def __init__(self, s_pin = "P8_13", f_pin = "P9_14", b_pin = "P9_22", debug = False): # initialize servo for steering self.steer = Servo(s_pin) # save PWM pins for forward and reverse self.forward = f_pin self.reverse = b_pin # start servos and motors self.start() # center the steering center_steering()
def start():
# Starting servo controller
global servo
servo = Servo() # using default values
servo.start()
# Start motor control
global forward
global reverse
global PWM
forward = "P9_14"
reverse = "P9_22"
PWM.start(forward, 0, 200)
PWM.start(reverse, 0, 200)
# initializing the servo
init_servo()
# Subscribe to ROS Joy node
rospy.Subscriber("joy", Joy, callback)
rospy.init_node("Joy2Servo")
rospy.spin()
import Adafruit_BBIO.GPIO as GPIO
import time
import math
from servo_controller import Servo
# most of the time.sleep calls work to give the servo
# time to respond (not instantaneous)
# setting up the limit switch pins
pin1 = "P8_12"
pin2 = "P8_14"
GPIO.setup(pin1, GPIO.IN)
GPIO.setup(pin2, GPIO.IN)
# starting the servo
servo = Servo()
servo.start()
# guessed center point
center = 100
# current angle
angle = center
# left and right limits
limit1 = angle
limit2 = angle
# turning left
while not GPIO.input(pin1) and not GPIO.input(pin2):
angle += .01
servo.set_angle(angle)
time.sleep(.0001)