#!/usr/bin/python
# von Heinz Schmid (h.schmid@gmx.info) März.2018
import RPi.GPIO as GPIO
import pigpio
import time
import sys
import os
import signal
from Tkinter import *
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
mitte_=18
rechts_=4
links_=17
cam1=23
cam2=24
pi=pigpio.pi()
def vorwaerts():
i=0
while i<5:
pi.set_servo_pulsewidth(mitte_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(rechts_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(links_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(mitte_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(mitte_,1055)
time.sleep(0.115)
pi.set_servo_pulsewidth(rechts_,1055)
time.sleep(0.15)
pi.set_servo_pulsewidth(links_,1055)
time.sleep(0.15)
pi.set_servo_pulsewidth(mitte_,1055)
time.sleep(0.15)
i=i+1
pi.set_servo_pulsewidth(mitte_,1500)
time.sleep(0.5)
pi.set_servo_pulsewidth(rechts_,1500)
time.sleep(0.5)
pi.set_servo_pulsewidth(links_,1500)
time.sleep(0.5)
def neutral():
pi.set_servo_pulsewidth(cam1,1500)
time.sleep(0.5)
pi.set_servo_pulsewidth(cam2,1500)
time.sleep(0.5)
def nicken():
i=0
x=1500
while i<5:
x=x-50
pi.set_servo_pulsewidth(cam1,x)
time.sleep(1)
i=i+1
pi.set_servo_pulsewidth(cam1,1500)
def drehen():
i=0
y=1500
while i<5:
y=y-50
pi.set_servo_pulsewidth(cam2,y)
time.sleep(1)
i=i+1
pi.set_servo_pulsewidth(cam2,1500)
def zurueck():
i=0
while i<5:
pi.set_servo_pulsewidth(mitte_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(rechts_,1055)
time.sleep(0.15)
pi.set_servo_pulsewidth(links_,1055)
time.sleep(0.15)
pi.set_servo_pulsewidth(mitte_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(mitte_,1055)
time.sleep(0.115)
pi.set_servo_pulsewidth(rechts_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(links_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(mitte_,1055)
time.sleep(0.15)
i=i+1
pi.set_servo_pulsewidth(mitte_,1500)
time.sleep(0.5)
pi.set_servo_pulsewidth(rechts_,1500)
time.sleep(0.5)
pi.set_servo_pulsewidth(links_,1500)
time.sleep(0.5)
def rechts():
i=0
while i<2:
pi.set_servo_pulsewidth(mitte_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(rechts_,1055)
time.sleep(0.15)
pi.set_servo_pulsewidth(links_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(mitte_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(mitte_,1055)
time.sleep(0.115)
pi.set_servo_pulsewidth(rechts_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(links_,1055)
time.sleep(0.15)
pi.set_servo_pulsewidth(mitte_,1055)
time.sleep(0.15)
i=i+1
pi.set_servo_pulsewidth(mitte_,1500)
time.sleep(0.5)
pi.set_servo_pulsewidth(rechts_,1500)
time.sleep(0.5)
pi.set_servo_pulsewidth(links_,1500)
time.sleep(0.5)
def links():
i=0
while i<2:
pi.set_servo_pulsewidth(mitte_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(rechts_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(links_,1055)
time.sleep(0.15)
pi.set_servo_pulsewidth(mitte_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(mitte_,1055)
time.sleep(0.15)
pi.set_servo_pulsewidth(rechts_,1055)
time.sleep(0.15)
pi.set_servo_pulsewidth(links_,1944)
time.sleep(0.15)
pi.set_servo_pulsewidth(mitte_,1055)
time.sleep(0.15)
i=i+1
pi.set_servo_pulsewidth(mitte_,1500)
time.sleep(0.5)
pi.set_servo_pulsewidth(rechts_,1500)
time.sleep(0.5)
pi.set_servo_pulsewidth(links_,1500)
time.sleep(0.5)
fenster=Tk()
button1=Button(master=fenster,text='Gerade',command=vorwaerts)
button2=Button(master=fenster,text='Neutral-Cam',command=neutral)
buttonx=Button(master=fenster,text='Nicken-Cam',command=nicken)
buttony=Button(master=fenster,text='Drehen-Cam',command=drehen)
button3=Button(master=fenster,text='Links',command=links)
button4=Button(master=fenster,text='Rechts',command=rechts)
button5=Button(master=fenster,text='Rueckwaerts',command=zurueck)
button1.pack()
button2.pack()
buttonx.pack()
buttony.pack()
button3.pack()
button4.pack()
button5.pack()
fenster.mainloop()