compAIR/compLIB
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Protobuf prototype

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Konstantin Lampalzer 2022-03-18 18:11:16 +01:00
parent e277a83c5f
commit 9b567b8c6c
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client_s1/compLib/Servo.py Normal file
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from compLib.Spi import Spi, Register
SERVO_COUNT = 8
MIN_ANGLE = -90.0
MAX_ANGLE = 90.0
def map(x, in_min, in_max, out_min, out_max):
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
class Servo:
"""Control the servo ports on the robot
"""
@staticmethod
def set_position(port: int, angle: float, offset: float = 90.0):
"""Set position of servo connected to port
:param port: port between 1 and 8
:param angle: Angle of servo
"""
if port <= 0 or port > SERVO_COUNT:
raise IndexError("Invalid Servo port specified!")
angle = max(min(angle, MAX_ANGLE), MIN_ANGLE)
mapped_angle = int(map(angle, MIN_ANGLE, MAX_ANGLE, 0, 65535))
if port == 1:
Spi.write(Register.SERVO_1_PWM_H, 2, mapped_angle)
Spi.write(Register.PWM_1_CTRL, 1, 4)
elif port == 2:
Spi.write(Register.SERVO_2_PWM_H, 2, mapped_angle)
Spi.write(Register.PWM_1_CTRL, 1, 4)
elif port == 3:
Spi.write(Register.SERVO_3_PWM_H, 2, mapped_angle)
Spi.write(Register.PWM_2_CTRL, 1, 4)
elif port == 4:
Spi.write(Register.SERVO_4_PWM_H, 2, mapped_angle)
Spi.write(Register.PWM_2_CTRL, 1, 4)
elif port == 5:
Spi.write(Register.SERVO_5_PWM_H, 2, mapped_angle)
Spi.write(Register.PWM_3_CTRL, 1, 4)
elif port == 6:
Spi.write(Register.SERVO_6_PWM_H, 2, mapped_angle)
Spi.write(Register.PWM_3_CTRL, 1, 4)
elif port == 7:
Spi.write(Register.SERVO_7_PWM_H, 2, mapped_angle)
Spi.write(Register.PWM_4_CTRL, 1, 4)
elif port == 8:
Spi.write(Register.SERVO_8_PWM_H, 2, mapped_angle)
Spi.write(Register.PWM_4_CTRL, 1, 4)
@staticmethod
def setup_position():
"""Set position of servos to the position used during the setup process
"""
for i in range(1, SERVO_COUNT + 1):
Servo.set_position(i, 0)