motor.py: contains motor functions

from time import sleep

import RPi.GPIO as GPIO

class Servo():

    amt = 4.5

    dcLow = 2+amt

    dcHigh = 13-amt

    errLow = -200

    errHigh = 200

    def __init__(self, pin, high2):

        self.pin = pin

        if type(high2) == type('string'):

            assert high2.lower() in ['nw', 'ne', 'sw', 'se']

            high2 = high2.lower() in ['nw','se']

        self.high2 = high2

        self.servo = None

    def setup(self):

        GPIO.setmode(GPIO.BOARD)

        GPIO.setup(self.pin, GPIO.OUT)

        self.servo = GPIO.PWM(self.pin, 50)

        self.servo.start(0)

    def pct2dc(self, pct):

        if not self.high2:

            return ((self.dcHigh-self.dcLow)/(self.errHigh-self.errLow))*(pct-self.errHigh) + self.dcHigh

        else:

            return (-1*(self.dcHigh-self.dcLow)/(self.errHigh-self.errLow))*(pct-self.errHigh) + self.dcLow

    def set_dc(self, dc):

        assert self.servo is not None, "Servo was not initialized. Run servo.setup()"

        dc = min(dc, self.dcHigh)

        dc = max(dc, self.dcLow)

        self.servo.ChangeDutyCycle(dc)