3/9 にツイートしたザクヘッド ラズパイケースの制御スクリプト

zakuhead-servo-led.py

#!/usr/bin/env python3

import wiringpi
import time

LED = {
    'pin': 13,
    'min': 0,
    'max': 128,
}

SERVO = {
    'pin': 18,
    'min': 47,
    'max': 108,
}

def init_pwm():
    wiringpi.wiringPiSetupGpio()

    wiringpi.pinMode(LED['pin'], wiringpi.GPIO.PWM_OUTPUT)
    wiringpi.pinMode(SERVO['pin'], wiringpi.GPIO.PWM_OUTPUT)

    wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
    wiringpi.pwmSetClock(375)

class Play:
    def _write(self, target, val):
        if val < target['min']:
            return False
        if target['max'] < val:
            return False

        wiringpi.pwmWrite(target['pin'], val)

        return True

class Gradation(Play):
    def __init__(self, target, start, end, step, sleep_time):
        self.__max_loop = 2048
        self.__target = target
        self.__start = start
        self.__end = end
        self.__step = step
        self.__sleep_time = sleep_time

    def play(self):
        val = self.__start
        for i in range(self.__max_loop):
            if self._write(self.__target, val) is not True:
                break

            val += self.__step
            if val < min(self.__start, self.__end):
                break
            if max(self.__start, self.__end) < val:
                break

            time.sleep(self.__sleep_time)

class Sleep(Play):
    def __init__(self, sleep_time, target=None, val=None):
        self.__sleep_time = sleep_time
        self.__target = target
        self.__val = val

    def play(self):
        if self.__target is not None and self.__val is not None:
            self._write(self.__target, self.__val)
        time.sleep(self.__sleep_time)

def main():
    init_pwm()

    play_list = [
        Sleep(0.01, SERVO, int((SERVO['max'] + SERVO['min']) / 2)),
        Sleep(3, LED, LED['min']),

        Gradation(LED, LED['min'], LED['max'], 4, 0.01),
        Gradation(LED, LED['max'], 8, -4, 0.05),
        Sleep(0.5),
        Gradation(LED, 8, LED['max'], 4, 0.01),
        Sleep(2),

        Sleep(1.0, SERVO, SERVO['min']),
        Sleep(1.0, SERVO, SERVO['max']),
        Gradation(SERVO, SERVO['max'], SERVO['min'], -1, 0.05),
        Gradation(SERVO, SERVO['min'], SERVO['max'],  1, 0.05),
        Sleep(1.0),

        Sleep(2, SERVO, 70),
        Gradation(LED, LED['max'], 8, -4, 0.01),
        Gradation(LED, 8, LED['max'], 4, 0.01),
    ]

    for one in play_list:
        one.play()

if __name__ == '__main__':
    main()