class RobotDifferentialDrive(object):
PAN_PID = 10
TILT_PID = 11
TRIG_PID = 12
ECHO_PID = 13
LEFT_MOTOR_ENABLE_PID = 3
LEFT_MOTOR_ORIENTATION_PID = (4, 5)
RIGHT_MOTOR_ENABLE_PID = 6
RIGHT_MOTOR_ORIENTATION_PID = (7, 8)
def __init__(self):
self.pin_layout = ArduinoPinLayout()
self.pan_servo = Servo(self.pin_layout.create_servo_pin(self.PAN_PID))
self.tilt_servo = Servo(self.pin_layout.create_servo_pin(self.TILT_PID))
self. distance_monitor = DistanceMonitor(self.pin_layout.create_output_pin(self.TRIG_PID),
self.pin_layout.create_input_pin(self.ECHO_PID))
self.left_motor = Motor(self.pin_layout.create_pwm_pin(self.LEFT_MOTOR_ENABLE_PID),
(self.pin_layout.create_output_pin(self.LEFT_MOTOR_ORIENTATION_PID[0]),
self.pin_layout.create_output_pin(self.LEFT_MOTOR_ORIENTATION_PID[1])))
self.right_motor = Motor(self.pin_layout.create_pwm_pin(self.RIGHT_MOTOR_ENABLE_PID),
(self.pin_layout.create_output_pin(self.RIGHT_MOTOR_ORIENTATION_PID[0]),
self.pin_layout.create_output_pin(self.RIGHT_MOTOR_ORIENTATION_PID[1])))
def __init__(self):
self.pin_layout = ArduinoPinLayout()
self.pan_servo = Servo(self.pin_layout.create_servo_pin(self.PAN_PID))
self.tilt_servo = Servo(self.pin_layout.create_servo_pin(self.TILT_PID))
self. distance_monitor = DistanceMonitor(self.pin_layout.create_output_pin(self.TRIG_PID),
self.pin_layout.create_input_pin(self.ECHO_PID))
self.left_motor = Motor(self.pin_layout.create_pwm_pin(self.LEFT_MOTOR_ENABLE_PID),
(self.pin_layout.create_output_pin(self.LEFT_MOTOR_ORIENTATION_PID[0]),
self.pin_layout.create_output_pin(self.LEFT_MOTOR_ORIENTATION_PID[1])))
self.right_motor = Motor(self.pin_layout.create_pwm_pin(self.RIGHT_MOTOR_ENABLE_PID),
(self.pin_layout.create_output_pin(self.RIGHT_MOTOR_ORIENTATION_PID[0]),
self.pin_layout.create_output_pin(self.RIGHT_MOTOR_ORIENTATION_PID[1])))
