def main():
s_controller = ServoController()
smart_lock = SmartLock()
functions = {}
functions["cw"] = s_controller.rotate_clockwise
functions["ccw"] = s_controller.rotate_counterclockwise
functions["ct"] = s_controller.centerlize
option = get_options("--operation")
if option == "lock":
while not smart_lock.is_locked():
functions["ccw"]()
print("locked")
return
elif option == "unlock":
while smart_lock.is_locked():
functions["cw"]()
print("unlocked")
return
while True:
print("時計回：cw, 反時計回：ccw, 静止位置キャリブレーション：ct")
cmd = input()
try:
functions[cmd]()
print("is_locked: %s" % smart_lock.is_locked())
except:
del s_controller
break
def _setup_controllers(self, robot):
self.log.debug("Setup controllers")
self.left_wheel = MotorController(robot, type='wheel', id='LEFT')
self.right_wheel = MotorController(robot, type='wheel', id='RIGHT')
self.camera = VisionController(robot)
self.grabber = ServoController(robot, type='grabber')
self.arm = ServoController(robot, type='arm')
self._setup_switch_sources(robot)
#self.bump_FrL = RuggeduinoController(robot, type='bump', id='FRONT_L')
#self.bump_FrR = RuggeduinoController(robot, type='bump', id='FRONT_R')
#self.bump_BkL = RuggeduinoController(robot, type='bump', id='BACK_L')
#self.bump_BkR = RuggeduinoController(robot, type='bump', id='BACK_R')
self.token_sensL = RuggeduinoController(robot,
type='sensor',
id='TOKEN_L')
self.token_sensR = RuggeduinoController(robot,
type='sensor',
id='TOKEN_R')
def serv1(port):
try:
from servo_controller import ServoController
servo = ServoController()
except Exception as e:
log.debug("Failed to use ServoController: {0}".format(e))
from standins import StandinServoController
servo = StandinServoController()
try:
from motor_controller import MotorController
motors = MotorController()
except Exception as e:
log.debug("failed to use MotorController: {0}".format(e))
from standins import StandinMotorController, StandinMotorDefinition
motors = StandinMotorController()
motors.defineMotor("right", (14, 15), servo, 0)
motors.defineMotor("left", (17, 18), servo, 1)
motors.setSignedPWM("left", 0)
motors.setSignedPWM("right", 0)
time.sleep(0.1)
motors.setDirection("left", "B")
time.sleep(0.1)
motors.setDirection("left", "A")
time.sleep(0.1)
motors.setDirection("right", "B")
time.sleep(0.1)
motors.setDirection("right", "A")
time.sleep(0.1)
addr = ('', port)
server = HTTPServer(addr, PyServ)
server.servo = servo
server.motors = motors
server.autodriver = None
os.chdir("content")
log.debug("Serving on port {0} in {1}".format(port, os.getcwd()))
server.serve_forever()
def dispense():
ServoController().dispense()
return 'Yiiiisss I very good doggo!'
port=config.APA102_PORT,
device=config.APA102_DEVICE,
bus_speed_hz=config.APA102_BUS_SPEED_HZ)
apa102.set_contrast(config.APA102_DEFAULT_CONTRAST)
apa102_controller = APA102Controller(apa102=apa102)
servo = Servo(
servo_gpio=config.SERVO_GPIO,
pulse_left_ns=config.SERVO_PULSE_LEFT_NS,
pulse_right_ns=config.SERVO_PULSE_RIGHT_NS)
servo_controller = ServoController(servo)
mqtt_listener = MQTTListener(config)
mqtt_listener.connect()
if __name__ == '__main__':
try:
pause()
except KeyboardInterrupt:
apa102.clear()
servo.idle()
mqtt_listener.disconnect()
print("Bye")
