antennas test

mini_bdx_runtime/mini_bdx_runtime/antennas.py

@@ -1,4 +1,5 @@
 import RPi.GPIO as GPIO
+import numpy as np
 import time
 
 LEFT_ANTENNA_PIN = 13
@@ -6,6 +7,7 @@ RIGHT_ANTENNA_PIN = 12
 LEFT_SIGN = 1
 RIGHT_SIGN = -1
 
+
 class Antennas:
     def __init__(self):
 
@@ -28,7 +30,6 @@ class Antennas:
     def set_position_right(self, position):
         self.set_position(2, position, RIGHT_SIGN)
 
-
     def set_position(self, servo, value, sign=1):
         """
         Moves the servo based on an input value in the range [-1, 1].
@@ -57,15 +58,13 @@ class Antennas:
         self.pwm2.stop()
         GPIO.cleanup()
 
-# if __name__ == "__main__":
-#     servo_control = Antennas()
 
-#     try:
-#         while True:
-#             servo_num = int(input("Enter servo number (1 or 2): "))
-#             value = float(input("Enter position (-1 to 1): "))
-#             servo_control.set_position(servo_num, value)
+if __name__ == "__main__":
+    antennas = Antennas()
 
-#     except KeyboardInterrupt:
-#         print("Stopping servos...")
-#         servo_control.stop()
+    s = time.time()
+    while True:
+        antennas.set_position_left(np.sin(2 * np.pi * 1 * time.time()))
+        antennas.set_position_right(np.sin(2 * np.pi * 1 * time.time()))
+
+        time.sleep(1 / 50)

scripts/antennas_controller_test.py

@@ -8,12 +8,11 @@ antennas = Antennas()
 
 
 while True:
-    _, _, _, left_trigger, right_trigger = (
-        controller.get_last_command()
-    )
+
+    _, _, left_trigger, right_trigger = controller.get_last_command()
 
     antennas.set_position_left(right_trigger)
     antennas.set_position_right(left_trigger)
 
     # print(left_trigger, right_trigger)
-    time.sleep(1/50)
+    time.sleep(1 / 50)