init

init

import sys
import front_wheels
import back_wheels
from SunFounder_PCA9685 import Servo
import PCF8591
from SunFounder_PCA9685 import PCA9685

def servo_install():
    import time
    delay = 1.0/180
    if len(sys.argv) >= 3:
        print "servo-install takes no value"
        usage()
    print("Servo now is set to 90 degree.")
    servo0 = Servo.Servo(0, bus_number=1)
    servo1 = Servo.Servo(1, bus_number=1)
    servo2 = Servo.Servo(2, bus_number=1)
    for i in range(90, -1, -1):
        servo0.write(i)
        servo1.write(i)
        servo2.write(i)
        time.sleep(delay)
    time.sleep(0.1)
    for i in range(0, 181, 1):
        servo0.write(i)
        servo1.write(i)
        servo2.write(i)
        time.sleep(delay)
    time.sleep(0.1)
    for i in range(180, 89, -1):
        servo0.write(i)
        servo1.write(i)
        servo2.write(i)
        time.sleep(delay)
    time.sleep(0.1)
    servo0.write(90)
    servo1.write(90)
    servo2.write(90)
    while True:
        time.sleep(1)

def main():
    setup()
    if len(sys.argv) >= 2:
        if sys.argv[1] == "servo-install":
            servo_install()
        elif sys.argv[1] == "front-wheel-test":
            if len(sys.argv) >= 3:
                try:
                    chn = int(sys.argv[2])
                except:
                    print "chn must be integer"
                    usage()
                if 0 <= chn <= 15 :
                    front_wheels.test(chn)
                else:
                    print 'chn must be in 0~15, not "%s"' % chn
                    usage()
            front_wheels.test()
        elif sys.argv[1] == "rear-wheel-test":
            back_wheels.test()
        else:
            print 'Command error, "%s" is not in list' % sys.argv[1]
            usage()
    else:
        usage()

def usage():
    print "Usage:  picar [Command] [value]"
    print "Commands:"
    print "  servo-install              Set 16 channel servos to 90 degree for installation"
    print "  front-wheel-test [chn]     Test the steering servo connect to chn, chn default 0"
    print "  rear-wheel-test            Test the rear wheel"
    quit()

class ADC(PCF8591.PCF8591):
    pass

def setup():
    pwm=PCA9685.PWM(bus_number=1)
    pwm.setup()
    pwm.frequency = 60