def min_max(): logi_hal.setServoAngle(0x0010, 0, MIN_ANGLE) logi_hal.setServoAngle(0x0010, 1, MIN_ANGLE) print "output min: \n", MIN_ANGLE time.sleep(1) logi_hal.setServoAngle(0x0010, 0, MAX_ANGLE) logi_hal.setServoAngle(0x0010, 1, MAX_ANGLE) print "output max: \n", MAX_ANGLE time.sleep(1)
# print "nes2_a: ", nes2_a # print "nes2_b: ", nes2_b # print "nes2_up: ", nes2_up # print "nes2_down: ", nes2_down # print "nes2_left: ", nes2_left # print "nes2_right: ", nes2_right # print "nes2_select: ", nes2_select # print "nes2_start: ", nes2_start, "\n" #setServoAngle(address, index, angle, max_pulse=255.0, min_angle=-45.0, max_angle=45.0): #SERVO 1 READ VALUES AND WRITE TO SERVO ************************* if (nes1_up or nes1_right) >= 1 : servo_angle1 = servo_angle1 + 1 if servo_angle1 > MAX_ANGLE : #check max values servo_angle1 = MAX_ANGLE logi_hal.setServoAngle(0x0010, 0, servo_angle1,255,MIN_ANGLE,MAX_ANGLE) #print "increment angle: " , servo_angle elif (nes1_down or nes1_left) >= 1: servo_angle1 = servo_angle1 -1 if servo_angle1 < MIN_ANGLE : #check max values servo_angle1 = MIN_ANGLE logi_hal.setServoAngle(0x0010, 0, servo_angle1,255,MIN_ANGLE,MAX_ANGLE) #print "decrement angle: " , servo_angle #move at half the rate button a and b if nes1_a >= 1: servo_angle1 = servo_angle1 +.5 if servo_angle1 > MAX_ANGLE : #check max values servo_angle1 = MAX_ANGLE logi_hal.setServoAngle(0x0010, 0, servo_angle1,255,MIN_ANGLE,MAX_ANGLE) elif nes1_b >= 1:
def setSteeringAngle(self, angle): logi_hal.setServoAngle(ugv_map.SERVO_0, STEERING_CHANNEL, angle)
# print "nes2_a: ", nes2_a # print "nes2_b: ", nes2_b # print "nes2_up: ", nes2_up # print "nes2_down: ", nes2_down # print "nes2_left: ", nes2_left # print "nes2_right: ", nes2_right # print "nes2_select: ", nes2_select # print "nes2_start: ", nes2_start, "\n" #setServoAngle(address, index, angle, max_pulse=255.0, min_angle=-45.0, max_angle=45.0): #SERVO 1 READ VALUES AND WRITE TO SERVO ************************* if (nes1_up or nes1_right) >= 1: servo_angle1 = servo_angle1 + 1 if servo_angle1 > MAX_ANGLE: #check max values servo_angle1 = MAX_ANGLE logi_hal.setServoAngle(0x0010, 0, servo_angle1, 255, MIN_ANGLE, MAX_ANGLE) #print "increment angle: " , servo_angle elif (nes1_down or nes1_left) >= 1: servo_angle1 = servo_angle1 - 1 if servo_angle1 < MIN_ANGLE: #check max values servo_angle1 = MIN_ANGLE logi_hal.setServoAngle(0x0010, 0, servo_angle1, 255, MIN_ANGLE, MAX_ANGLE) #print "decrement angle: " , servo_angle #move at half the rate button a and b if nes1_a >= 1: servo_angle1 = servo_angle1 + .5 if servo_angle1 > MAX_ANGLE: #check max values servo_angle1 = MAX_ANGLE logi_hal.setServoAngle(0x0010, 0, servo_angle1, 255, MIN_ANGLE,