def __init__(self):
Resource.__init__(self)
self.policy = Policy.UNIQUE
self.register_name("Wheels")
left_pwm_pin = cfg.motor_config.get_pwm_pin("Wheels", "Left")
left_digital_pin = cfg.motor_config.get_digital_pin("Wheels", "Left")
right_pwm_pin = cfg.motor_config.get_pwm_pin("Wheels", "Right")
right_digital_pin = cfg.motor_config.get_digital_pin("Wheels", "Right")
self._ymax = 100
self._xmax = 100
self.leftmotor_in1_pin = left_digital_pin
self.rightmotor_in1_pin = right_digital_pin
self.PWM_left = left_pwm_pin
self.PWM_right = right_pwm_pin
io.setmode(io.BCM)
io.setup(self.leftmotor_in1_pin, io.OUT)
io.setup(self.rightmotor_in1_pin, io.OUT)
io.output(self.leftmotor_in1_pin, False)
io.output(self.rightmotor_in1_pin, False)
io.setwarnings(False)
self.duty_cycle = 4095
self.PCA9685_pwm = PCA9685_motor.PCA9685()
self.PCA9685_pwm.set_pwm_freq(60)
def __init__(self):
Resource.__init__(self)
self.policy = Policy.UNIQUE
self.register_name("DeployableCamera")
dg.print("Deployable camera motors settings:")
servo1_pin = cfg.motor_config.get_pin("DeployableCamera", "Servo1")
self.servo1_lim_upper = cfg.motor_config.get_limit(
"DeployableCamera", "Servo1", "Upper")
self.servo1_lim_lower = cfg.motor_config.get_limit(
"DeployableCamera", "Servo1", "Lower")
servo2_pin = cfg.motor_config.get_pin("DeployableCamera", "Servo2")
self.servo2_lim_upper = cfg.motor_config.get_limit(
"DeployableCamera", "Servo2", "Upper")
self.servo2_lim_lower = cfg.motor_config.get_limit(
"DeployableCamera", "Servo2", "Lower")
servo3_pin = cfg.motor_config.get_pin("DeployableCamera", "Servo3")
self.servo3_lim_upper = cfg.motor_config.get_limit(
"DeployableCamera", "Servo3", "Upper")
self.servo3_lim_lower = cfg.motor_config.get_limit(
"DeployableCamera", "Servo3", "Lower")
dg.print(" Servo 1 pin: {}".format(servo1_pin))
dg.print(" Servo 1 upper limit: {}".format(self.servo1_lim_upper))
dg.print(" Servo 1 lower limit: {}".format(self.servo1_lim_lower))
dg.print(" Servo 2 pin: {}".format(servo2_pin))
dg.print(" Servo 2 upper limit: {}".format(self.servo2_lim_upper))
dg.print(" Servo 2 lower limit: {}".format(self.servo2_lim_lower))
dg.print(" Servo 3 pin: {}".format(servo3_pin))
dg.print(" Servo 3 upper limit: {}".format(self.servo3_lim_upper))
dg.print(" Servo 3 lower limit: {}".format(self.servo3_lim_lower))
def __init__(self):
Resource.__init__(self)
self.policy = Policy.UNIQUE
self.register_name("DeployableCamera")
self.i2c = busio.I2C(board.SCL, board.SDA)
self.servo = adafruit_pca9685.PCA9685(self.i2c)
self.kit = ServoKit(channels=16)
servo1_pin = cfg.motor_config.get_pin("DeployableCamera", "Servo1")
self.servo1_lim_upper = cfg.motor_config.get_limit(
"DeployableCamera", "Servo1", "Upper")
self.servo1_lim_lower = cfg.motor_config.get_limit(
"DeployableCamera", "Servo1", "Lower")
servo2_pin = cfg.motor_config.get_pin("DeployableCamera", "Servo2")
self.servo2_lim_upper = cfg.motor_config.get_limit(
"DeployableCamera", "Servo2", "Upper")
self.servo2_lim_lower = cfg.motor_config.get_limit(
"DeployableCamera", "Servo2", "Lower")
servo3_pin = cfg.motor_config.get_pin("DeployableCamera", "Servo3")
self.servo3_lim_upper = cfg.motor_config.get_limit(
"DeployableCamera", "Servo3", "Upper")
self.servo3_lim_lower = cfg.motor_config.get_limit(
"DeployableCamera", "Servo3", "Lower")
self.servo_top = self.kit.servo[servo1_pin]
self.servo_middle = self.kit.servo[servo2_pin]
self.servo_bottom = self.kit.servo[servo3_pin]
self.servo_top.actuation_range = 360
self.servo_middle.actuation_range = 360
self.servo_bottom.actuation_range = 360
self.servo_top.set_pulse_width_range(500, 3250)
self.servo_middle.set_pulse_width_range(500, 3250)
self.servo_bottom.set_pulse_width_range(500, 3250)
def __init__(self):
Resource.__init__(self)
self.policy = Policy.SHARED
self.register_name("Ultrasound")
try:
self.trigger_pin = cfg.auto_config.ultrasound_trigger_pin()
self.echo_pin = cfg.auto_config.ultrasound_echo_pin()
except cfg.ConfigurationError as e:
