def make_sweep(): obstacle_range = numpy.zeros(NUMBER_OF_SCANS) index = 0 gopigo.enable_servo() #Scan the vicinity in front for angle in range(SCAN_START, SCAN_END + SCAN_STEP, SCAN_STEP): gopigo.servo(angle) time.sleep(SLEEP_TIME_BETWEEN_STEPS) distance = gopigo.us_dist(PORT_A1) #Take into account sense lmits if distance < SENSE_LIMIT and distance >= 0: obstacle_range[index] = distance - AVERAGE_DISTANCE_ERROR else: obstacle_range[index] = SENSE_LIMIT index += 1 gopigo.disable_servo() return obstacle_range
def __init__(self, port="SERVO", gpg=None, use_mutex = False): Sensor.__init__(self, port, "SERVO", use_mutex) gopigo.enable_servo() self.set_descriptor("Servo Motor")
if __name__ == "__main__": if len(sys.argv) !=2: print 'usage: GenerateSampleGpG.py <path_to_file_to_save> \n You must specify the path to the file you want to save as the first arg' sys.exit(1) filename = sys.argv[1] sensor_dof = Sensor_Dof() sensor_dof.on_init() sensor_motor = Sensor_Motor() sensor_motor.on_init() sensor_motor.switchdualmotors() sensor_motor.setMotorSpeed(90) sensor_motor.on_loop() gopigo.enable_servo() print "enable_servo" sample_acquire = main_usd_sample() sample = GPG_Pos_Dist() sample.release_element() sample_acquire.rotate_usd(0) print "Current angle :",sensor_dof.angle one_sample = GPG_Pos_Dist_Element() istep_main = 66 iangle_main = 0 istep_usd = 10 icone_usd = 60 max_sample_usd = 2 angle_main = sensor_dof.angle sample_acquire.acquire_cone_usd(angle_main,one_sample,istep_usd,icone_usd,max_sample_usd)
def on_start_stop_servo(self): if not self._servo: gopigo.enable_servo() else: gopigo.disable_servo() self._servo = not self._servo
def enable_servo(kargs): r = {'return_value': gopigo.enable_servo()} return r