iot-lab2020/Versuchstag-4/servo_ctrl.py

#!/usr/bin/env python

#######################################################################
#                            Aufgabe 1.3                              #
#######################################################################

import gpio_class

def write(servo, pulse):
    gpio_class.write(servo, pulse)

class Motor(object):

    PWM_PIN = 1     # GPIO pin 11
    min_pulse = 100 #ms -> -11 m/s
    max_pulse = 200 #ms -> 11 m/s
    servo = None
    __is_active = False
    v_max = 11.0
    
    
    def __init__(self, servo):
        self.servo = servo

    def set_speed(self, speed):
        if abs(speed) > self.v_max:
            speed = self.v_max
        if speed == 0:
            self.__is_active = False
        else:
            self.__is_active = True
            
        pulse = 150 + ((speed / self.v_max) * ((self.max_pulse - self.min_pulse)/2))
        write(self.servo, pulse)

    def stop(self):
        self.set_speed(0)
        
    # Aufgabe 1d
    def is_active(self):
        return self.__is_active

class Steering(object):

    PWM_PIN = 2     # GPIO pin 12
    min_pulse = 115 # -45
    max_pulse = 195 # 45
    servo = None
    angle_max = 45
    
    def __init__(self, servo):
        self.servo = servo

    def set_angle(self, angle):
        if abs(angle) > self.angle_max:
            angle = self.angle_max
            
        pulse = 155 + ((angle / self.angle_max) * ((self.max_pulse - self.min_pulse)/2))
        write(self.servo, pulse)
        
    def stop(self):
        self.set_angel(0)