class AdcDevTest():
def __init__(self):
self.volt_vol = 0
self.volt_ls = 0
self.vol = Volume(0)
# self.ls = LightSens()
def VoltageTest(self):
self.volt_vol = self.vol.getValVol()
# self.volt_ls = self.ls.getVolt()
print('Volume(V)= %d' % self.volt_vol)
# 'LightSens(V)= %2.2f' % self.volt_ls
time.sleep(0.5)
def cleanup(self):
self.vol.cleanup()
class RobotArmTest(tk.Frame):
def __init__(self, master):
# create GUI
self.gpio = pigpio.pi()
self.master = master
self.master.title('JoyStick Test')
label = tk.Label(root, text='Joystick')
label.pack()
self.gui = GuiRarm(master=root)
self.gui.createCordinateLabelServo()
self.gui.createButton(btn_name='Finish', callback=self.cleanup)
#self.gui.createCircleJs2(200,200,220,220,'blue')
#JoyStick instanse
self.jsR = JoyStick(-1, 4, 27)
self.val_horz = 0
#self.jsL = JoyStick(7,4,22)
self.jsL = JoyStick(2, -1, 22)
self.val_vert = 0
#Volume instance
self.vol = Volume(6)
self.val_vol = 0
self.vol_sum = 0
self.sampleCount = 0
#ServMotor
#self.servo= ServMotor(18,180,0)
self.servo = I2cServo()
#PWM Freq: 60Hz
self.servo.setPWMFreq(60)
# Led instance
self.Led = Led(4)
self.Led.setLedOn()
# PowrSw
self.PowSw = Sw(17, pud='pudup')
self.PowSwCont = 0
#display GUI
def shutdown(self):
self.Led.setLedOff()
self.jsR.cleanup()
self.jsL.cleanup()
self.vol.cleanup()
self.servo.cleanup()
self.Led.cleanup()
# release pigpio resources
self.gpio.stop()
os.system("sudo shutdown -h now")
def cleanup(self):
print('Test Finished')
self.Led.setLedOff()
self.jsR.cleanup()
self.jsL.cleanup()
self.vol.cleanup()
self.servo.cleanup()
self.Led.cleanup()
# release pigpio resources
self.gpio.stop()
sys.exit()
# Flashing LED Test No.1
def test(self):
if self.PowSw.getState() == 'Pressed':
self.PowSwCont += 1
if self.PowSwCont == 10:
print 'Pressed'
print 'Shutdown!'
self.shutdown()
else:
self.PowSwCont = 0
self.val_horz = self.jsR.getValHorz()
self.val_vol = self.vol.getValVol() / 4
self.val_vert = self.jsL.getValVert()
self.moveI2cServoHorz()
self.moveI2cServoVert()
self.moveI2cServoVol()
self.gui.renewCordinateServo(self.duty_horz, self.duty_vert,
self.val_vol)
#call self.test() per 6msec
self.master.after(6, self.test)
def moveI2cServoHorz(self):
self.duty_horz = self.servo.getDuty(self.servo._I2CSERVO_HORZ_0)
# print ('horzduty :%d' %duty)
# turn to -90
if self.val_horz >= 2:
self.duty_horz += 5
# turn to 90
elif self.val_horz <= 0:
self.duty_horz -= 5
# dont turn
else:
return
self.servo.setDuty(self.servo._I2CSERVO_HORZ_0, self.duty_horz)
def moveI2cServoVert(self):
self.duty_vert = self.servo.getDuty(self.servo._I2CSERVO_VERT_0)
# print ('vertduty :%d' %duty)
# turn to -90
if self.val_vert >= 2:
self.duty_vert -= 5
# turn to 90
elif self.val_vert <= 0:
self.duty_vert += 5
# dont turn
else:
return
self.servo.setDuty(self.servo._I2CSERVO_VERT_0, self.duty_vert)
def moveI2cServoVol(self):
if self.sampleCount < 5:
self.vol_sum += self.val_vol
self.sampleCount += 1
else:
val = self.vol_sum / 5
self.servo.setAdValtoDuty(self.servo._I2CSERVO_VOL_0, val, 0, 255)
self.sampleCount = 0
self.vol_sum = 0
