialising")
self.servos=Servos()
self.Kinematic=Kinematic()
from modes import AbstractMode
from servos import Servos
class ModeStandby(AbstractMode):
def __init__(self,servos):
AbstractMode.__init__(self,servos)
def init(self):
self.servos.angle(1,50)
# [self.servos.angle(v,50) for v in range(0,1)]
def update(self):
pass
if __name__ == "__main__":
try:
servos=Servos()
ms = ModeStandby(servos)
ms.init()
except Exception as e:
print(e)
pass