import pygame

import pyfirmata # Firmata is a standard Arduino Serial communication protocol

# arduino firmata setup

arduino = pyfirmata.Arduino('COM5')

# set up yaw and pitch servo pins

Yaw = arduino.get_pin('d:3:s')

Pitch = arduino.get_pin('d:4:s')

# angles

yaw = 0

pitch = 0

# angles for updating

angles = [yaw, pitch]

oldAngles = angles

# divisors

XDIV = 7

YDIV = 4

# screen dimensions

SCREEN_WIDTH = 800

SCREEN_HEIGHT = 600

CANVAS_SIZE = (SCREEN_WIDTH, SCREEN_HEIGHT)

WHITE = (255, 255, 255)

# create screen

canvas = pygame.display.set_mode(CANVAS_SIZE)

# screen caption

pygame.display.set_caption("Laser Turret")

# create lines on screen

pygame.draw.line(canvas, WHITE, (0, SCREEN_HEIGHT / 2), (SCREEN_WIDTH, SCREEN_HEIGHT / 2))

pygame.draw.line(canvas, WHITE, (SCREEN_WIDTH / 2, 0), (SCREEN_WIDTH / 2, SCREEN_HEIGHT))

# Pygame Loop

clock = pygame.time.Clock()

while True:

for event in pygame.event.get():

if event.type == pygame.QUIT:

pygame.quit()

exit()

# get mouse positions

(mouseX, mouseY) = pygame.mouse.get_pos()

# possible tuning

# mouseY += 10z

# servo angles (coords -> angles)

yaw = int(mouseX * (182 / SCREEN_WIDTH))

pitch = int(mouseY * (182 / SCREEN_HEIGHT))

# update angles

angles = [yaw, pitch]

# serial send if updated angles

if angles != oldAngles:

oldAngles = angles

# serial send (angles -> PWM thingy)

Yaw.write(yaw * (255 / 182))

Pitch.write(pitch * (255 / 182))

print(yaw, pitch)

# pygame update

clock.tick(60)

pygame.display.flip()