def _move(self, angle):
done = False
speed = self.speed
while not done:
wishedToSet = self.angleToPotential(angle)
currentVal = self.pot.readRawValue()
currentAngle = self.potentialToAngle(currentVal)
print(F"to set:{angle}* current: {currentAngle}*")
# print(F"to set:{wishedToSet} current: {currentVal}")
if abs(currentVal - wishedToSet) < 20:
self.move360Servo('stop', 0)
done = True
return
angleDifference = abs(currentAngle - angle)
if angleDifference < 100:
newSpeed = mapValueToIntRange(angleDifference, 0, 100, 1, 100)
print('slowing down', newSpeed)
speed = 0.1
if currentVal > wishedToSet:
self.move360Servo('forward', speed)
elif currentVal < wishedToSet:
self.move360Servo('backward', speed)
else:
self.move360Servo('stop', 0)
done = True
time.sleep(0.05)
def readPotentiometers(potentiometers, scr):
i = 0
for p in potentiometers:
val = None
if p['adc'] == 0:
val = adc0.read_adc(p['pin'], GAIN)
else:
val = adc1.read_adc(p['pin'], GAIN)
rawVal = val
valInRange = mapValueToIntRange(val, 0, 26208, 0, 4096)
if valInRange > p['max']:
p['max'] = valInRange
if valInRange < p['min']:
p['min'] = valInRange
scr.addstr(i, 0, F"{p['name']} min: {p['min']} max: {p['max']} val: {valInRange}")
i += 1
def readPercentValue(self, value):
mapValueToIntRange(value, self.minVal, self.maxVal, 0, 100)
def angleToPercent(self, angle):
return mapValueToIntRange(angle, 0, self.max_angle, 0, 100)
def potentialToAngle(self, potential):
return mapValueToIntRange(potential, self.pot.minVal, self.pot.maxVal,
0, self.max_angle)
def angleToPotential(self, angle):
return mapValueToIntRange(angle, 0, self.max_angle, self.pot.minVal,
self.pot.maxVal)
def getValueFromAngle(self, angle):
return mapValueToIntRange(angle, 0, 360, 0, 4095)