servo_and_camera

#!/usr/bin/env python
# -*- coding: utf-8 -*-
 
import RPi.GPIO as GPIO
import pigpio
from time import sleep
import signal
import sys
import subprocess #コマンドプロントのコマンドを使うのに必要

#GPIOのピンを指定
GPIO.setmode(GPIO.BCM)
sclk = 11
miso = 9
mosi = 10
ce0 = 8

GPIO.setup(sclk, GPIO.OUT)
GPIO.setup(miso, GPIO.IN)
GPIO.setup(mosi, GPIO.OUT)
GPIO.setup(ce0, GPIO.OUT)
GPIO.setup(14, GPIO.OUT)




#pigpioの初期設定
pi = pigpio.pi()
pin_az = 18
pin_el = 13

#camera config
camera = "sudo fswebcam -F 10 --no-timestamp --no-banner --rotate 90 /home/pi/blog/test1.jpg"

def read(adcnum, sclk, mosi, miso, ce0): #cdsによって光を検出する関数を定義
      
    if adcnum > 7 or adcnum < 0:
        return -1
  
    GPIO.output(ce0, GPIO.HIGH)
    GPIO.output(sclk, GPIO.LOW)
    GPIO.output(ce0, GPIO.LOW)
  
    commandout = adcnum
    commandout |= 0x18
    commandout <<= 3
  
    for i in range(5):
        if commandout & 0x80:
            GPIO.output(mosi, GPIO.HIGH)
        else:
            GPIO.output(mosi, GPIO.LOW)
        commandout <<= 1
  
        GPIO.output(sclk, GPIO.HIGH)
        GPIO.output(sclk, GPIO.LOW)
    adcout = 0
  
    for i in range(13):
        GPIO.output(sclk, GPIO.HIGH)
        GPIO.output(sclk, GPIO.LOW)
        adcout <<= 1
        if i>0 and GPIO.input(miso) == GPIO.HIGH:
            adcout |= 0x1
    GPIO.output(ce0, GPIO.HIGH)
    return adcout

try:
    while True:
        data = read(0, sclk, mosi, miso, ce0) #ドアが開いたことを確認する光データを取得
        print('data = %s'% data)
        #camera config
        camera = "sudo fswebcam -F 10 --no-timestamp --no-banner --rotate 90 /home/pi/blog/test1.jpg"
        count =1
        print('count =%s' % count)
        if data < 1500:
			for pwm_width in range(1350,1700,150):
				print(pwm_width)
				sleep(0.5)
				pi.set_servo_pulsewidth(pin_az, pwm_width)
				subprocess.call(camera,shell = True)
				 #保存する写真する名前の数字を変更
				sleep(0.5)  #このsleepがないとサーボがしっかり動かない
				count = count +1
				print('count =%s' % count)
				camera = camera.replace('test'+str(count-1),'test'+str(count))
        sleep(0.2)

        
except KeyboardInterrupt:
    pass

pi.set_mode(pin_az ,pigpio.INPUT)
pi.stop()
GPIO.cleanup()