kopia lustrzana https://github.com/GuyCarver/MicroPython
49 wiersze
1.2 KiB
Python
49 wiersze
1.2 KiB
Python
# Control bot that throws treats using a servo
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import pyb
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import motion
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class TreatThrower(object):
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"""Watch for trigger and throw treat using servo
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when trigger is activated."""
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servoCenter = 1440
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servoSpeed = 100
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servoTime = 1450
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ledNum = 3
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def __init__( self, sensor, servonum = 3 ) :
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self._sensor = sensor
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self._servo = pyb.Servo(servonum)
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mn, mx, _, a, s = self._servo.calibration()
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self._servo.calibration(mn, mx, TreatThrower.servoCenter, a, s)
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self._servo.speed(0)
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self._led = pyb.LED(TreatThrower.ledNum)
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def runservo( self, time ) :
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'''Run the servo for the given time.'''
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self._servo.speed(TreatThrower.servoSpeed)
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pyb.delay(time)
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self._servo.speed(0)
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def throwit( self ):
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self._led.on()
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self.runservo(TreatThrower.servoTime)
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self._led.off()
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while(self._sensor.trigger):
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pass
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def adjust( self, time = 50 ) :
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'''Adjust the servo position by running the servo
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for the given amount of time.'''
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for i in range(step) :
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self.runservo(50)
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def run( self ) :
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sw = pyb.Switch()
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while(not sw()):
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if self._sensor.trigger:
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self.throwit()
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pyb.delay(20)
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