SunFounder picar-x - Page 58

SunFounder picar-x
(continued from previous page)
time.sleep(0.01)
for angle in range(-35,0):
px.set_dir_servo_angle(angle)
time.sleep(0.01)
px.forward(0)
time.sleep(1)
for angle in range(0,35):
px.set_camera_servo1_angle(angle)
time.sleep(0.01)
for angle in range(35,-35,-1):
px.set_camera_servo1_angle(angle)
time.sleep(0.01)
for angle in range(-35,0):
px.set_camera_servo1_angle(angle)
time.sleep(0.01)
for angle in range(0,35):
px.set_camera_servo2_angle(angle)
time.sleep(0.01)
for angle in range(35,-35,-1):
px.set_camera_servo2_angle(angle)
time.sleep(0.01)
for angle in range(-35,0):
px.set_camera_servo2_angle(angle)
time.sleep(0.01)
finally:
px.forward(0)
How it works?
The basic functionality of Parker is in the picarx module, Can be used to control steering gear and wheels, and will
make the PiCar-X move forward, turn in an S-shape, or shake its head.
Now, the libraries to support the basic functionality of PiCar-X are imported. These lines will appear in all the
examples that involve PiCar-X movement.
from picarx import Picarx
import time
The following function with the for loop is then used to make PiCar-X move forward, change directions, and move
the camera’s pan/tilt.
px.forward(speed)
px.set_dir_servo_angle(angle)
px.set_camera_servo1_angle(angle)
px.set_camera_servo2_angle(angle)
• forward(): Orders the PiCar-X go forward at a given speed.
• set_dir_servo_angle: Turns the Steering servo to a specific angle.
• set_camera_servo1_angle: Turns the Pan servo to a specific angle.
• set_camera_servo2_angle: Turns the Tilt servo to a specific angle.
54 Chapter 4. Play with Python