From baffd0bbb178872082596454968ea8607c0a0c0d Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Wed, 17 Jul 2019 18:51:03 +0930
Subject: [PATCH] Add servo inheritance hierarchy to motor control

---
 MotorControl/motor.py    | 49 +++++++++++++++++++++++++++-------------
 MotorControl/servo.py    | 19 ++++++++++++++++
 MotorControl/steering.py | 13 +++++++++++
 3 files changed, 65 insertions(+), 16 deletions(-)
 create mode 100644 MotorControl/servo.py
 create mode 100644 MotorControl/steering.py

diff --git a/MotorControl/motor.py b/MotorControl/motor.py
index 132757c..95a0352 100644
--- a/MotorControl/motor.py
+++ b/MotorControl/motor.py
@@ -1,7 +1,10 @@
 import time
+from abc import ABC, abstractmethod
 
 from RPi import GPIO
 
+import MotorControl.servo as servo
+
 """This module controls the Motor and Servo control.
 
 This module provides an interface for interacting with
@@ -9,16 +12,23 @@ the motor on the Traxxas Slash using a Raspberry Pi
 3B+.
 """
 
-class MotorController:
+class Motor(servo.Servo, ABC):
+
+    @abstractmethod
+    def arm(self):
+        pass
+    
+
+class MotorController(Motor):
     def __init__(self, pin_number, frequency, duty_cycle=0):
         self._duty_cycle = duty_cycle
         self._operating_frequency = frequency
         self._running = False
         self.pin_number = pin_number
 
-        # Pulse width was mentioned to be 6-7.2% by uni group.
+        # Operating Frequency should be 50Hz
 
-        GPIO.setmode(GPIO.OUT)
+        GPIO.setmode(GPIO.BCM)
         GPIO.setup(self.pin_number, self._operating_frequency)
         self._control_pin = GPIO.PWM(self.pin_number, self._duty_cycle)
 
@@ -32,36 +42,43 @@ class MotorController:
         if value > 0 and value < 100:
             self._duty_cycle = value
             # Change the current duty cycle of the GPIO.
-            self._control_pin.changeDutyCycle
+            self._control_pin.changeDutyCycle(value)
 
-    def start(self):
+    def _start(self):
         if self._running:
             return
         else:
             self._control_pin.start(self._duty_cycle)
 
-    def stop(self):
+    def _stop(self):
         self._control_pin.stop()
 
     def arm(self):
-        # Set pulse width 0
+        # Set pulse width max
+        self._control_pin.start(7.2)
 
-
-        # Wait 1s
-
-        # Set pulse width to maximum
-
-        # Wait 1s
+        # Now wait until ESC is turned on.
+        input("Please turn on the ESC, then press enter")
 
         # set pulse width minimum
-
+        self._control_pin.ChangeDutyCycle(6)
         # Wait 1s
         
-        # Set pulse width to idle
+        # Set middle.
+        self._control_pin.ChangeDutyCycle(6.6)
+        # Also try setting to max again if necessary, once it's tested again.
+        
+        # Stop the control pin (set it to idle).
+        self._control_pin.stop()
 
+        # Now just start the control pin to use the slash, by setting the throttle.
+
+    @property
+    def percent(self):
         pass
 
-    def setThrottle(self, throttle: float):
+    @percent.setter
+    def percent(self, value):
         pass
 
 class MotorDetails:
diff --git a/MotorControl/servo.py b/MotorControl/servo.py
new file mode 100644
index 0000000..67d681b
--- /dev/null
+++ b/MotorControl/servo.py
@@ -0,0 +1,19 @@
+from abc import ABC, abstractmethod
+
+"""
+This module provides a base class for interacting with servo-like code.
+"""
+
+class Servo(ABC):
+    
+    @property
+    @abstractmethod
+    def percent(self):
+        pass
+
+    @percent.setter
+    @abstractmethod
+    def percent(self, forward):
+        pass
+
+    
\ No newline at end of file
diff --git a/MotorControl/steering.py b/MotorControl/steering.py
new file mode 100644
index 0000000..51e72ca
--- /dev/null
+++ b/MotorControl/steering.py
@@ -0,0 +1,13 @@
+import MotorControl.servo as servo
+
+class SteeringServo(servo.Servo):
+
+    @property
+    def percent(self):
+        # Set the 
+        pass
+
+    @percent.setter
+    def percent(self, forward):
+        # 
+        pass
\ No newline at end of file