def __init__(self, gpioController, config):
self._gpioController = gpioController
self._config = config
self._elevator = Elevator.Elevator(self._config, self._gpioController)
self._gripper = Gripper.Gripper(self._gpioController, self._config)
self._servoRotate = Servo.ServoDS3218_270(self._gpioController, self._config.servo_rotate.gpio)
self._recordPlayer = RecordPlayer.RecordPlayer(self._gpioController, self._config.record_player.gpio_start, self._config.record_player.gpio_stop, self._config.record_player.gpio_light_barrier)
self._lock = RLock()
self._ready = False
self.ROTATE_0 = self._config.servo_rotate.rotate_0
self.ROTATE_180 = self._config.servo_rotate.rotate_180
self.HOME_TO_BASE = self._config.elevator.home_to_base
self.FLIPPED_DELTA = self._config.elevator.flipped_delta
with GlobalGPIO.GlobalGPIO() as gpio:
gripper = Gripper.Gripper(gpio, config)
gripper.release()
# sleep(2)
# gripper.grip()
# sleep(2)
# gripper.release()
elevator = Elevator.Elevator(config, gpio)
elevator.gotoHome()
HOME_TO_BASE = 100000
FLIPPED_DELTA = 18000
servo_rotate = Servo.ServoDS3218_270(gpio, 17)
# gripper.grip()
ROTATE_0 = 185.5
ROTATE_180 = 6
# slowly
# servo_rotate.setAngle(ROTATE_180)
# sleep(3)
servo_rotate.setAngle(ROTATE_180)
# sleep(3)
# sleep(3)
# servo_rotate.setAngle(ROTATE_180)