def __init__(self, pin=None):
self.duty_cycle_range = self.max_duty_cycle - self.min_duty_cycle
GPIO.setup(pin, GPIO.OUT)
# 500hz appears to generate the least amount of popping from the motor
# as long as a prop is installed
self.pin = GPIO.PWM(pin, 500)
self.pin.start(self.min_duty_cycle)
def __init__(self, control_pin=None, power_pin=None):
self.duty_cycle_range = self.max_duty_cycle - self.min_duty_cycle
GPIO.setup(control_pin, GPIO.OUT)
# 500hz appears to generate the least amount of popping from the motor
# as long as a prop is installed
self.control_pin = GPIO.PWM(control_pin, 500)
self.power_pin = power_pin
GPIO.setup(self.power_pin, GPIO.OUT)
def read(self):
# blast out a signal
GPIO.output(self.trigger, GPIO.HIGH)
sleep(0.00001)
GPIO.output(self.trigger, GPIO.LOW)
# listen for the response
i = 0
start = time()
while i < self.timeout_threshold and GPIO.input(self.echo) == GPIO.LOW:
start = time()
i = i + 1
end = time()
while i < self.timeout_threshold and GPIO.input(self.echo) == GPIO.HIGH:
end = time()
i = i + 1
if i < self.timeout_threshold:
# distance in cm
self.last_good_read = (end - start) * 17150
# if we assume last_good_read is the hypotenuse of a right
# triangle, we could get the angle of the vehicle from the
# accelerometer and we'll have altitude regardless of angle
return self.last_good_read
def __init__(self):
GPIO.setup(self.trigger, GPIO.OUT)
GPIO.setup(self.echo, GPIO.IN)
GPIO.output(self.trigger, 0)
self.last_good_read = 0
logger.info("up")
def off(self):
GPIO.output(self.power_pin, GPIO.LOW)
def on(self):
GPIO.output(self.power_pin, GPIO.HIGH)
def down(self):
self.apply_throttle(0)
for motor in self.motors:
motor.tick()
GPIO.cleanup()
logger.info("down")