def move_servo(self, channel, position):
channel = int(channel)
position = int(position)
if not storageCtrl.getIsWindows():
pwm.set_pwm(channel, 0, self.get_pulse_from_percent(position))
else:
print(">> PWM >> channel:" + str(channel) + " position:" +
str(position) + " pulse:" +
str(self.get_pulse_from_percent(position)))
time.sleep(1)
if not storageCtrl.getIsWindows():
pwm.set_pwm(channel, 0, 0)
def __init__(self):
'''
Constructor
'''
self.storageCtrl_t = storageCtrl
if not storageCtrl.getIsWindows():
# Initialise the PCA9685 using the default address (0x40).
self.pwm = Adafruit_PCA9685.PCA9685()
#initialize the gpio module
gpio.init()
# Alternatively specify a different address and/or bus:
#pwm = Adafruit_PCA9685.PCA9685(address=0x41, busnum=2)
# Configure min and max servo pulse lengths
self.servo_min = 150 # Min pulse length out of 4096
self.servo_max = 600 # Max pulse length out of 4096
if not storageCtrl.getIsWindows():
# Set frequency to 60hz, good for servos.
self.pwm.set_pwm_freq(60)
def set_gpio(self, gpioId, val):
if storageCtrl.getIsWindows():
print(">> GPIO >> ID:%s VAL:%s", gpioId, val)
return
#setup the port (same as raspberry pi's gpio.setup() function)
gpio.setcfg(port[gpioId], gpio.OUTPUT)
#now we do something (light up the LED)
if val == 1:
gpio.output(port[gpioId], gpio.HIGH)
else:
gpio.output(port[gpioId], gpio.LOW)
def set_servo_pulse(self, channel, pulse):
pulse_length = 1000000 # 1,000,000 us per second
pulse_length //= 60 # 60 Hz
print('{0}us per period'.format(pulse_length))
pulse_length //= 4096 # 12 bits of resolution
print('{0}us per bit'.format(pulse_length))
pulse *= 1000
pulse //= pulse_length
if not storageCtrl.getIsWindows():
self.pwm.set_pwm(channel, 0, pulse)
else:
print(">> PWM >> channel:" + str(channel) + " pulse:" + str(pulse))
'''
Created on 15 dec. 2015
@author: epelorce
'''
import os
from time import sleep
from threading import Thread
from storageCtrl import storageCtrl
if storageCtrl.getIsWindows():
import evdev
class inputSrv(Thread):
'''
classdocs
'''
def out(self, _txt):
self.utils_c.echo("inputSrv:> " + _txt)
def __init__(self, _utils_c, _refresh=1):
super(inputSrv, self).__init__()
#self.storageCtrl_t = _storageCtrl
self.utils_c = _utils_c
self.refreshRate = _refresh
self.out("init inputSrv")
def stop(self):
self.out("stop inputSrv")
storageCtrl.removeThreadToStop(self)
'''
Created on 15 dec. 2015
@author: epelorce
'''
import time
#import Adafruit_PCA9685
from storageCtrl import storageCtrl
if not storageCtrl.getIsWindows():
import Adafruit_PCA9685
from pyA20.gpio import gpio
from pyA20.gpio import port
class gpioEx(object):
'''
classdocs
'''
def __init__(self):
'''
Constructor
'''
self.storageCtrl_t = storageCtrl
if not storageCtrl.getIsWindows():
# Initialise the PCA9685 using the default address (0x40).
self.pwm = Adafruit_PCA9685.PCA9685()
#initialize the gpio module
gpio.init()
# Alternatively specify a different address and/or bus:
#pwm = Adafruit_PCA9685.PCA9685(address=0x41, busnum=2)