class RemoveStopper:
def __init__(self):
self.servo = Servo(pin_fig.remove_stopperservo)
self.servo.min()
sleep(1)
def on(self):
self.servo.value = -0.5
# sleep(1)
print("remove stopper on")
def off(self):
self.servo.close()
print("remove stopper off")
class WeatherDashboard:
servo_pin = 17
led_pin = 14
servoCorrection = 0.5
maxPW = (2.0 + servoCorrection) / 1000
minPW = (1.0 - servoCorrection) / 1000
def __init__(self, servo_position=0, led_status=0):
self.servo = Servo(self.servo_pin,
min_pulse_width=self.minPW,
max_pulse_width=self.maxPW)
self.led = LED(self.led_pin)
self.move_servo(servo_position)
self.set_led_status(led_status)
def move_servo(self, servo_position=0):
self.servo.value = self.convert_percentage_to_integer(servo_position)
def turnOffServo(self):
sleep(2)
self.servo.close()
def set_led_status(self, led_status=0):
if (led_status == 0):
self.led.off()
elif (led_status == 1):
self.led.on()
else:
self.led.blink()
def convert_percentage_to_integer(self, percentage_amount):
#adjust for servos that turn counter clockwise by default
adjusted_percentage_amount = 100 - percentage_amount
return (adjusted_percentage_amount * 0.02) - 1
from gpiozero import Servo from time import sleep servoPin = 17 servoCorrection = 0.5 maxPW = (2.0 + servoCorrection) / 1000 minPW = (1.0 - servoCorrection) / 1000 servo = Servo(servoPin, min_pulse_width=minPW, max_pulse_width=maxPW) servo.min() sleep(5) servo.max() sleep(5) servo.min() sleep(5) servo.max() sleep(5) servo.min() sleep(5) servo.max() sleep(5) servo.close()
class RoPiServo:
# initialize
def __init__(self, remote_address):
# set PINs on BOARD
log.debug("Initializing Servos...")
log.debug("> pin 1: " + str(_conf['servo_1_pin']))
log.debug("> pin 2: " + str(_conf['servo_2_pin']))
# using Servo
rem_pi = PiGPIOFactory(host=remote_address)
self.servo1 = Servo(_conf['servo_1_pin'], pin_factory=rem_pi)
self.servo2 = Servo(_conf['servo_2_pin'], pin_factory=rem_pi)
# servos positions
self.servo1_position = Value('d', 0.5)
self.servo2_position = Value('d', 0.5)
# queues and processes
log.debug("Initializing Servos queues and processes...")
self.queue1 = Queue()
self.queue2 = Queue()
self.process1 = Process(target=self.P1)
self.process2 = Process(target=self.P2)
self.process1.start()
self.process2.start()
log.debug("...init done!")
# clean all queues
def cleanQueues(self):
log.debug("Cleaning queues...")
self.clearQueue(self.queue1)
self.clearQueue(self.queue2)
# clean queue
def clearQueue(self, q):
while not q.empty():
q.get()
# move servos
def move_servo1(self, amount):
self.queue1.put(amount)
def move_servo2(self, amount):
self.queue2.put(amount)
# go UP
def move_up(self):
self.move_servo1(-0.1)
# go DOWN
def move_down(self):
self.move_servo1(0.1)
# go LEFT
def move_left(self):
self.move_servo2(0.1)
# go RIGHT
def move_right(self):
self.move_servo2(-0.1)
# reset position
def reset(self):
self.cleanQueues()
self.servo1_position.value = 0.5
self.servo1.mid()
self.servo2_position.value = 0.5
self.servo2.mid()
# control process 1
def P1(self):
self.worker(self.servo1, self.servo1_position, self.queue1)
# control process 2
def P2(self):
self.worker(self.servo2, self.servo2_position, self.queue2)
# worker
def worker(self, servo, position, queue):
try:
while True:
if not queue.empty():
value = queue.get()
value = position.value + value
log.debug("Moving to: " + str(value))
if value > -1 and value < 1:
position.value = value
servo.value = value
except KeyboardInterrupt:
pass
# terminate
def terminate(self):
log.debug("Servos termination...")
self.process1.terminate()
self.process2.terminate()
self.reset()
self.queue1.close()
self.queue1.join_thread()
self.queue2.close()
self.queue2.join_thread()
sleep(_conf['servo_reset_time'])
self.servo1.close()
self.servo2.close()
