def __init__(self):
# Servos connected to PWM pins of the Beagle Bone Black.
# Edit this according to the plane connections.
# Maximum number of servos allowed = 4
self.Ailerons_Right = Servo("P8_13")
self.Ailerons_Left = Servo("P9_14")
self.Flaps = Servo("P9_21")
self.Elevators = Servo("P9_42")
#self.Radar = Servo("")
self.Ailerons_Right.StartServo()
self.Ailerons_Left.StartServo()
self.Flaps.StartServo()
self.Elevators.StartServo()
# Set makimum titl angles of all servos.
# Edit this portion according to the plane being used
self.alireons_max = 30
self.falps_max = 30
self.elevators_max = 45
self.radar_max = 45
# Exponential componenet of the movement.
# 1 - Linear,
self.alireons_exp = 2
self.elevators_exp = 2
self.radar_exp = 3
# Throttle specific data
self.engines = 1
def __init__(self, config_file=None):
''' setup channels and basic stuff '''
if self._DEBUG:
print self._DEBUG_INFO, "Debug on"
#self.db = filedb.fileDB()
#self.turning_offset = self.db.get('turning_offset', default_value=0)
self.wheel = Servo(self.STEER_SERVO_ID)
self.wheel.set_base_position(self.STRAIGHT_ANGLE)
self.wheel.set_min_limit(self.MAX_STEER_ANGLE)
self.wheel.set_max_limit(self.MAX_STEER_ANGLE)
if self._DEBUG:
print self._DEBUG_INFO, 'Front wheel PEM channel:', self.STEER_SERVO_ID
print self._DEBUG_INFO, 'Front wheel base value:', self.STRAIGHT_ANGLE
self.angle = {
"left": self.MAX_STEER_ANGLE,
"straight": self.STRAIGHT_ANGLE,
"right": self.MAX_STEER_ANGLE
}
if self._DEBUG:
print self._DEBUG_INFO, 'left angle: %s, straight angle: %s, right angle: %s' % (
self.angle["left"], self.angle["straight"],
self.angle["right"])
def __init__(self,
debug=False,
db="config",
bus_number=1,
channel=FRONT_WHEEL_CHANNEL):
''' setup channels and basic stuff '''
self.db = filedb.fileDB(db=db)
self._channel = channel
self._straight_angle = 90
self.turning_max = 20
self._turning_offset = int(
self.db.get('turning_offset', default_value=0))
self.wheel = Servo.Servo(self._channel,
bus_number=bus_number,
offset=self.turning_offset)
self.debug = debug
if self._DEBUG:
print self._DEBUG_INFO, 'Front wheel PWM channel:', self._channel
print self._DEBUG_INFO, 'Front wheel offset value:', self.turning_offset
self._angle = {
"left": self._min_angle,
"straight": self._straight_angle,
"right": self._max_angle
}
if self._DEBUG:
print self._DEBUG_INFO, 'left angle: %s, straight angle: %s, right angle: %s' % (
self._angle["left"], self._angle["straight"],
self._angle["right"])
def configLegs(connexion=Connexion()):
Leg.a = 72
Leg.b = 100
Leg.a1 = 0
Leg.a2 = 0
Leg.ab0 = 0
Leg.ab1 = 0
Leg.ab2 = 0
Leg.liftTime = 5.0
Leg.forwardTime = 5.0
Leg.pullTime = 5.0
#define SERVO_BR1 0
#define SERVO_BR2 1
#define SERVO_BL1 2
#define SERVO_BL2 3
#define SERVO_FM1 4
#define SERVO_FR1 5
#define SERVO_FR2 6
#define SERVO_FR3 7
#define SERVO_FR4 8
#define SERVO_FL1 9
#define SERVO_FL2 10
#define SERVO_FL3 11
BR1 = 0
BR2 = 1
BL1 = 2
BL2 = 3
FM1 = 4
FR1 = 5
FR2 = 6
FR3 = 7
FR4 = 8
FL1 = 9
FL2 = 10
FL3 = 11
return (Leg(
(Servo(connexion, BR1, offset=90), Servo(connexion, BR2, offset=-90)),
LegType.BACK),
Leg((Servo(connexion, BL1, offset=90), Servo(connexion, BL2)),
LegType.BACK))
"""
def __init__(self, debug=False, bus_number=1, db="config", address=0x40):
''' Init the servo channel '''
self.db = filedb.fileDB(db=db)
self.pan_offset = int(self.db.get('pan_offset', default_value=0))
self.tilt_offset = int(self.db.get('tilt_offset', default_value=0))
self.pan_servo = Servo.Servo(self.pan_channel, bus_number=bus_number, offset=self.pan_offset, address= address )
self.tilt_servo = Servo.Servo(self.tilt_channel, bus_number=bus_number, offset=self.tilt_offset, address = address)
self.debug = debug
if self._DEBUG:
print self._DEBUG_INFO, 'Pan servo channel:', self.pan_channel
print self._DEBUG_INFO, 'Tilt servo channel:', self.tilt_channel
print self._DEBUG_INFO, 'Pan offset value:', self.pan_offset
print self._DEBUG_INFO, 'Tilt offset value:', self.tilt_offset
self.current_pan = 0
self.current_tilt = 0
self.ready()
def __init__(self, serialDev):
self.logger = logging.getLogger('BleuettePi')
self.serial = Serial()
self.serial.connect(serialDev)
self.mcp = MCP230XX(self.MCP_ADDRESS, 16)
self.Servo = Servo.Servo(self.serial, fakemode=Config.FAKE_MODE)
self.Servo.init()
Servo.Servo_Trim.values = Data.Instance().get(['servo', 'trims'])
Servo.Servo_Limit.values = Data.Instance().get(['servo', 'limits'])
self.Analog = Analog(self.serial)
self.Compass = BleuettePi_Compass()
self.Accelerometer = BleuettePi_Accelerometer()
self.GroundSensor = BleuettePi_GroundSensor(self.mcp)
# Init mode
GPIO.setmode(GPIO.BOARD)
GPIO.setup(self.INTA, GPIO.IN)
GPIO.setup(self.INTB, GPIO.IN)
GPIO.setup(self.INTC, GPIO.IN)
GPIO.setup(self.INTD, GPIO.IN)
GPIO.add_event_detect(self.INTA,
GPIO.RISING,
callback=self.interrupt,
bouncetime=300)
GPIO.add_event_detect(self.INTB,
GPIO.RISING,
callback=self.interrupt,
bouncetime=300)
GPIO.add_event_detect(self.INTC,
GPIO.RISING,
callback=self.interrupt,
bouncetime=300)
GPIO.add_event_detect(self.INTD,
GPIO.RISING,
callback=self.interrupt,
bouncetime=300)
self.mcp.config(self.RESET_PIN, MCP230XX.OUTPUT)
#self.mcp.pullup(self.RESET_PIN, True)
self.mcp.output(self.RESET_PIN, 1)
