SERVO_MIN = 150 # Minimum rotation value for the servo, should be -90 degrees of rotation.
SERVO_MAX = 600 # Maximum rotation value for the servo, should be 90 degrees of rotation.
SERVO_CENTER = 200 # Center value for the servo, should be 0 degrees of rotation.
MQTT_SERVER = 'localhost' # MQTT server to connect to for receiving commands.
MQTT_PORT = 1883 # Port for the MQTT server.
LASER_GPIO = 23 # GPIO pin connected to a transistor that controls the laser on/off.
# MQTT topics used for controlling the laser.
TOPIC_TARGET = 'catlaser/target'
TOPIC_RELATIVE = 'catlaser/relative'
TOPIC_PATH = 'catlaser/path'
TOPIC_LASER = 'catlaser/laser'
# Create servo and laser movement model.
servos = servos.Servos(SERVO_I2C_ADDRESS, SERVO_XAXIS_CHANNEL,
SERVO_YAXIS_CHANNEL, SERVO_PWM_FREQ)
model = model.LaserModel(servos, SERVO_MIN, SERVO_MAX, SERVO_CENTER,
LASER_GPIO)
# MQTT callbacks:
def on_connect(client, userdata, flags, rc):
# Called when connected to the MQTT server.
print('Connected to MQTT server!')
# Subscribe to the laser targeting topic.
client.subscribe(TOPIC_TARGET)
client.subscribe(TOPIC_PATH)
client.subscribe(TOPIC_RELATIVE)
client.subscribe(TOPIC_LASER)
def on_message(client, userdata, msg):
# Called when a MQTT message is received.
SERVO_I2C_ADDRESS = 0x40 # I2C address of the PCA9685-based servo controller
SERVO_XAXIS_CHANNEL = 0 # Channel for the x axis rotation which controls laser up/down
SERVO_YAXIS_CHANNEL = 1 # Channel for the y axis rotation which controls laser left/right
SERVO_PWM_FREQ = 50 # PWM frequency for the servos in HZ (should be 50)
SERVO_MIN = 150 # Minimum rotation value for the servo, should be -90 degrees of rotation.
SERVO_MAX = 600 # Maximum rotation value for the servo, should be 90 degrees of rotation.
SERVO_CENTER = 200 # Center value for the servo, should be 0 degrees of rotation.
MQTT_SERVER = 'tony-imac' # MQTT server to connect to for receiving commands.
MQTT_PORT = 1883 # Port for the MQTT server.
# MQTT topics used for controlling the laser.
TOPIC_TARGET = 'catlaser/target'
# Create servo and laser movement model.
servos = servos.Servos(SERVO_I2C_ADDRESS, SERVO_XAXIS_CHANNEL, SERVO_YAXIS_CHANNEL, SERVO_PWM_FREQ)
model = model.LaserModel(servos, SERVO_MIN, SERVO_MAX, SERVO_CENTER)
# MQTT callbacks:
def on_connect(client, userdata, flags, rc):
# Called when connected to the MQTT server.
print('Connected to MQTT server!')
# Subscribe to the laser targeting topic.
client.subscribe(TOPIC_TARGET)
def on_message(client, userdata, msg):
# Called when a MQTT message is received.
print('{0}: {1}'.format(msg.topic, str(msg.payload)))
# Handle a target request.
if msg.topic == TOPIC_TARGET:
# Try to parse out two numbers from the payload. These are the
