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