def setPitchRollFromInput(self, pitch, roll):
# both elevons have equal limits to pitch and roll input
# pitch and roll input have seperate limits
pitch = n.arduino_map(n.clamp(pitch, self.pitchDownLimit, self.pitchUpLimit), self.pitchDownLimit,
self.pitchUpLimit, -45, 45)
roll = n.arduino_map(n.clamp(roll, self.rollDownLimit, self.rollUpLimit), self.rollDownLimit, self.rollUpLimit,
-45, 45)
self.setPitchRoll(pitch, roll)
def setPitchRollFromInput(self, pitch, roll):
# both elevons have equal limits to pitch and roll input
# pitch and roll input have seperate limits
pitch = n.arduino_map(
n.clamp(pitch, self.pitchDownLimit, self.pitchUpLimit),
self.pitchDownLimit, self.pitchUpLimit, -45, 45)
roll = n.arduino_map(
n.clamp(roll, self.rollDownLimit, self.rollUpLimit),
self.rollDownLimit, self.rollUpLimit, -45, 45)
self.setPitchRoll(pitch, roll)
def setUpDownLimit(self, up, down):
# save history for live servo update - to know which value to update - top/left or bottom/right
a, b = self.oldRange
u, d = False, False
if (up != a):
u = True
self.oldRange[0] = up
if (down != b):
d = True
self.oldRange[1] = down
"""
Sets up and down servo limitations in percentage values: range - 0 to 100,
useful for flap of airbrake definition, control surface offsets for
airplane neutral point correction
Correct upDirection values must be set to work properly
up=0, down=100 -> full range
"""
if (self.upAdd == -1):
self.up = n.arduino_map(up, 0, 100, MIN, MAX)
self.down = n.arduino_map(down, 0, 100, MIN, MAX)
if (u):
self.setPosition(self.up)
print("Servo position: %d" % (self.up))
u = False
elif (d):
self.setPosition(self.down)
print("Servo position: %d" % (self.down))
d = False
elif (self.upAdd == 1):
self.up = n.arduino_map(up, 0, 100, MAX, MIN)
self.down = n.arduino_map(down, 0, 100, MAX, MIN)
if (u):
self.setPosition(self.up)
print("Servo position: %d" % (self.up))
u = False
elif (d):
self.setPosition(self.down)
print("Servo position: %d" % (self.down))
d = False
def setUpDownLimit(self, up, down):
# save history for live servo update - to know which value to update - top/left or bottom/right
a, b = self.oldRange
u, d = False, False
if (up != a):
u = True
self.oldRange[0] = up
if (down != b):
d = True
self.oldRange[1] = down
"""
Sets up and down servo limitations in percentage values: range - 0 to 100,
useful for flap of airbrake definition, control surface offsets for
airplane neutral point correction
Correct upDirection values must be set to work properly
up=0, down=100 -> full range
"""
if (self.upAdd == -1):
self.up = n.arduino_map(up, 0, 100, MIN, MAX)
self.down = n.arduino_map(down, 0, 100, MIN, MAX)
if (u):
self.setPosition(self.up)
print("Servo position: %d" % (self.up))
u = False
elif (d):
self.setPosition(self.down)
print("Servo position: %d" % (self.down))
d = False
elif (self.upAdd == 1):
self.up = n.arduino_map(up, 0, 100, MAX, MIN)
self.down = n.arduino_map(down, 0, 100, MAX, MIN)
if (u):
self.setPosition(self.up)
print("Servo position: %d" % (self.up))
u = False
elif (d):
self.setPosition(self.down)
print("Servo position: %d" % (self.down))
d = False
def setPositionPercent(self, position):
position = n.arduino_map(position, 0, 100, MIN, MAX)
self.setPosition(position)
def setThrottle(self, throttle):
self.throttle = throttle
self.setServoValue(
self.channel, n.arduino_map(throttle, MIN, MAX, servoMin,
servoMax))
def setThrottleFromInput(self, throttle):
throttle = n.arduino_map(n.clamp(throttle, MIN, MAX), MIN, MAX,
self.minThrottle, self.maxThrottle)
self.setThrottle(throttle)
print("throttle: %d" % (self.throttle))
def setServoValue(self, channel, value):
t = time.time()
if (t - self.timer > delays.SERVO_COMMAND_REFRESH_DELAY):
self.timer = t
value = n.arduino_map(value, 0, 180, servoMin, servoMax)
pwm.set_pwm(channel, on, int(value))
def tiltToPositionWithLimits(self, tilt, upTilt, downTilt):
return n.arduino_map(tilt, downTilt, upTilt, self.down, self.up)
def setRollFromInput(self, roll):
roll = n.arduino_map(
n.clamp(roll, self.rollDownLimit, self.rollUpLimit),
self.rollDownLimit, self.rollUpLimit, -45, 45)
self.setRoll(roll)
def setPitchFromInput(self, pitch):
pitch = n.arduino_map(
n.clamp(pitch, self.pitchDownLimit, self.pitchUpLimit),
self.pitchDownLimit, self.pitchUpLimit, -45, 45)
self.setPitch(pitch)
def setPositionPercent(self, position):
position = n.arduino_map(position, 0, 100, MIN, MAX)
self.setPosition(position)
def positionToTilt(self, position):
return n.arduino_map(position, self.down, self.up, self.downTilt, self.upTilt)
def tiltToPositionWithLimits(self, tilt, upTilt, downTilt):
return n.arduino_map(tilt, downTilt, upTilt, self.down, self.up)
def tiltToPosition(self, tilt):
return n.arduino_map(tilt, self.downTilt, self.upTilt, self.down, self.up)
def setServoValue(self, channel, value):
t = time.time()
if (t - self.timer > delays.SERVO_COMMAND_REFRESH_DELAY):
self.timer = t
value = n.arduino_map(value, 0, 180, servoMin, servoMax)
pwm.set_pwm(channel, on, int(value))
def tiltToPosition(self, tilt):
return n.arduino_map(tilt, self.downTilt, self.upTilt, self.down,
self.up)
def setPitchFromInput(self, pitch):
pitch = n.arduino_map(n.clamp(pitch, self.pitchDownLimit, self.pitchUpLimit), self.pitchDownLimit,
self.pitchUpLimit, -45, 45)
self.setPitch(pitch)
def positionToTilt(self, position):
return n.arduino_map(position, self.down, self.up, self.downTilt,
self.upTilt)
def setRollFromInput(self, roll):
roll = n.arduino_map(n.clamp(roll, self.rollDownLimit, self.rollUpLimit), self.rollDownLimit, self.rollUpLimit,
-45, 45)
self.setRoll(roll)
