class motion_handler:
def __init__(self,
sweep_delay_sec=3,
movement_speed=0.25,
motor_pin=19,
tick_interval_sec=0.45):
self.motor = Servo(motor_pin)
self.movementSpeed = movement_speed
self.motorPin = motor_pin
self.tickIntervalSec = tick_interval_sec
self.sweepDelaySec = sweep_delay_sec
# setup feedback thread
self.sweepTimeMarker = time.time()
self.sweepMode = False
self.delta = 0
self.thread = threading.Thread(target=self.motion_tick)
self.thread.setDaemon(True)
self.thread.setName("motion_handler_thread")
# Run feedback tick loop
self.isRunning = True
self.thread.start()
def set_motion_delta(self, sweep_mode, delta):
#print("Sweep:",sweep_mode,", Delta:",delta)
if (sweep_mode):
if (time.time() - self.sweepTimeMarker > self.sweepDelaySec):
self.sweepMode = True
else:
self.sweepMode = False
self.sweepTimeMarker = time.time()
angle_of_sight_degree = 12
# +ve: look up, -ve: look down
self.delta = delta * angle_of_sight_degree / 90
def motion_tick(self):
# start at 90 degree
pos = 0 # range from -1 to 1
sweep = 1
self.motor.value = pos
while self.isRunning:
if (self.sweepMode):
pos += self.movementSpeed * sweep
else:
pos += self.delta
if (pos > 1):
pos = 1
sweep = -1
elif (pos < -1):
pos = -1
sweep = 1
self.motor.value = pos
time.sleep(self.tickIntervalSec)
def __del__(self):
self.motor.stop()
GPIO.cleanup()
servoAngle_desired = servoAngle_desired - 360
if servoAngle_desired < 0:
servoAngle_desired = servoAngle_desired + 360
position_data()
moveDir = 1 # reset moveDir to != 0 before loop runs
while moveDir != 0:
if servoAngle_input > 0: # if the input is positive, move the servo in the positive direction
moveDir = 1
else:
moveDir = -1 # else (i.e. input is negative) move servo in the negative direction
if servoAngle_diff < moveBuffer: # i.e. the arm is within range
moveDir = 0
print("You're there!")
nudge(moveDir) # move the servo incrimentally
servo.stop()
GPIO.cleanup()
##### end of code, start of legal stuff from borrowed code ####
# Simple Adafruit BNO055 sensor reading example. Will print the orientation
# and calibration data every second.
#
# Copyright (c) 2015 Adafruit Industries
# Author: Tony DiCola
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
