def __init__(self):
self.bot = pibot.PiBot()
self.bot.InitMotorDriver(pibot.DRIVER_M_1_2)
self.bot.Enable()
self.bot.SetMotorDrive(pibot.M1, 0)
self.bot.SetMotorDrive(pibot.M2, 0)
self.servo_h = 90
self.servo_v = 90
self.bot.SetServoControl(self.SERVO_H,
RobotJoystick.angle_to_t(self.servo_h))
self.bot.SetServoControl(self.SERVO_V,
RobotJoystick.angle_to_t(self.servo_v))
def __init__(self, robotConfig):
if USE_PIBOT:
self.robot = pibot.PiBot()
else:
self.robot = mini_driver.MiniDriver()
connected = self.robot.connect()
if not connected:
raise Exception("Unable to connect to the mini driver")
self.robotConfig = robotConfig
self.leftMotorSpeed = 0
self.rightMotorSpeed = 0
self.panAngle = self.CENTRE_ANGLE
self.tiltAngle = self.CENTRE_ANGLE
self.panSpeed = 0.0
self.tiltSpeed = 0.0
self.lastServoSettingsSendTime = 0.0
self.lastUpdateTime = 0.0
self.lastMotionCommandTime = time.time()
MUSIC_VOLUME = 0.5
TEST_TIME = 10.0
scriptPath = os.path.dirname(__file__)
# Load test result sounds
pygame.init()
pygame.mixer.init()
pygame.mixer.music.load(scriptPath + "/../data/sounds/drum_roll.mp3")
pygame.mixer.music.set_volume(MUSIC_VOLUME)
pygame.mixer.music.play()
# Connect to the PiBot
bot = pibot.PiBot()
testStartTime = time.time()
while time.time() - testStartTime < TEST_TIME:
curTime = time.time() - testStartTime
# Set motor speeds
if int(curTime) % 2 == 0:
bot.setMotorSpeeds(192, -192)
bot.setStepperSpeed(255)
for pixelIdx in range(bot.NUM_NEO_PIXELS):