def _calibration_failure(self, sender: Device):
log.warn("Failed to calibrate.")
self._print_results()
pymoab.setIcon(pymoab.Icon.BLANK)
pymoab.setText(pymoab.Text.ERROR)
pymoab.sync()
sleep(2)
sender.stop()
def on_joy_down(self, sender: IDevice):
menu_item = self.menu_items[self.menu_idx]
sender.set_next_device(menu_item.device)
pymoab.setIcon(pymoab.Icon[menu_item.icon2])
pymoab.setText(pymoab.Text[menu_item.text])
# save the menu item so we pop back up to this index when we return
sender.previous_menu = self.menu_idx
sender.stop()
def _calibration_success(self, sender: Device):
log.info("Calibration Success.")
self._print_results()
self._write_calibration(sender)
pymoab.setIcon(pymoab.Icon.CHECK)
pymoab.setText(pymoab.Text.CAL_COMPLETE)
pymoab.sync()
sleep(2)
sender.stop()
def _start_calibration(self):
if self.ball_detector:
pymoab.setIcon(pymoab.Icon.BLANK)
pymoab.setText(pymoab.Text.CAL_INSTR)
# start search here
self.found_ball = False
self.hue_low = 180
self.hue_high = 0
self.hue_steps = 20
self.count = 0
self.ball_detector.config.hue = int(180 / self.hue_steps)
self.state = CalibrationState.WaitUser
def signal_handler(sig, frame) -> int:
log.info(f"Signal {sig} received, shutting down...")
# Lower the plate and deactivate the servos
# lowerPlate is 155º; testing a lower position of 160º
pymoab.setServoPositions(155, 155, 155)
pymoab.sync()
time.sleep(0.2)
pymoab.disableServoPower()
pymoab.sync()
time.sleep(0.1)
# Clear the screen
pymoab.setIcon(pymoab.Icon.BLANK)
pymoab.setText(pymoab.Text.BLANK)
pymoab.sync()
time.sleep(0.1)
sys.exit(0)
def display_menu_item(self, idx: int):
pymoab.setIcon(pymoab.Icon[self.menu_items[idx].icon])
pymoab.setText(pymoab.Text[self.menu_items[idx].text])