#!/usr/bin/env python
import cwiid
import time
from libs.Adafruit_PWM_Servo_Driver import PWM
from numpy import interp, clip
#connecting to the wiimote. This allows several attempts
# as first few often fail.
pwm = PWM(0x40, debug=False)
pwm.setPWMFreq(50)
#servos.setPWM(15,4095)
def set_servo_pulse(channel, pulse):
pulseLength = 1000000 # 1,000,000 us per second
pulseLength /= 50 # 60 Hz
print "%d us per period" % pulseLength
pulseLength /= 4096 # 12 bits of resolution
print "%d us per bit" % pulseLength
# pulse *= 1000
pulse /= pulseLength
print "pulse {0}".format(pulse)
pwm.setPWM(channel, 0, pulse)
print("Press 1+2 on your Wiimote now...")
wm = None
i = 2
while not wm:
try:
wm = cwiid.Wiimote()
def __init__(
self,
pwm_i2c=0x40,
pwm_freq=50,
left_channel=0,
right_channel=1,
aux_channel1=4,
aux_channel2=5,
aux_channel3=6,
aux_channel4=7,
debug=False
):
# Main set of motor controller ranges
self.servo_min = 900
#self.servo_mid = 1555
self.servo_mid = 1650
self.servo_max = 2300
# Full speed range
self.servo_full_min = 900
self.servo_full_max = 2300
# Low speed range is 1/4 of full speed
speed_divisor = 2
self.servo_low_min = int(self.servo_mid - (self.servo_mid-self.servo_full_min)/speed_divisor)
self.servo_low_max = int(self.servo_mid + (self.servo_full_max-self.servo_mid)/speed_divisor)
# Skittle launcher servos
self.skittle_left_servo_closed = 1600
self.skittle_left_servo_open = 1400
self.skittle_right_servo_closed = 1600
self.skittle_right_servo_open = 1400
# Skittle launcher motors
self.skittle_left_motor_stopped = 1000
self.skittle_left_motor_full_speed = 2000
self.skittle_left_motor_stopped = 1000
self.skittle_left_motor_full_speed = 2000
# Proximity probe servo limites
self.proximity_servo_min = 1000
self.proximity_servo_max = 2000
# Proximity probe fan limits
self.proximity_blower_esc_stopped = 1000
self.proximity_blower_esc_max = 2000
self.channels = {
'left': left_channel,
'right': right_channel
'blower': aux_channel1
'probe_servo': aux_channel2
'skittle_left_servo':aux_channel1
'skittle_right_servo':aux_channel2
'skittle_left_motor':aux_channel3
'skittle_right_motor':aux_channel4
}
self.pwm = PWM(pwm_i2c, debug=debug)
self.pwm.setPWMFreq(pwm_freq)
# Flag set to True when motors are allowed to move
self.drive_enabled = False
self.disable_drive()
