/
OpenCat.py
151 lines (124 loc) · 4.42 KB
/
OpenCat.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
# PicoCat
# 31 January 2020
# Kevin McAleer
from machine import Pin, I2C
from time import sleep, time, ticks_us
from servo import Servo
from pca9685 import PCA9685
class Limbs():
"""
setup legs and feet to correspond to the correct channel
"""
FRONT_LEFT_LEG = 0
FRONT_RIGHT_LEG = 1
BACK_LEFT_LEG = 2
BACK_RIGHT_LEG = 3
FRONT_LEFT_FOOT = 4
FRONT_RIGHT_FOOT = 5
BACK_LEFT_FOOT = 6
BACK_RIGHT_FOOT = 7
TAIL = 8
NECK = 9
HEAD = 10
class Leg():
__name = "leg"
stand = False
def __init__(self, i2c, pca9685, shoulder_pin, foot_pin, name=None):
self.shoulder = Servo(i2c=i2c, pca9685=pca9685, name='shoulder', channel=shoulder_pin)
self.foot = Servo(i2c=i2c, pca9685=pca9685, name="foot", channel=foot_pin)
if name is not None:
self.__name = name
@property
def name(self):
return self.__name
@name.setter
def name(self, value):
self.__name = value
def stand(self):
print("standing up leg", self.name)
self.shoulder.transition = 'ease_in_sine'
self.foot.transition = 'ease_in_sine'
# self.shoulder.duration_in_seconds = 0.5
self.shoulder.duration_in_seconds = 2
# self.foot.duration_in_seconds = 0.5
self.foot.duration_in_seconds = 2
self.shoulder.target_angle = 180
self.foot.target_angle = 180
self.shoulder.start_angle = 90
self.shoulder.change_in_value = self.shoulder.target_angle - self.shoulder.start_angle
self.foot.start_angle = 90
self.foot.change_in_value = self.foot.target_angle - self.shoulder.start_angle
# Start the counters
self.shoulder.tick_start()
self.foot.tick_start()
def sit(self):
print("sitting down leg", self.name)
self.shoulder.transition = 'ease_in_sine'
self.foot.transition = 'ease_in_sine'
self.shoulder.duration_in_seconds = 2
self.foot.duration_in_seconds = 2
self.shoulder.target_angle = 0
self.foot.target_angle = 180
self.shoulder.start_angle = 90
self.shoulder.change_in_value = self.shoulder.target_angle - self.shoulder.start_angle
self.foot.start_angle = 90
self.foot.change_in_value = self.foot.target_angle - self.shoulder.start_angle
# Start the counters
self.shoulder.tick_start()
self.foot.tick_start()
@property
def stand_tick(self):
if not self.shoulder.tick() or self.foot.tick():
self.shoulder.tick()
self.foot.tick()
# show current values
self.foot.show()
self.shoulder.show()
return False
else:
return True
@stand_tick.setter
def stand_tick(self):
if self.shoulder.elapsed_time_in_seconds <= self.shoulder.duration_in_seconds:
self.stand_tick = False
else:
self.stand_tick = True
class PicoCat():
name = "PicoCat"
legs = []
sda = Pin(0)
scl = Pin(1)
id = 0
def __init__(self):
self.i2c = I2C(id=self.id, sda=self.sda, scl=self.scl)
self.pca9685 = PCA9685(self.i2c)
back_left = Leg(self.i2c, pca9685=self.pca9685, name="BACK_LEFT", shoulder_pin=Limbs.BACK_LEFT_LEG, foot_pin=Limbs.BACK_LEFT_FOOT)
back_right = Leg(self.i2c, pca9685=self.pca9685, name="BACK_RIGHT", shoulder_pin=Limbs.BACK_RIGHT_LEG, foot_pin=Limbs.BACK_RIGHT_FOOT)
front_left = Leg(self.i2c, pca9685=self.pca9685, name='FRONT_LEFT', shoulder_pin=Limbs.FRONT_LEFT_LEG, foot_pin=Limbs.FRONT_LEFT_FOOT)
front_right = Leg(self.i2c, pca9685=self.pca9685, name='FRONT_RIGHT', shoulder_pin=Limbs.FRONT_RIGHT_LEG, foot_pin=Limbs.FRONT_RIGHT_FOOT)
self.legs.append(front_left)
self.legs.append(front_right)
self.legs.append(back_left)
self.legs.append(back_right)
print("***", self.name, "is Online ***")
def stand(self):
print("Stand!")
for limb in self.legs:
limb.stand()
def sit(self):
print("Sit!")
for limb in self.legs:
limb.sit()
cat = PicoCat()
cat.stand()
for limb in cat.legs:
print("limb status:", limb.stand_tick)
while not limb.stand_tick:
print("not stand_tick")
limb.stand_tick
sleep(1)
cat.sit()
for limb in cat.legs:
while not limb.stand_tick:
print("not stand_tick")
limb.stand_tick