52 lines
1.4 KiB
Python
52 lines
1.4 KiB
Python
"""Helpers for building moving mirrors."""
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from objects.board import Board
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import time
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class Motor:
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"""Model a type of servo motor."""
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# Default vaules for every motor
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MAX_PULSE = 2500
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MIN_PULSE = 500
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COVERAGE = 180 # Total degree of freedom in degrees
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OFFSET = 0 # In degrees a constant to be added
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SCALE = 1 # Scaling
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# Used for ids
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count = 0
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def __init__(self, board: Board, angle=0):
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self.board: Board = board
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self.id: int = Motor.count
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Motor.count += 1
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self.angle = angle
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self.offset = Motor.OFFSET # Fine grained controls over every motor
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self.coverage = Motor.COVERAGE
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self.scale = Motor.SCALE
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# Initialization
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self.set()
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# Update the motor position on hardware
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def set(self):
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self.board.kit.servo[self.id].angle = self.angle * self.scale + self.offset
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def safe_set_angle(angle=0, sleep=0.01, offset=1):
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self.board.kit.servo[NUM].angle = angle + offset
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time.sleep(sleep)
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kit.servo[NUM].angle = angle
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def set_angle(self, angle):
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self.angle = min(self.coverage, max(0, angle)) # Double check bad
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self.set()
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def __str__(self):
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return f"Motor {self.id} is set at {self.angle} degrees."
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def inc(self, inc):
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self.angle += inc
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self.angle = min(max(self.angle, 0), Motor.COVERAGE) # Clip
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self.set()
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