python: Servo: add Navio+ support

Add root check
Add Navio+ entry and add shield auto choice

Python/Servo.py

@@ -1,21 +1,32 @@
-import sys
 import time
+import os;
 
-import navio.pwm
-import navio.util
-
-navio.util.check_apm()
+import navio.Common.util
+import navio.Navio2.RCOutput
+import navio.Navio.RCOutput
 
 PWM_OUTPUT = 0
 SERVO_MIN = 1.250 #ms
 SERVO_MAX = 1.750 #ms
 
-with navio.pwm.PWM(PWM_OUTPUT) as pwm:
- pwm.set_period(50)
- pwm.enable()
+def get_pwm():
+ if (navio.Common.util.get_navio_version() == "NAVIO2"):
+ return navio.Navio2.RCOutput(PWM_OUTPUT)
+ else:
+ return navio.Navio.RCOutput(PWM_OUTPUT)
+
+if (os.getuid() != 0):
+ print "Not root. Please, launch like this: sudo python Servo.py"
+ exit(-1)
+
+navio.Common.util.check_apm()
+
+with get_pwm() as pwm:
+ pwm.set_period(50)
+ pwm.enable()
 
- while (True):
- pwm.set_duty_cycle(SERVO_MIN)
- time.sleep(1)
- pwm.set_duty_cycle(SERVO_MAX)
- time.sleep(1)
+ while (True):
+ pwm.set_duty_cycle(SERVO_MIN)
+ time.sleep(1)
+ pwm.set_duty_cycle(SERVO_MAX)
+ time.sleep(1)