class Board(SerializableModel):
pk = None
port = None
pins = None
name = None
written_pins = set()
json_export = ("pk", "port", "pins", "url")
def __init__(self, pk, port, layout=DEFAULT_LAYOUT, *args, **kwargs):
self.pk = pk
self.port = port
self._board = FirmataBoard(self.port, layout)
self.pins = {
"analog": dict(((pin.pin_number, Pin(pk, pin.pin_number, type="analog")) for pin in self._board.analog)),
"digital": dict(((pin.pin_number, Pin(pk, pin.pin_number, type="digital")) for pin in self._board.digital)),
}
[setattr(self, k, v) for k, v in kwargs.items()]
super(Board, self).__init__(*args, **kwargs)
def __del__(self):
try:
self.disconnect()
except:
print(traceback.format_exc())
@property
def url(self):
return "/%s/boards/%s/" % (API_VERSION, self.pk)
def disconnect(self):
for pin in self.written_pins:
pin.write(0)
return self._board.exit()
def get_pin(self, identifier):
a_d = identifier[0] == "a" and "analog" or "digital"
pin_nr = int(identifier[1:])
return self.pins[a_d][pin_nr]
def firmata_pin(self, firmata_identifier):
return self._board.get_pin(firmata_identifier)
def release_pin(self, firmata_identifier):
bits = firmata_identifier.split(":")
a_d = bits[0] == "a" and "analog" or "digital"
pin_nr = int(bits[1])
self._board.taken[a_d][pin_nr] = False
class servoFirmataTest:
def __init__(self, comPort, pinNumbers):
assert len(pinNumbers) > 0, "Parameter pinNumbers has to contain at least one number"
assert type(pinNumbers[0]) is int and type(pinNumbers[1]) is int, "pinNumbers must contain integers"
self.arduino = Board(comPort, boards.BOARDS["arduino_due"])
if(len(pinNumbers)>1):
self.pins = pinNumbers[:2]
else:
self.pins = pinNumbers
self.servos = servoFirmata.servoFirmata(self.arduino, self.pins, [90,90])
time.sleep(2)
def execute(self):
print("Servo zero to pos 0")
self.servos.setPosition(0, 0)
time.sleep(3)
print("Servo one to pos 0")
self.servos.setPosition(1, 0)
time.sleep(3)
print("Servo zero and one to pos 90")
self.servos.setPosition(0, 90)
self.servos.setPosition(1, 90)
time.sleep(3)
print("Test complete")
self.arduino.exit()
return True
# draw the servo exes line for every servo
cv.line(frame, servoPos1, (int(p1[0]), int(p1[1])), (255, 0, 0), 1)
cv.line(frame, servoPos2, (int(p2[0]), int(p2[1])), (255, 0, 0), 1)
cv.line(frame, servoPos3, (int(p3[0]), int(p3[1])), (255, 0, 0), 1)
else:
#-----------------------------run program withoud debug info and lines----------------------------------------------------
if position is not False:
# update the servo positions
servo1.update(position[2])
servo2.update(position[2])
servo3.update(position[2])
else:
# tracking error, set servo's to initial positions, and print message
servoFirmata1.setPosition(0, 90)
servoFirmata2.setPosition(0, 90)
servoFirmata3.setPosition(0, 90)
print("tracking error")
# update the GUI
GUI.update(position, frame, targetPosition)
# Exit if ESC pressed
k = cv.waitKey(1) & 0xff
if k == 27:
# set the servo's to the down position
servoFirmata1.setPosition(0, 90)
servoFirmata2.setPosition(0, 90)
servoFirmata3.setPosition(0, 90)
arduino.exit()
break
