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@@ -11,13 +11,15 @@ def on_connect(client, userdata, flags, rc):
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# Subscribing in on_connect() means that if we lose the connection and
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# reconnect then subscriptions will be renewed.
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- client.subscribe("video/servo1")
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+ client.subscribe("video/servo1/#")
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# The callback for when a PUBLISH message is received from the server.
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def on_message(client, userdata, msg):
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print(msg.topic+" "+str(msg.payload))
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- if msg.topic == "video/servo1":
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+ if msg.topic == "video/servo1/restart":
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+ restart_servos()
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+ if msg.topic == "video/servo1/rotate":
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servo_arg = msg.payload.split()[0]
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try:
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offset = int(msg.payload.split()[1])
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@@ -84,6 +86,27 @@ def update_servo(servo, offset):
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sleep(0.12)
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+def restart_servos():
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+ servoblaster = open("/dev/servoblaster", "w")
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+ minv = 900
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+ maxv = 1750
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+
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+ servo = 0
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+ percentage = 66
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+ filename = "/tmp/servo_%d" % servo
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+ print("%d=%d%%" % (servo, percentage), file=servoblaster)
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+ print(int((maxv-minv) * (percentage/100))+minv, file=open(filename, "w"))
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+
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+ servo = 1
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+ percentage = 61
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+ filename = "/tmp/servo_%d" % servo
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+ print("%d=%d%%" % (servo, percentage), file=servoblaster)
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+ print(int((maxv-minv) * (percentage/100))+minv, file=open(filename, "w"))
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+
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+ servoblaster.flush()
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+ servoblaster.close()
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+
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+
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t = threading.Thread(target=client.loop_forever)
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t.start()
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t.join()
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