SunFounder PiArm, Manual, Page: 132 / 163

Piarm, Release 1.0
(continued from previous page)
d: turn right
i: go up
k: go down
j: on
l: off
ESC: Quit
'''
def readchar ():
fd = sys . stdin . fileno()
old_settings = termios . tcgetattr(fd)
try :
tty . setraw(sys . stdin . fileno())
ch = sys . stdin . read( 1 )
finally
:
termios . tcsetattr(fd, termios . TCSADRAIN, old_settings)
return ch
def control (key):
arm . speed = 100
flag = False
alpha,beta,gamma = arm . servo_positions
status = ""
if key == 'w' :
alpha += 3
flag = True
elif key == 's' :
alpha -= 3
flag = True
if key == 'a' :
gamma += 3
flag = True
elif key == 'd' :
gamma -= 3
flag = True
if key == 'i' :
beta += 3
flag = True
elif key == 'k' :
beta -= 3
flag = True
if key == 'j' :
arm . set_electromagnet( 'on' )
elif key == 'l' :
arm . set_electromagnet( 'off' )
if flag == True :
arm . set_angle([alpha,beta,gamma])
print ( 'servo angles: %s , electromagnet status: %s ' % (arm . servo_positions,
˓ →
status))
if __name__ == "__main__" :
(continues on next page)
128 Chapter 4. Play with Python