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--- servoclass-py [2015/04/30 08:31]
zoza created
+++ servoclass-py [2015/04/30 08:42] (current)
zoza
@@ Line 1: / Line 1: @@
-====== ledclass.py ======
+====== servoclass.py ======
-external functions for different LED behaviours
+external functions for motors control
 <code python>
+#!/usr/bin/env python
+"""servoclass.py: connects to usbport and defines the movement of servo motors"""
 import serial, glob
+### assign arduino's serial port
 try:
-    portled = glob.glob("/dev/arduino-leds")[0]
+    portmotor = glob.glob("/dev/arduino-motors")[0] # as assigned in udev rules /etc/udev/rules.d ; http://hackaday.com/2009/09/18/how-to-write-udev-rules/
 except IndexError:
-    portled = glob.glob("/dev/ttyACM0")[0]
+    portmotor = glob.glob("/dev/ttyUSB0")[0] # fall back to a default USB address
-print "portled", portled
+# portled = glob.glob("/dev/tty*")[0]
-serled = serial.Serial(portled, 19200, timeout=1)
+print "portmotor:", portmotor
+### set up serial baud rate
-def clearAll():
+sermotor = serial.Serial(portmotor, 9600, timeout=1)
-    for j in range(4):
-        message = ("%d,0,0,0")%(j)
-        serled.write(message+'\n')
-def fadeIn(led, color):
-    for i in range(255)[::15]:
-        if color == "red":
-            r = i
-            g = 0
-            b = 0
-        elif color == "green":
-            r = 0
-            g = i
-            b = 0
-        message = (str(led)+",%d,%d,%d")%(r,g,b)
-        serled.write(message+"\n")
-def fadeInRed(led):
-    for i in range(255)[::15]:
-        message = (str(led)+",%d,0,0")%(i)
-        serled.write(message+"\n")
-def fadeInGreen(led):
-    for i in range(255)[::15]:
-        message = (str(led)+",0,0,%d")%(i)
-        serled.write(message+"\n")
-def fadeInYellow(led):
-    for i in range(255)[::15]:
-        message = (str(led)+",%d,0,%d")%(i,i)
-        serled.write(message+"\n")
-def fadeInPurple(led):
+class Servo:
-    for i in range(255)[::15]:
+    def __init__(self, servoID):
-        message = (str(led)+",%d,%d,0")%(i,int(i*0.2))
+        self.servoID = servoID
-        serled.write(message+"\n")
+        self.stop() # when initiated, stop!
-def fadeInTurq(led):
+    def move(self, speed):
-    for i in range(255)[::15]:
+        self.speed = speed
-        message = (str(led)+",0,%d,%d")%(int(i*0.2),i)
+        if 0 <= self.speed <= 180:
-        serled.write(message+"\n")
+            sermotor.write(chr(255))
+            sermotor.write(chr(self.servoID))
+            sermotor.write(chr(self.speed))
+        else:
+            print "Servo position must be an integer between 0 and 180.\n"
+    def stop(self):
+        self.move(90)
+        #print "stop (90)"
-# fading OUT functions by colour:
+    def down_slow(self):
+        self.move(100)
+        #print "down_slow (100)"
-def fadeOutRed(led):
+    def down_medium(self):
-    for i in range(255,0,-1)[::25]:
+        self.move(110)
-        message = (str(led)+",%d,0,0")%(i)
+        #print "down_medium (110)"
-        serled.write(message+"\n")
-        serled.write(str(led)+",0,0,0\n")
-def fadeOutGreen(led):
+    def down_fast(self):
-    for i in range(255,0,-1)[::25]:
+        self.move(120)
-        message = (str(led)+",0,0,%d")%(i)
+        #print "down_fast (120)"
-        serled.write(message+"\n")
-        serled.write(str(led)+",0,0,0\n")
-def fadeOutYellow(led):
-    for i in range(255,0,-1)[::25]:
-        message = (str(led)+",%d,0,%d")%(i,i)
-        serled.write(message+"\n")
-        serled.write(str(led)+",0,0,0\n")
-def fadeOutPurple(led):
+    def up(self):
-    for i in range(255,0,-1)[::25]:
+        self.move(80)
-        message = (str(led)+",%d,%d,0")%(i,int(i*0.2))
+        #print "up (80)"
-        serled.write(message+"\n")
-        serled.write(str(led)+",0,0,0\n")
-def fadeOutTurq(led):
-    for i in range(255,0,-1)[::25]:
-        message = (str(led)+",0,%d,%d")%(int(i*0.2),i)
-        serled.write(message+"\n")
-        serled.write(str(led)+",0,0,0\n")
 </code>

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