def start(self):
""" Initialize and start threads. """
# Sensors
self.acc = MCP3008AnalogSensor([0, 1, 2], range=(100, 800))
self.pot = MCP3008AnalogSensor([3])
self.switch = MCP3008AnalogSensor([4])
self.ping = PingSensor(25, 24)
# Actuators
self.motor = PWMActuator(23)
self.led = PWMActuator(18)
self.servo = ServoActuator(0)
self.actuators = {
'motor': self.motor,
'led': self.led,
'servo': self.servo,
}
self._server_thread = threading.Thread(target=self._server_worker)
self._server_thread.start()
self._sensor_thread = threading.Thread(target=self._read_worker)
self._sensor_thread.start()
self._link_thread = threading.Thread(target=self._link_worker)
self._link_thread.start()
class MotorActuator(object):
""" A Motor uses two PWM pins to drive a motor connected to an H-Bridge.
Parameters
----------
pin1 : int
The forward pin connected to the H-Bridge motor control chip.
pin2 : int
The backward pin connected to the H-Bridge motor control chip.
"""
def __init__(self, pin1, pin2):
self.forward_pin = PWMActuator(pin1)
self.backward_pin = PWMActuator(pin2)
def drive_forward(self):
self.forward_pin.set(1)
self.backward_pin.set(0)
def drive_back(self):
self.forward_pin.set(0)
self.backward_pin.set(1)
def stop(self):
self.forward_pin.set(0)
self.backward_pin.set(0)
def drive(self, speed=0.0):
if speed == 0.0:
self.stop()
elif speed >= 0.0:
self.forward_pin.set(speed)
self.backward_pin.set(0)
else:
self.forward_pin.set(0)
self.backward_pin.set(abs(speed))
def set_normalized(self, val):
speed = val * 2 - 1
self.drive(speed=speed)
def __init__(self, pin1, pin2):
self.forward_pin = PWMActuator(pin1)
self.backward_pin = PWMActuator(pin2)
class MotorActuator(object):
""" A Motor uses two PWM pins to drive a motor connected to an H-Bridge.
Parameters
----------
pin1 : int
The forward pin connected to the H-Bridge motor control chip.
pin2 : int
The backward pin connected to the H-Bridge motor control chip.
"""
def __init__(self, pin1, pin2):
self.forward_pin = PWMActuator(pin1)
self.backward_pin = PWMActuator(pin2)
def drive_forward(self):
self.forward_pin.set(1)
self.backward_pin.set(0)
def drive_back(self):
self.forward_pin.set(0)
self.backward_pin.set(1)
def stop(self):
self.forward_pin.set(0)
self.backward_pin.set(0)
def drive(self, speed=0.0):
if speed == 0.0:
self.stop()
elif speed >= 0.0:
self.forward_pin.set(speed)
self.backward_pin.set(0)
else:
self.forward_pin.set(0)
self.backward_pin.set(abs(speed))
def set_normalized(self, val):
speed = val * 2 - 1
self.drive(speed=speed)
def __init__(self, pin1, pin2):
self.forward_pin = PWMActuator(pin1)
self.backward_pin = PWMActuator(pin2)
