nav_algo.servo module

class nav_algo.servo.servo(tailPin, sailPin)

Bases: object

SAIL_MAX = 180

SAIL_MAX_ANGLE = 148

SAIL_MIN = 0

SAIL_MIN_ANGLE = 0

TAIL_MAX = 180

TAIL_MAX_ANGLE = 60

TAIL_MIN = 0

TAIL_MIN_ANGLE = 0

mapRange(val, min, max, endMin, endMax)

Returns value based on a linear map of MIN -> MAX to a value ENDMIN -> ENDMAX

readEncoder()

setSail(sail_angle)

Just instantiate the class then enter an angle into “servo”_angle as an int SAIL_MIN_ANGLE -> SAIL_MAX_ANGLE degrees

setTail(tail_angle)

Just instantiate the class then enter an angle into “servo”_angle as an int TAIL_MIN_ANGLE -> TAIL_MAX_ANGLE degrees

sleepServo(sleep)

Puts the servo driver to sleep to conserve energy.

Parameters

sleep (bool) – turns off oscillator if True, if false it runs in normal operation.