def __init__(self, debug=False, bus_number=1, db="config"):
'''Turn related variables '''
'''Trun related code is complete'''
''' Init the direction channel and pwm channel '''
self.forward_A = True
self.forward_B = True
self.db = filedb.fileDB(db=db)
self.forward_A = int(self.db.get('forward_A', default_value=1))
self.forward_B = int(self.db.get('forward_B', default_value=1))
self.left_wheel = TB6612.Motor(self.Motor_A1,
self.Motor_A2,
offset=self.forward_A)
self.right_wheel = TB6612.Motor(self.Motor_B1,
self.Motor_B2,
offset=self.forward_B)
GPIO.setup((self.PWM_A, self.PWM_B), GPIO.OUT)
try:
self.pwm_a = GPIO.PWM(self.PWM_A, 1000)
self.pwm_a.start(0)
self.pwm_b = GPIO.PWM(self.PWM_B, 1000)
self.pwm_b.start(0)
except:
ex = 'already available'
finally:
ex = 'already available'
def _set_a_pwm(value):
self.pwm_a.ChangeDutyCycle(value)
def _set_b_pwm(value):
self.pwm_b.ChangeDutyCycle(value)
self.left_wheel.pwm = _set_a_pwm
self.right_wheel.pwm = _set_b_pwm
self._speed = 0
self.debug = debug
if self._DEBUG:
print(
self._DEBUG_INFO, 'Set left wheel to #%d, PWM channel to %d' %
(self.Motor_A, self.PWM_A))
print(
self._DEBUG_INFO, 'Set right wheel to #%d, PWM channel to %d' %
(self.Motor_B, self.PWM_B))
def __init__(self, debug=False, bus_number=1, db="config"):
''' Init the servo channel '''
self.db = filedb.fileDB(db=db)
self.pan_offset = int(self.db.get('pan_offset', default_value=0))
self.tilt_offset = int(self.db.get('tilt_offset', default_value=0))
self.pan_servo = Servo.Servo(self.pan_channel, bus_number=bus_number, offset=self.pan_offset)
self.tilt_servo = Servo.Servo(self.tilt_channel, bus_number=bus_number, offset=self.tilt_offset)
self.debug = debug
if self._DEBUG:
print(self._DEBUG_INFO, 'Pan servo channel:', self.pan_channel)
print(self._DEBUG_INFO, 'Tilt servo channel:', self.tilt_channel)
print(self._DEBUG_INFO, 'Pan offset value:', self.pan_offset)
print(self._DEBUG_INFO, 'Tilt offset value:', self.tilt_offset)
self.current_pan = 0
self.current_tilt = 0
self.ready()
def __init__(self,
bus_number=1,
pan_channel=1,
tilt_channel=2,
camera_type=ABSOLUTE):
# The value to set Servo object offset to.
offset = 0
self._db = filedb.fileDB("config")
self._pan_offset = int(self._db.get('pan_offset', default_value=0))
self._tilt_offset = int(self._db.get('tilt_offset', default_value=0))
self._pan_servo = Servo.Servo(pan_channel,
bus_number=bus_number,
offset=offset)
self._tilt_servo = Servo.Servo(tilt_channel,
bus_number=bus_number,
offset=offset)
self._camera_type = RELATIVE if camera_type is RELATIVE else ABSOLUTE
self._current_pan_angle = 90
self._current_tilt_angle = 0