class dirCtl(threading.Thread):
def __init__(self, shared):
threading.Thread.__init__(self)
self.shared = shared
self.leftDir = 5
self.rightDir = 10
self.minServo = -45
self.neutralServo = 0
self.maxServo = 45
self.shared.set('neutralServo', self.neutralServo)
self.shared.set('headingWheel', self.neutralServo)
# Set Pin 11 as Servo
self.servoPin = 11
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(self.servoPin, GPIO.OUT)
# Start PWM with 50Hz
self.Servo = PiZyPwm(50, self.servoPin, GPIO.BOARD)
self.oldDirValue = self.neutralServo
self._stopevent = threading.Event( )
def run(self):
while not self._stopevent.isSet():
dirDeltaValue = self.shared.get('headingWheel') - self.oldDirValue
dirDeltaValue = max(dirDeltaValue,self.minServo - self.oldDirValue)
dirDeltaValue = min(dirDeltaValue,self.maxServo - self.oldDirValue)
if dirDeltaValue > 0:
self.Servo.start(self.leftDir)
for Counter in range(int(abs(dirDeltaValue))):
time.sleep(0.001)
self.Servo.stop()
self.oldDirValue = self.oldDirValue + dirDeltaValue
if dirDeltaValue < 0:
self.Servo.start(self.rightDir)
for Counter in range(int(abs(dirDeltaValue))):
time.sleep(0.001)
self.Servo.stop()
self.oldDirValue = self.oldDirValue + dirDeltaValue
self._stopevent.wait(0.01)
def stop(self):
GPIO.cleanup()
self._stopevent.set( )
def __init__(self, shared):
threading.Thread.__init__(self)
self.shared = shared
self.leftDir = 5
self.rightDir = 10
self.minServo = -45
self.neutralServo = 0
self.maxServo = 45
self.shared.set('neutralServo', self.neutralServo)
self.shared.set('headingWheel', self.neutralServo)
# Set Pin 11 as Servo
self.servoPin = 11
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(self.servoPin, GPIO.OUT)
# Start PWM with 50Hz
self.Servo = PiZyPwm(50, self.servoPin, GPIO.BOARD)
self.oldDirValue = self.neutralServo
self._stopevent = threading.Event( )