raise ResourceRawError(str(e))
self.active = False
self.distance = -1
self.lock = RWLock()
def __init__(self):
Resource.__init__(self)
self.policy = Policy.UNIQUE
self.register_name("Arm")
dg.print("Mock arm motors settings:")
servo1_pin = cfg.motor_config.get_pin("Arm", "Servo1")
servo2_pin = cfg.motor_config.get_pin("Arm", "Servo2")
servo3_pin = cfg.motor_config.get_pin("Arm", "Servo3")
gripper_pin = cfg.motor_config.get_pin("Arm", "Gripper")
dg.print(" Servo 1 pin: {}".format(servo1_pin))
dg.print(" Servo 2 pin: {}".format(servo2_pin))
dg.print(" Servo 3 pin: {}".format(servo3_pin))
dg.print(" Gripper pin: {}".format(gripper_pin))
def __init__(self):
Resource.__init__(self)
self.policy = Policy.UNIQUE
self.register_name("Wheels")
self._ymax = 100
self._xmax = 100
self.duty_cycle = 4095
dg.print("Mock wheel motors settings:")
left_pwm_pin = cfg.motor_config.get_pwm_pin("Wheels", "Left")
left_digital_pin = cfg.motor_config.get_digital_pin("Wheels", "Left")
right_pwm_pin = cfg.motor_config.get_pwm_pin("Wheels", "Right")
right_digital_pin = cfg.motor_config.get_digital_pin("Wheels", "Right")
dg.print(" Left PWM pin: {}".format(left_pwm_pin))
dg.print(" Left digital pin: {}".format(left_digital_pin))
dg.print(" Right PWM pin: {}".format(right_pwm_pin))
dg.print(" Right digital pin: {}".format(right_digital_pin))
def __init__(self):
'''Register name and access policy. Obtain settings from
CameraConfiguration. Initialise members.'''
Resource.__init__(self)
self.policy = Policy.SHARED
self.register_name("Camera")
try:
self.source = cfg.cam_config.device() # gstreamer device name
self.framerate = cfg.cam_config.capture_framerate()
self.frame_width = cfg.cam_config.capture_frame_width()
self.frame_height = cfg.cam_config.capture_frame_height()
except cfg.ConfigurationError as e:
raise ResourceRawError(str(e))
self.gst_comm = None # string corresponding to gstreamer pipe
self.cap = None # opencv capture object
self.active = False
self.camlock = RWLock() # allow multiple readers, single writer
self.frame = np.zeros(3) # current camera frame
def __init__(self):
"""
Call set_values to set angles ofs servos.
Will need to callibrate for limits
"""
Resource.__init__(self)
self.policy = Policy.UNIQUE
self.register_name("Arm")
self.i2c = busio.I2C(board.SCL, board.SDA)
# self.servo = PCA9685_servo.PCA9685(self.i2c)
self.servo = adafruit_pca9685.PCA9685(self.i2c)
self.kit = ServoKit(channels=16)
gripper_pin = cfg.motor_config.get_pin("Arm", "Gripper")
servo1_pin = cfg.motor_config.get_pin("Arm", "Servo1")
servo2_pin = cfg.motor_config.get_pin("Arm", "Servo2")
servo3_pin = cfg.motor_config.get_pin("Arm", "Servo3")
#servo1_pwm_pin = cfg.motor_config.get_pwm_pin("Arm", "Servo1")
#servo1_digital_pin = cfg.motor_config.get_digital_pin("Arm", "Servo1")
#servo2_pwm_pin = cfg.motor_config.get_pwm_pin("Arm", "Servo2")
#servo2_digital_pin = cfg.motor_config.get_digital_pin("Arm", "Servo2")
#servo3_pwm_pin = cfg.motor_config.get_pwm_pin("Arm", "Servo3")
#servo3_digital_pin = cfg.motor_config.get_digital_pin("Arm", "Servo3")
#gripper_pwm_pin = cfg.motor_config.get_pwm_pin("Arm", "Gripper")
#gripper_digital_pin = cfg.motor_config.get_digital_pin("Arm", "Gripper")
# 3 Servos, defines PIN numbers
self.servo_grab = self.kit.servo[gripper_pin]
self.servo_top = self.kit.servo[servo1_pin]
self.servo_middle = self.kit.servo[servo2_pin]
self.servo_bottom = self.kit.servo[servo3_pin]
self.servo_grab.actuation_range = 360
self.servo_top.actuation_range = 360
self.servo_middle.actuation_range = 360
self.servo_bottom.actuation_range = 360
# Callibrated to Proper Servo values.
self.servo_grab.set_pulse_width_range(500, 3250)
self.servo_top.set_pulse_width_range(500, 3250)
self.servo_middle.set_pulse_width_range(500, 3250)
self.servo_bottom.set_pulse_width_range(500, 3250)
def __init__(self):
Resource.__init__(self)
self.policy = Policy.SHARED
self.register_name("IPCamera")
self.host = None
self.port = 5520