/
servo.py
311 lines (261 loc) · 11.2 KB
/
servo.py
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# servo.py
# Kevin McAleer
# March 2021
# PicoCat
from transition import Transition
from time import sleep, ticks_us
def map_angle(x, in_min, in_max, out_min, out_max):
return int((x-in_min) * (out_max-out_min) / (in_max-in_min) + out_min)
class Servo():
""" Models a cats foot """
__name = "" # The name of the Foot - Front_Right etc
__current_angle = 90 # the current angle of the servo
__transition = "ease_in_sine" # the transition type for easing in and out
__duration = 0.5 # the duration of the transition in ms (ie 1000000 = 1 second)
__channel = 0 # the channel of the PWM servo (for PCA9685)
__pin = 0 # the pin that the servo is connected to (if not using PCA9685)
__max_angle = 180
__min_angle = 0
__target_angle = 0 # Used for Easing
__current_time = 0 # Used for Easing
__start_value = 0 # Used for Easing
__change_in_value = 0 # Used for Easing
__target_angle = 90 # Used for Easing
__tick_started = False # Used for Easing
__tick_start_time = 0 # Used for Easing
def _us2duty(self, value):
return int(4095 * value / self.period)
def __init__(self, i2c, pca9685, name=None, pin=None, channel=None, address=0x40,
freq=50, min_us=600, max_us=2400, degrees=180):
self.period = 1000000 / freq
self.min_duty = self._us2duty(min_us)
self.max_duty = self._us2duty(max_us)
self.degrees = degrees
self.freq = freq
self.pca9685 = pca9685
self.pca9685.freq(freq)
if channel is None:
self.__channel = 0
else:
self.__channel = channel
print("Channel set to", channel)
if name is not None:
print(name)
self.__name = name
if pin is not None:
print(pin)
self.__pin = pin
@property
def channel(self):
return self.__channel
@channel.setter
def channel(self, channel_value):
if channel_value <= 15 and channel_value >= 0:
self.__channel = channel_value
else:
print("Error - the channel value was out of range, expected between 0 and 15, got,", channel_value)
@property
def pin(self):
return self.__pin
@pin.setter
def pin(self, value):
if value < 40:
self.__pin = value
else:
print("Pin value higher than pins available on Pico")
@property
def name(self):
return self.__name
@name.setter
def name(self, value):
self.__name = value
def show(self):
print("Name: ", self.name, "Pin:", self.pin, "Current Angle:", self.current_angle)
# print("Pin: ", self.pin)
# print("Current Angle:", self.current_angle)
def angle(self, angle_value, channel):
''' Sets the angle, in degrees '''
# print("setting angle for channel", self.channel, "to angle", angle_value)
if ((angle_value >= 0) and (angle_value >= self.min_angle)) and ((angle_value <= 180) and (angle_value <=self.max_angle)):
self.__current_angle = angle_value
# map values - degrees to duty
duty = map_angle(angle_value, 0, 180, 0, 4095)
# print("Duty is:", duty, "angle requested is", angle_value)
# self.__pwm.duty_u16(my_angle)
self.pca9685.duty(index=channel, value=duty)
sleep(0.0001)
else:
print("Angle value less than 0 or greater than 180", angle_value)
def release(self, channel):
''' release the break '''
self.pca9685.duty(channel, 0)
@property
def current_angle(self):
return self.__current_angle
@property
def max_angle(self):
return self.__max_angle
@max_angle.setter
def max_angle(self, value):
self.__max_angle = value
@property
def min_angle(self):
return self.__min_angle
@min_angle.setter
def min_angle(self, value):
if value >= 0 and value <= 180:
self.__min_angle = value
else:
print("Angle Value is invalue - should be between 0 and 180", value)
@property
def target_angle(self):
return self.__target_angle
@target_angle.setter
def target_angle(self, value):
self.__target_angle = value
@property
def transition(self):
return self.__transition
@transition.setter
def transition(self, value):
if value in ['linear_tween','ease_in_circ','ease_in_cubic','ease_in_expo','ease_in_quad','ease_in_quart','ease_in_quint','ease_in_sine',
'ease_in_out_circ', 'ease_in_out_cubic', 'ease_in_out_expo', 'ease_in_out_quad', 'ease_in_out_quart', 'ease_in_out_quint', 'ease_in_out_sine',
'ease_out_circ', 'ease_out_cubic', 'ease_out_expo', 'ease_out_quad', 'ease_out_quart', 'ease_out_quint', 'ease_out_sine']:
self.__transition = value
else:
print("Value is not a valid transition type")
@property
def duration(self):
""" In microseconds """
return self.__duration
@duration.setter
def duration(self, value_in_microseconds):
""" In microseconds """
self.__duration = value_in_microseconds
