Source code for wni.az_el

import wni.config as config


class AzElController(object):
    """Provides abstraction layer over the motor and actuator."""
    _RECV_TIMEOUT = -1

    def __init__(self, recv_timeout=-1):
        from wni.util import ActuatorClient, MotorClient
        self.actuator = ActuatorClient(recv_timeout=recv_timeout)
        self.motor = MotorClient(config.MOTOR_ADDR, recv_timeout=recv_timeout)

        self.last_data = []

    def stop(self):
        self.motor.stop()

    def go_home(self):
        self.motor.home()

    @property
    def acceleration(self):
        acceleration = self.motor.get_acceleration()
        return acceleration

    @property
    def home_angle(self):
        return self.motor.home_angle

    @home_angle.setter
    def home_angle(self, val):
        self.motor.home_angle = val

    @acceleration.setter
    def acceleration(self, value):
        self.motor.acceleration(value)

    @property
    def is_spinning(self):
        return self.motor.is_spinning

    def spin(self):
        self.motor.spin()

    @property
    def point(self):
        return self.motor.get_actual_position()

    @point.setter
    def point(self, position):
        self.motor.point(position)

    @property
    def degrees_per_second(self):
        dps = self.motor.get_degrees_per_second()
        return dps

    @degrees_per_second.setter
    def degrees_per_second(self, value):
        self.motor.degrees_per_second(value)

    @property
    def elevation(self):
        return self.actuator.position

    @elevation.setter
    def elevation(self, value):
        self.actuator.position = value


if __name__ == '__main__':
    az_el = AzElController()