__version__ = '2.1.8'
__date__ = 'May 17 2010'
#Basic imports
from ctypes import *
import sys
from time import sleep
#Phidget specific imports
from Phidgets.PhidgetException import PhidgetException
from Phidgets.Devices.Servo import Servo, ServoTypes
from Phidgets.Phidget import PhidgetLogLevel
#Create an servo object
try:
servo = Servo()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
#Information Display Function
def DisplayDeviceInfo():
print("|------------|----------------------------------|--------------|------------|")
print("|- Attached -|- Type -|- Serial No. -|- Version -|")
print("|------------|----------------------------------|--------------|------------|")
print("|- %8s -|- %30s -|- %10d -|- %8d -|" % (servo.isAttached(), servo.getDeviceName(), servo.getSerialNum(), servo.getDeviceVersion()))
print("|------------|----------------------------------|--------------|------------|")
print("Number of motors: %i" % (servo.getMotorCount()))
#Event Handler Callback Functions
def AttachServo(databasepath, serialNumber):
def onAttachHandler(event):
logString = "Servo Attached " + str(event.device.getSerialNum())
#print(logString)
DisplayAttachedDeviceInfo(event.device)
def onDetachHandler(event):
logString = "Servo Detached " + str(event.device.getSerialNum())
#print(logString)
DisplayDetachedDeviceInfo(event.device)
event.device.closePhidget()
def onErrorHandler(event):
logString = "Servo Error " + str(
event.device.getSerialNum()) + ", Error: " + event.description
print(logString)
DisplayErrorDeviceInfo(event)
def onServerConnectHandler(event):
logString = "Servo Server Connect " + str(event.device.getSerialNum())
#print(logString)
def onServerDisconnectHandler(event):
logString = "Servo Server Disconnect " + str(
event.device.getSerialNum())
#print(logString)
def positionChangeHandler(event):
logString = "Servo Changed " + str(event.device.getSerialNum())
#print(logString)
try:
conn = sqlite3.connect(databasepath)
conn.execute(
"INSERT INTO SERVO_POSITIONCHANGE VALUES(NULL, DateTime('now'), ?, ?, ?)",
(event.device.getSerialNum(), event.index, event.position))
conn.commit()
conn.close()
except sqlite3.Error as e:
print "An error occurred:", e.args[0]
try:
p = Servo()
p.setOnAttachHandler(onAttachHandler)
p.setOnDetachHandler(onDetachHandler)
p.setOnErrorhandler(onErrorHandler)
p.setOnServerConnectHandler(onServerConnectHandler)
p.setOnServerDisconnectHandler(onServerDisconnectHandler)
p.setOnPositionChangeHandler(positionChangeHandler)
p.openPhidget(serialNumber)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting...")
exit(1)
