astar.py 文件源码

def __init__(self):
        self._bus = smbus.SMBus(1)
        self._version = sys.version_info.major
        self.ledYellow = 0
        self.ledGreen = 0
        self.ledRed = 0
        self._buttonA = 0
        self._buttonB = 0
        self._buttonC = 0
        self._fwdSpeed = 0
        self._turnRate = 0
        self._lockSpeeds = False
        self._x = 0
        self._y = 0
        self._phi = 0
        self._lockOdometer = False
        self._batteryMV = 0
        self._lockBattery = False
        self._panServo = 0      # Servo is disabled by default
        self._tiltServo = 0     # Servo is disabled by default
        self._mastServo = 0     # Servo is disabled by default
        self._lockServos = False
        self._notes = ''
        self._resetOdometer = True
        self.run()
        # Wait to ensure we can read/write the buffer once before starting
        time.sleep(.05)
        # Print battery level
        print("RPB202")
        print("Battery level: " + str(round(self.getBatteryVolts(), 2)) + "V")