def test_Device():
print "Test Device"
d = Device("COM6", "COM7")
servos = [0, 1]
for servo_id in servos:
print "-- servo:", servo_id
print "Go Home"
d.go_home()
print "Get Errors"
print d.get_errors()
print "Get Position"
pos = d.get_position(servo_id)
print pos
newsetpos = pos - 50
print "Set Target:", newsetpos
d.set_target(servo_id, newsetpos)
d.wait_until_at_target()
newpos = d.get_position(servo_id)
print "%s==%s" % (newsetpos, newpos),
print newsetpos == newpos
newsetpos = pos + 50
print "Set Target:", newsetpos
d.set_target(servo_id, newsetpos)
d.wait_until_at_target()
newpos = d.get_position(servo_id)
print "%s==%s" % (newsetpos, newpos),
print newsetpos == newpos
d.go_home()
print d.get_errors()
del d
print "Device tested"
class LegacyCameraDriver(object):
def __init__(self,x_servo=0,y_servo=1,z_servo=2):
self.x_servo = x_servo
self.y_servo = y_servo
self.z_servo = z_servo
self.device = Device()
self.device.set_acceleration(self.x_servo,10)
self.device.set_speed(self.x_servo,10)
self.device.set_acceleration(self.y_servo,10)
self.device.set_speed(self.y_servo,10)
self.device.set_acceleration(self.z_servo,10)
self.device.set_speed(self.z_servo,10)
self.device.go_home()
def __del__(self):
del(self.device)
def status_report(self):
return "X: %s\tY: %s\tZ: %s" % (self.device.get_position(self.x_servo),self.device.get_position(self.y_servo),self.device.get_position(self.z_servo))
def pan(self,dx):
x = self.device.get_position(self.x_servo)
x += dx
self.device.set_target(self.x_servo,x)
self.device.wait_until_at_target()
def tilt(self,dy):
y = self.device.get_position(self.y_servo)
y += dy
self.device.set_target(self.y_servo,y)
self.device.wait_until_at_target()
def rotate(self,dz):
z = self.device.get_position(self.z_servo)
z += dz
self.device.set_target(self.z_servo,z)
self.device.wait_until_at_target()
def goto(self,x,y,z=0):
self.device.set_target(self.x_servo,x)
self.device.set_target(self.y_servo,y)
self.device.set_target(self.z_servo,z)
self.device.wait_until_at_target()
def reset(self):
self.device.go_home()
self.device.wait_until_at_target()
