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feat: use redis to communicate movement

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Rick Rongen
2020-08-27 16:37:54 +02:00
parent 32e2e0dfae
commit 24a36e156f
5 changed files with 147 additions and 72 deletions
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45
control/walle.py
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@@ -3,7 +3,7 @@ import collections
from .pca9685 import ServoController, map_range
from .dc_motor_controller import DcMotor, setup_gpio
ServoMinMax = collections.namedtuple('ServoMinMax', ['minval', 'maxval'])
ServoMinMax = collections.namedtuple('ServoMinMax', ['minval', 'maxval', 'restval', 'maxstep'])
try:
from RPi import GPIO
@@ -25,13 +25,13 @@ SERVO_NECK_TOP = 10
SERVO_NECK_BOTTOM = 9
SERVO_MIN_MAX = {
SERVO_ARM_L: ServoMinMax(50, 130),
SERVO_ARM_R: ServoMinMax(50, 130),
SERVO_EYE_L: ServoMinMax(40, 100),
SERVO_EYE_R: ServoMinMax(80, 120),
SERVO_NECK_ROTATE: ServoMinMax(60, 120), # 60 - 90 - 120
SERVO_NECK_TOP: ServoMinMax(30, 180),
SERVO_NECK_BOTTOM: ServoMinMax(10, 180),
SERVO_ARM_L: ServoMinMax(50, 130, 50, 5),
SERVO_ARM_R: ServoMinMax(50, 130, 130, 5),
SERVO_EYE_L: ServoMinMax(40, 100, 40, 5),
SERVO_EYE_R: ServoMinMax(80, 120, 120, 5),
SERVO_NECK_ROTATE: ServoMinMax(60, 120, 90, 5), # 60 - 90 - 120
SERVO_NECK_TOP: ServoMinMax(30, 180, 30, 5),
SERVO_NECK_BOTTOM: ServoMinMax(10, 180, 10, 5),
}
@@ -42,14 +42,37 @@ class WallE:
self.motor_b = DcMotor(PIN_MOTOR_B_ENABLE, PIN_MOTOR_B_REVERSE)
self.servo_controller = ServoController()
self.servo_controller.setup()
self.servo_positions = {}
self.servo_targets = {}
def setup(self):
for channel, min_max in SERVO_MIN_MAX.items():
self.servo_controller.write(channel, min_max.restval)
self.servo_positions[channel] = min_max.restval
def tick(self):
for channel, target in self.servo_targets.items():
current_value = self.servo_positions[channel]
if target == current_value:
del self.servo_targets[channel]
continue
try:
servo_min_max = SERVO_MIN_MAX[channel]
except IndexError:
continue
delta = abs(current_value - target)
step_size = min(delta, servo_min_max.maxstep)
new_val = current_value + step_size if target > current_value else current_value - step_size
self.servo_controller.write(channel, new_val)
self.servo_positions[channel] = new_val
def set_servo(self, channel, value):
try:
min_val, max_val = SERVO_MIN_MAX[channel]
servo_min_max = SERVO_MIN_MAX[channel]
except IndexError:
return None
value = min(max_val, max(min_val, value))
self.servo_controller.write(channel, value)
value = min(servo_min_max.maxval, max(servo_min_max.minval, value))
self.servo_targets[channel] = value
def set_arm_l(self, val):
self.set_servo(SERVO_ARM_L, val)