def app():
platform.stop()
switches.start()
positionWatcher.start()
print('started position watcher')
container.set('positionWatcher', positionWatcher)
container.set('platform', platform)
container.set('switches', switches)
nav = Navigation(container)
nav.goToPath([
#{ 'x': 200, 'y': 900, 'speed': 50, 'orienation': pi },
{ 'x': -200, 'y': 900, 'speed': 20, 'orienation': pi, 'stopOn': 'front' }
])
from src.PositionWatcher import PositionWatcher
from time import sleep
container = Container()
positionWatcher = PositionWatcher()
positionWatcher.start()
container.set('positionWatcher', positionWatcher)
driver = PWMDriver()
container.set('PWMDriver', driver)
platform = MotorizedPlatform(container)
container.set('platform', platform)
nav = Navigation(container)
container.set('navigation', nav)
nav = Navigation(container)
def app():
platform.stop()
sleep(1.5)
input('Start ?')
positionWatcher.start()
nav.orientTo(0)
container.set('commandsManager', commandsManager)
positionWatcher = PositionWatcher(container)
#positionWatcher.start()
container.set('positionWatcher', positionWatcher)
switches = Switches(container)
container.set('switches', switches)
driver = PWMDriver()
container.set('PWMDriver', driver)
platform = MotorizedPlatform(container)
container.set('platform', platform)
navigation = Navigation(container)
container.set('navigation', navigation)
elevator = Elevator(container)
container.set('elevator', elevator)
schlager = Schlager(container)
container.set('schlager', schlager)
# lidar = Lidar(container)
# lidar.start()
# container.set('lidar', lidar)
commandsManager.init()
def onPos(x, y, t):
ws.sendData('mainPosition', [x, y, t])
from time import sleep
import Adafruit_PCA9685
from src.dualshock.DualshockThroughtPygame import DualshockThroughtPygame
from src.dualshock.DualshockThroughtNode import DualshockThroughtNode
from src.Navigation import Navigation
from src.ControlDispatcher import ControlDispatcher
servoInterface = Adafruit_PCA9685.PCA9685()
servoInterface.set_pwm_freq(50)
# servoInterface = None
dualshock = DualshockThroughtNode()
#dualshock = DualshockThroughtPygame()
navigation = Navigation(servoInterface)
def main():
controlDispatcher = ControlDispatcher(dualshock, navigation)
#navigation.frontLeft()
dualshock.start()
while True:
sleep(0)
'''
def mappyt(x, inMin, inMax, outMin, outMax):