def __init__(self):
logging.basicConfig(format="%(levelname)s (%(asctime)s): %(message)s", datefmt="%I:%M:%S %p", level=logging.INFO, filename="/var/tmp/R2D2.log")
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
atexit.register(self.Exit)
self.MCP3008 = MCP3008(spi=SPI.SpiDev(0, 0))
self.Voltage = VoltageDivider(self.MCP3008, 0, 984.0, 101.0)
self.Current = ACS711EX(self.MCP3008, 1)
self.BrightnessControl = Potentiometer(self.MCP3008, 2)
self.Battery = LiPo(self.Voltage, self.Current, 6, 10)
self.DomeLightsRelay = self.Relay1 = Relay(16)
self.DomeServosRelay = self.Relay2 = Relay(17)
self.DomeMotorRelay = self.Relay3 = Relay(18)
self.Relay4 = Relay(19)
self.Relay5 = Relay(20)
self.SoundRelay = self.Relay6 = Relay(21)
self.BodyServosRelay = self.Relay7 = Relay(22)
self.BodyLightsRelay = self.Relay8 = Relay(23)
self.Relay9 = Relay(24)
self.Relay10 = Relay(25)
self.Relay11 = Relay(26)
self.Relay12 = Relay(27)
self.Network = Network()
self.Head = HeadMotor(self.DomeMotorRelay)
self.Sound = Sound()
self.StatusDisplay = StatusDisplay(self)
self.FrontLogicDisplay = FrontLogicDisplay(self.DomeLightsRelay)
self.RearLogicDisplay = RearLogicDisplay(self.DomeLightsRelay)
self.FrontProcessStateIndicator = FrontProcessStateIndicator(self.DomeLightsRelay)
self.RearProcessStateIndicator = RearProcessStateIndicator(self.DomeLightsRelay)
self.FrontHoloProjector = FrontHoloProjector(self.DomeLightsRelay)
self.TopHoloProjector = TopHoloProjector(self.DomeLightsRelay)
self.RearHoloProjector = RearHoloProjector(self.DomeLightsRelay)
self.MagicPanel = MagicPanel(self.DomeLightsRelay)
self.LifeFormScanner = LifeFormScanner(self.DomeServosRelay)
self.DomePanels = Panels()
self.BodyServos = Maestro("00126418")
self.LeftUtilityArm = MaestroServo(self.BodyServos, 16, 2390, 1520, 20, 1)
self.RightUtilityArm = MaestroServo(self.BodyServos, 17, 2390, 1520, 20, 1)
