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79 lines
2.4 KiB
79 lines
2.4 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 FlytrapPlugin(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["id"]
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print("Flytrap config:")
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print(self.config)
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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.uv_camera)
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self.interface.register_function(self.test)
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def uv_camera(self):
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self.led_off()
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self.led_uv_on()
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self.plugins["usbcam"].run_cameras(" UV")
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self.led_uv_off()
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self.run_servo()
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def led_on(self):
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self.plugins["scout"].set_out1(True)
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def led_off(self):
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self.plugins["scout"].set_out1(False)
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def led_uv_on(self):
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self.plugins["scout"].set_out2(True)
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def led_uv_off(self):
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self.plugins["scout"].set_out2(False)
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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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