def __init__(self, db="config", bus_number=1, channel=FRONT_WHEEL_CHANNEL):
""" setup channels and basic stuff """
self.db = filedb.fileDB(db=db)
self._channel = channel
self._straight_angle = 90
self.turning_max = 20
self._turning_offset = int(
self.db.get('turning_offset', default_value=0))
self.wheel = Servo.Servo(self._channel,
bus_number=bus_number,
offset=self.turning_offset)
self.debug = int(self.db.get("debug", default_value=0))
if self._DEBUG:
print(self._DEBUG_INFO, 'Front wheel PWM channel:', self._channel)
print(self._DEBUG_INFO, 'Front wheel offset value:',
self.turning_offset)
self._angle = {
"left": self._min_angle,
"straight": self._straight_angle,
"right": self._max_angle
}
if self._DEBUG:
print(
self._DEBUG_INFO,
'left angle: {}, straight angle: {}, right angle: {}'.format(
self._angle["left"], self._angle["straight"],
self._angle["right"]))
# Helpers
def valid_degree(degree):
try:
if not isinstance(degree, int):
raise TypeError("Invalid degree type. Type: " + type(degree) + " must be type int")
if degree < 0 or degree > 180:
raise ValueError("Degree must be in boundry > 0 && < 180. Given: " + str(degree))
except (ValueError, TypeError) as err:
print(err)
return False
return True
def handler(signal_received, frame):
set_pan(90)
set_tilt(90)
print('SIGINT or CTRL-C detected. Exiting gracefully')
exit(0)
if __name__ == "__main__":
# Tell Python to run the handler() function when SIGINT is recieved
signal(SIGINT, handler)
PT_SERVOS.append(Servo.Servo(TILT_CHAN))
PT_SERVOS.append(Servo.Servo(PAN_CHAN))
Servo.Servo(TILT_CHAN).setup()
Servo.Servo(PAN_CHAN).setup()
set_pan(CURR_PAN, SERVO_FAST)
set_tilt(CURR_TILT, SERVO_FAST)
main()
def __init__(self, bus_number=1):
self.wheel = Servo.Servo(self.channel,
bus_number=bus_number,
offset=-12)
self.wheel.setup()
def __init__(self, bus_number=1):
self.wheel = Servo.Servo(self.channel, bus_number=bus_number, offset=10)
self.wheel.setup()
self.set_position()