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Servo

ServoHAL (HAL)

Hardware interface to control the servos for the turrets

Attributes:

Name Type Description
pin

number of the GPIO pin used to control the turret

__init__(self, pin) special

Initialize servo

Parameters:

Name Type Description Default
pin int

Pin to which the signal wire of the servo is connected (12, 13, 18, 19 for hardware PWM)

 required
Source code in hardware/servo.py 
def __init__(self, pin: int):
    """
        Initialize servo

        Arguments:
            pin: Pin to which the signal wire of the servo is connected (12, 13, 18, 19 for hardware PWM)
    """

    self.pin = pin

    self.pwm = Servo(pin, initial_value=0, min_pulse_width=0.615 / 1000, max_pulse_width=2.495 / 1000)

    logging.debug(f"Init turret at Pin {pin}")

close(self)

Release servo

Source code in hardware/servo.py 
def close(self):
    """
        Release servo
    """
    self.pwm.value = None
    logging.debug(f"Turret interface closed")

setPosition(self, pos)

Set the position of the servo

Parameters:

Name Type Description Default
pos int

Servoposition between -90 and 90

 required
Source code in hardware/servo.py 
def setPosition(self, pos: int):
    """
        Set the position of the servo

        Arguments:
            pos: Servoposition between -90 and 90
    """
    self.pwm.value = pos / 90
    #logging.info(f"Turret moved to pos {self.pwm.value}")

ServoInvertedHAL (ServoHAL)

Hardware interface to control inverted servos for the turrets

Attributes:

Name Type Description
pin

number of the GPIO pin used to control the turret

setPosition(self, pos)

Trigger Turret with specific force

Parameters:

Name Type Description Default
force

Turretposition between -90 and 90

 required
Source code in hardware/servo.py 
def setPosition(self, pos: int):
    """
        Trigger Turret with specific force

        Arguments:
            force: Turretposition between -90 and 90
    """

    self.pwm.value = -1 * pos / 90
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