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83 lines
2.9 KiB
83 lines
2.9 KiB
#!/usr/bin/env python3
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import shepherd.config as shconf
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import shepherd.plugin
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import sys
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import os
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import time
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import argparse
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class MothtrapPlugin(shepherd.plugin.Plugin):
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@staticmethod
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def define_config(confdef):
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confdef.add_def('servo_open_pulse', shconf.IntDef(default=1200, minval=800, maxval=2200))
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confdef.add_def('servo_closed_pulse', shconf.IntDef(default=1800, minval=800, maxval=2200))
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confdef.add_def('servo_open_time', shconf.IntDef(default=5))
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def __init__(self, pluginInterface, config):
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super().__init__(pluginInterface, config)
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self.config = config
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self.interface = pluginInterface
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self.plugins = pluginInterface.other_plugins
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self.hooks = pluginInterface.hooks
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self.root_dir = os.path.expanduser(pluginInterface.coreconfig["root_dir"])
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self.id = pluginInterface.coreconfig["name"]
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print("Mothtrap config:")
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print(self.config)
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#servo_max = self.config["servo_open_pulse"] / 1000000
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#servo_min = self.config["servo_closed_pulse"] / 1000000
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# if servo_min > servo_max:
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# servo_min, servo_max = servo_max, servo_min
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#print(F"Supplied min: {servo_min}, max: {servo_max}")
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if "picam" in self.plugins:
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self.interface.attach_hook("picam", "pre_cam", self.led_on)
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self.interface.attach_hook("picam", "post_cam", self.led_off)
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self.interface.attach_hook("picam", "post_cam", self.run_servo)
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elif "usbcam" in self.plugins:
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self.interface.attach_hook("usbcam", "pre_cam", self.led_on)
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self.interface.attach_hook("usbcam", "post_cam", self.led_off)
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self.interface.attach_hook("usbcam", "post_cam", self.run_servo)
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else:
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raise ValueError("Need to either have picam or usbcam plugin loaded")
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self.interface.register_function(self.test)
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def led_on(self):
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self.plugins["scout"].set_out1(True)
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# self.led_power.on()
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def led_off(self):
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self.plugins["scout"].set_out1(False)
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# self.led_power.off()
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def run_servo(self):
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self.plugins["scout"].set_aux5v(True)
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# self.door_servo_power.on()
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time.sleep(0.5)
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self.plugins["scout"].set_pwm1(True, self.config["servo_open_pulse"])
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#self.door_servo.pulse_width = self.config["servo_open_pulse"] / 1000000
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time.sleep(self.config["servo_open_time"])
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self.plugins["scout"].set_pwm1(True, self.config["servo_closed_pulse"])
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#self.door_servo.pulse_width = self.config["servo_closed_pulse"] / 1000000
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time.sleep(self.config["servo_open_time"])
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self.plugins["scout"].set_pwm1(False, self.config["servo_closed_pulse"])
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# self.door_servo.detach()
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self.plugins["scout"].set_aux5v(False)
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# self.door_servo_power.off()
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def test(self):
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self.led_on()
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time.sleep(1)
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self.led_off()
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self.run_servo()
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