Mercurial > maestro-servo

changeset 16:0cb3f825183e

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Allow to specify servo center
author Radomir Dopieralski <sheep-devel@sheep.art.pl>
date Wed, 25 Jun 2014 16:19:14 +0200
parents 083ca25d82a2
children 39f631544ede
files maestro.py
diffstat 1 files changed, 10 insertions(+), 7 deletions(-) [+]
line wrap: on
line diff
--- a/maestro.py	Wed Jun 25 16:15:17 2014 +0200
+++ b/maestro.py	Wed Jun 25 16:19:14 2014 +0200
@@ -76,7 +76,8 @@
     min_position = 3968
     max_position = 8064
 
-    def __init__(self, maestro, index, max_degrees=90, reverse=False):
+    def __init__(self, maestro, index, center=None,
+                 max_degrees=90, reverse=False):
         self.maestro = maestro
         self.index = index
         self.reverse = reverse
@@ -84,6 +85,11 @@
         self._angle = 0
         self._speed = 0
         self._accel = 0
+        self.width = self.max_position - self.min_position
+        if self.center is None:
+            self.center = self.min_position + self.width / 2
+        else:
+            self.center = center
 
     @property
     def angle(self):
@@ -92,12 +98,10 @@
     @angle.setter
     def angle(self, degrees):
         self._angle = degrees
-        width = self.max_position - self.min_position
-        position = (width * degrees) / self.max_degrees
+        position = (self.width * degrees) / self.max_degrees
         if self.reverse:
             position = -position
-        center = self.min_position + width / 2
-        target = center + position
+        target = self.center + position
         target = min(self.max_position, max(self.min_position, target))
         self.maestro.set_target(self.index, target)
 
@@ -108,8 +112,7 @@
     @speed.setter
     def speed(self, degrees_per_second):
         self._speed = degrees_per_second
-        width = self.max_position - self.min_position
-        speed = self.max_degrees / (width * degrees_per_second)
+        speed = self.max_degrees / (self.width * degrees_per_second)
         self.maestro.set_speed(self.index, speed)
 
     @property