else:
STEPPER.enable(False)
index += 0.001
servo_target = 0.5 - math.sin(index) * 0.3
servo_index_x += (servo_target - servo_index_x) * 0.005
LOCK.release()
SERVO.set(0, servo_index_x)
time.sleep(0.001)
except KeyboardInterrupt:
print("Control thread ended!")
# Init script
STEPPER.start()
STEPPER.enable(False)
LOCK = threading.Lock()
CONTROL_THREAD = Thread()
CONTROL_THREAD.setRunFunction(control_loop)
CONTROL_THREAD.start()
# Global variables
CURRENT_TIME = time.time()
DELAY_IMAGES = 5
NEXT_TIME = CURRENT_TIME + DELAY_IMAGES
# Camera
IMAGE = None
DEFINITION_MULTIPLIER = 1
def main ():
parser = argparse.ArgumentParser(description="Control hyperlapse")
parser.add_argument('-t', '--test', dest='test', help='Test mode', action='store_true')
parser.add_argument('-pt', '--pan_tilt', dest='pan_tilt', help='Set pan & tilt', nargs=2, type=int)
parser.add_argument('-s', '--start', dest='start', help='Start hyperlapse', nargs=8, type=int)
args = parser.parse_args()
servo_pan = Servo(12)
servo_tilt = Servo(21)
stepper_left = Stepper([4,17,27,22])
stepper_right = Stepper([6,13,19,26])
if args.start:
logging.basicConfig(level=logging.INFO, filename='/home/pi/hyperlapse/app/api/log', filemode='w', format='%(message)s')
start_pan = args.start[0] * 10
start_tilt = args.start[1] * 10
end_pan = args.start[2] * 10
end_tilt = args.start[3] * 10
length = args.start[4] * 1.0
distance = args.start[5]
direction = args.start[6] / 90.0
reverse = args.start[7] == 1
velocity = distance / length
r_velocity = velocity
l_velocity = velocity
if direction < 0:
l_velocity = l_velocity * (1 - abs(direction))
if direction > 0:
r_velocity = r_velocity * (1- abs(direction))
stepper_left.start(l_velocity, reverse)
stepper_right.start(r_velocity, reverse)
diff_pan = abs(end_pan - start_pan)
diff_tilt = abs(end_tilt - start_tilt)
count = max(int(length), max(diff_pan, diff_tilt))
def expand(list, target):
retVal = []
for i in range(len(list)):
count = target / len(list)
if target % len(list) - 1 >= i: count += 1
while count != 0:
retVal.append(list[i])
count -= 1
return retVal
def gen_list(start, end, target):
if start == end:
retVal = [start for i in range(target)]
else:
inc = 1 if start < end else -1
retVal = [a for a in range(start, end, inc)]
if len(retVal) < target:
retVal = expand(retVal, target)
return retVal
pan_list = gen_list(start_pan, end_pan, count)
tilt_list = gen_list(start_tilt, start_tilt, count)
wait_time = length / count
now = datetime.now()
remaining = count
logging.info(str(timedelta(seconds=int(wait_time * remaining))) + "s remaining")
start_time = datetime.now()
for pan, tilt in zip(pan_list, tilt_list):
servo_tilt.set_angle(tilt/10.0)
servo_pan.set_angle(pan/10.0)
time.sleep(max(0, wait_time - (datetime.now() - start_time).total_seconds()))
start_time = datetime.now()
remaining -= 1
logging.info(str(timedelta(seconds=int(wait_time * remaining))) + "s remaining")
print datetime.now() - now
stepper_left.stop()
stepper_right.stop()
logging.info("Completed in: " + str(datetime.now() - now))
while True: continue
return
if args.test:
stepper_left.start(2)
stepper_right.start(4.3)
while True:
inc = 1
# for a in range(-45, 45, inc) + range(45,-45,-inc):
# servo_tilt.set_angle(a)
# time.sleep(.4)
# servo_pan.set_angle(a)
# time.sleep(.4)
return
if args.pan_tilt:
servo_tilt.set_angle(args.pan_tilt[1])
servo_pan.set_angle(args.pan_tilt[0])
return
if args.hyperlapse:
inc = 1
for a in range(-45, 45, inc) + range(45,-45,-inc):
servo_tilt.set_angle(a)
time.sleep(.4)
servo_pan.set_angle(a)
time.sleep(.4)
return