@property
def duration_in_seconds(self):
""" Returns the duration in seconds """
return self.__duration / 1000000
@duration_in_seconds.setter
def duration_in_seconds(self, value):
""" Sets the duration in seconds """
self.__duration = (value * 1000000)
@property
def elapsed_time(self):
""" In microseconds """
return self.__current_time - self.__tick_start_time
@property
def elapsed_time_in_seconds(self):
""" In seconds """
return self.elapsed_time / 1000000
@property
def target_angle(self):
return self.__target_angle
@property
def start_angle(self):
return self.__start_value
@start_angle.setter
def start_angle(self, value):
if value <= self.__max_angle and value >= self.__min_angle:
self.__start_value = value
else:
print("error - angle provided is outside the valid range - Max Angle: ", self.__max_angle, " Min Angle: ", self.__min_angle, " Angle provided: ", value)
@target_angle.setter
def target_angle(self, value):
if value <= self.__max_angle and value >= self.__min_angle:
self.__target_angle = value
# print("target angle for", self.name, "set to: ", self.__target_angle)
else:
print("Target Angle out of range - Min:", self.__min_angle, " Max: ", self.__max_angle, " angle provided: ", value)
@property
def change_in_value(self):
return self.__change_in_value
@change_in_value.setter
def change_in_value(self, value):
self.__change_in_value = value
def show(self):
print("name: ", self.name,
"Angle", self.current_angle,
"start time", self.__tick_start_time,
"elapsed time: ", self.elapsed_time_in_seconds,
"target angle:", self.target_angle,
"Transition type:", self.transition,
"current angle:", self.__current_angle)
def tick_start(self):
self.__tick_start_time = ticks_us()
def tick(self):
# print("tick: ", self.name)
self.__current_time = ticks_us()
elapsed_time = self.elapsed_time
# Check is the duration is up
if elapsed_time >= self.duration:
cur_angle = self.target_angle
self.angle(angle_value=cur_angle, channel=self.channel)
return True
cur_angle = self.__current_angle
valid_transition = False
# print("transition type is: ", self.__transition)
if self.__transition == 'linear_tween':
cur_angle = Transition().linear_tween(current_time=self.elapsed_time,
start_value=self.start_angle,
change_in_value=self.change_in_value,
duration=self.duration)
valid_transition = True
if self.__transition == 'ease_in_circ':
cur_angle = Transition().ease_in_circ(current_time=self.elapsed_time,
start_value=self.start_angle,
change_in_value=self.change_in_value,
duration=self.duration)
valid_transition = True
if self.__transition == 'ease_in_cubic':
cur_angle = Transition().ease_in_cubic(current_time=self.elapsed_time,
start_value=self.start_angle,
change_in_value=self.change_in_value,
duration=self.duration)
valid_transition = True
if self.__transition == 'ease_in_quad':
cur_angle = Transition().ease_in_quad(current_time=self.elapsed_time,
start_value=self.start_angle,
change_in_value=self.change_in_value,
duration=self.duration)
valid_transition = True
if self.__transition == 'ease_in_quart':
cur_angle = Transition().ease_in_quart(current_time=self.elapsed_time,
start_value=self.start_angle,
change_in_value=self.change_in_value,
duration=self.duration)
valid_transition = True
if self.__transition == 'ease_in_expo':
cur_angle = Transition().ease_in_expo(current_time=self.elapsed_time,
start_value=self.start_angle,
change_in_value=self.change_in_value,
duration=self.duration)
valid_transition = True
if self.__transition == 'ease_in_quart':
cur_angle = Transition().ease_in_quart(current_time=self.elapsed_time,
start_value=self.start_angle,
change_in_value=self.change_in_value,
duration=self.duration)
valid_transition = True
if self.__transition == 'ease_in_quint':
cur_angle = Transition().ease_in_quint(current_time=self.elapsed_time,
start_value=self.start_angle,
change_in_value=self.change_in_value,
duration=self.duration)
valid_transition = True
if self.__transition == 'ease_in_sine':
cur_angle = Transition().ease_in_sine(current_time=self.elapsed_time,
start_value=self.start_angle,
change_in_value=self.change_in_value,
duration=self.duration,
start_time=self.__tick_start_time,
target_angle=self.target_angle)
valid_transition = True
if not valid_transition:
print("error - No Valid Transition provided")
cur_angle = int(cur_angle)
self.angle(angle_value=cur_angle, channel=self.channel)
if self.current_angle == self.target_angle:
return True
else:
return False