if (char == "s"):
if tilt.get_servo_max() > tilt.get_current_pwm():
tilt.set_current_pwm(tilt.get_current_pwm() +
tilt.get_intervall_pwm())
printscreen()
# The Pan-Tilt-Kit turns to the right.
if (char == "d"):
if pan.get_current_pwm() > pan.get_servo_min():
pan.set_current_pwm(pan.get_current_pwm() -
pan.get_intervall_pwm())
printscreen()
# The Pan-Tilt-Kit turns to the left.
if (char == "a"):
if pan.get_servo_max() > pan.get_current_pwm():
pan.set_current_pwm(pan.get_current_pwm() +
pan.get_intervall_pwm())
printscreen()
# By pressing the key "x" the endless loop for reading the
# keyboard inputs stopps and the program ends.
if (char == "x"):
pan.reset()
tilt.reset()
print("Exit program")
break
# The variable char is cleared after each loop run to be able to
# read the next key pressed by the user.
char = ""
#!/usr/bin/env python
import os
import sys
import getpass
from config.servo_config import ServoConfig
env = os.path.expanduser(
os.path.expandvars('/home/' + getpass.getuser() +
'/robotcar/driver/actor'))
sys.path.insert(0, env)
from servo import ServoMotor
# Main function.
if __name__ == "__main__":
conf = ServoConfig()
steering = ServoMotor(0, conf.getNeutral('steering'),
conf.getMin('steering'), conf.getMax('steering'), 5)
pan = ServoMotor(4, conf.getNeutral('pan'), conf.getMin('pan'),
conf.getMax('pan'), 5)
tilt = ServoMotor(3, conf.getNeutral('tilt'), conf.getMin('tilt'),
conf.getMax('tilt'), 5)
steering.reset()
pan.reset()
tilt.reset()
