Docyke Servomotor code

2024/lib/docyke_servo.py

@@ -0,0 +1,53 @@
+class docyke_servo:
+    pi = None
+    gpio = None
+    min_pwm = None
+    max_pwm = None
+    zero_pwm = None
+    motor_range_pwm = None
+    max_angle = None
+    min_angle = None
+
+    def __init__(self, pi, gpio=12, min_pwm=500, max_pwm=2500, max_angle=360, min_angle=0):
+        """
+        Creates a docyke_servo object
+        :param pi: The pigpio object
+        :param gpio: The GPIO pin the servo's signal pin is connected to (default 12)
+        :param min_pwm: The minimum PWM the servo can handle, in microseconds (default 500)
+        :param max_pwm: THe maximum PWM the servo can handle, in microseconds (default 2500)
+        """
+        self.pi = pi
+        self.gpio = gpio
+        self.min_pwm = min_pwm
+        self.max_pwm = max_pwm
+        self.zero_pwm = (max_pwm + min_pwm) / 2
+        self.motor_range_pwm = max_pwm - self.zero_pwm
+        self.range_pwm = max_pwm - min_pwm
+        self.max_angle = max_angle
+        self.min_angle = min_angle
+        self.range_angle = max_angle - min_angle
+
+    def set_speed(self, speed, clockwise: bool):
+        """
+        Sets the speed of the servo
+        :param speed: The speed of the servo. 1.0 is full speed, 0.0 is full stop.
+        :param clockwise: Whether the servo should move clockwise or not. Expects a bool. True means move clockwise
+        """
+        speed = min(max(0.0, speed), 1.0)  # ensures the speed is a percentage value
+        self.pi.set_servo_pulsewidth(self.gpio, self.zero_pwm + ((speed if clockwise else -speed) * self.motor_range_pwm))
+
+    def stop(self):
+        """
+        Stops the servo
+        :return:
+        """
+        self.pi.set_servo_pulsewidth(self.gpio, self.zero_pwm)
+
+    def set_angle(self, angle):
+        p = float(max(min(angle, self.max_angle), self.min_angle) - self.min_angle) / self.range_angle
+        pwm = int(p * self.range_pwm + self.min_pwm)
+        self.pi.set_servo_pulsewidth(self.gpio, pwm)
+
+    def set_angle_zero(self):
+        self.set_angle(0)
+

2024/xbox-controller.py

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+import xbox
+import pigpio
+from lib.docyke_servo import docyke_servo
+
+print("START");
+
+
+def show(*args):
+    for arg in args:
+        print(arg, end="")
+
+
+def steer(joystick_pos):
+    servo.set_angle(180 + 180 * joystick_pos)
+
+
+pi = pigpio.pi()
+joy = xbox.Joystick()
+servo = docyke_servo(pi)
+
+try:
+    while not joy.Back():
+        steer(joy.leftX())
+
+
+finally:
+    # Close out when done
+    joy.close()