def __init__(self, gpioController, config): self._gpioController = gpioController self._config = config self._elevator = Elevator.Elevator(self._config, self._gpioController) self._gripper = Gripper.Gripper(self._gpioController, self._config) self._servoRotate = Servo.ServoDS3218_270(self._gpioController, self._config.servo_rotate.gpio) self._recordPlayer = RecordPlayer.RecordPlayer(self._gpioController, self._config.record_player.gpio_start, self._config.record_player.gpio_stop, self._config.record_player.gpio_light_barrier) self._lock = RLock() self._ready = False self.ROTATE_0 = self._config.servo_rotate.rotate_0 self.ROTATE_180 = self._config.servo_rotate.rotate_180 self.HOME_TO_BASE = self._config.elevator.home_to_base self.FLIPPED_DELTA = self._config.elevator.flipped_delta
with GlobalGPIO.GlobalGPIO() as gpio: gripper = Gripper.Gripper(gpio, config) gripper.release() # sleep(2) # gripper.grip() # sleep(2) # gripper.release() elevator = Elevator.Elevator(config, gpio) elevator.gotoHome() HOME_TO_BASE = 100000 FLIPPED_DELTA = 18000 servo_rotate = Servo.ServoDS3218_270(gpio, 17) # gripper.grip() ROTATE_0 = 185.5 ROTATE_180 = 6 # slowly # servo_rotate.setAngle(ROTATE_180) # sleep(3) servo_rotate.setAngle(ROTATE_180) # sleep(3) # sleep(3) # servo_rotate.setAngle(ROTATE_180)