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servos.py
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servos.py
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import threading
import time
import noise
from limits import mapToLimits
from positions import *
from debug import DEBUG_SERVO
from robot_1 import ARMS_SERVO_BOARD, LEFT_ROTATE_PIN, LEFT_ROTATE_DIRECTION, LEFT_ROTATE_OFFSET, LEFT_LIFT_PIN, LEFT_LIFT_DIRECTION, LEFT_LIFT_OFFSET, LEFT_GRAB_PIN, LEFT_GRAB_DIRECTION, LEFT_GRAB_OFFSET, RIGHT_ROTATE_PIN, RIGHT_ROTATE_DIRECTION, RIGHT_ROTATE_OFFSET, RIGHT_LIFT_PIN, RIGHT_LIFT_DIRECTION, RIGHT_LIFT_OFFSET, RIGHT_GRAB_PIN, RIGHT_GRAB_DIRECTION, RIGHT_GRAB_OFFSET
# SERVO_BOARD = 0
# LEFT_ROTATE_PIN = 5
# LEFT_ROTATE_DIRECTION = - 1
# LEFT_ROTATE_OFFSET = 0
# LEFT_LIFT_PIN = 4
# LEFT_LIFT_DIRECTION = - 1
# LEFT_LIFT_OFFSET = 0
# LEFT_GRAB_PIN = 0
# LEFT_GRAB_DIRECTION = - 1
# LEFT_GRAB_OFFSET = - 7
# RIGHT_ROTATE_PIN = 2
# RIGHT_ROTATE_DIRECTION = 1
# RIGHT_ROTATE_OFFSET = 0
# RIGHT_LIFT_PIN = 1
# RIGHT_LIFT_DIRECTION = 1
# RIGHT_LIFT_OFFSET = 10
# RIGHT_GRAB_PIN = 3
# RIGHT_GRAB_DIRECTION = 1
# RIGHT_GRAB_OFFSET = 0
class ServoThread(threading.Thread):
def __init__(self, servos, power, position_timeperiod = 0.1, move_timeperiod = 0.01): # default 10hz postition, 100hz move
threading.Thread.__init__(self)
self.name = "ServoThread"
self.servos = servos
self.power = power
self.position_timeperiod = position_timeperiod
self.move_timeperiod = move_timeperiod
self.lock = threading.Lock()
self.position = INITIALISATION
self.initialiseOffsets()
self.sequence = []
self.moveTo(ARMS_CLOSED_PROTECTED)
def processNewPosition(self):
new_position_local_copy = None
with self.lock:
if (len(self.sequence) != 0):
new_position_local_copy = self.sequence.pop(0)
if (new_position_local_copy != None):
self.moveTo(new_position_local_copy)
def clearSequence(self):
with self.lock:
self.sequence = []
def setPosition(self, new_position):
self.clearSequence()
self.addPosition(new_position)
def addPosition(self, new_position):
with self.lock:
self.sequence.append(new_position)
def setSequence(self, new_sequence):
self.clearSequence()
self.addSequence(new_sequence)
def addSequence(self, new_sequence):
with self.lock:
self.sequence.extend(new_sequence)
def moveTo(self, new_position):
noise.signalServo(self.power)
start_rotate = self.position['rotate']
start_lift = self.position['lift']
start_grab = self.position['grab']
movement_time = new_position['time']
finish_rotate = new_position['rotate']
finish_lift = new_position['lift']
finish_grab = new_position['grab']
drotate = finish_rotate - start_rotate
dlift = finish_lift - start_lift
dgrab = finish_grab - start_grab
increments = movement_time / self.move_timeperiod
if (increments == 0):
fraction_per_increment = 1
else:
fraction_per_increment = 1 / increments
rotate_increment = drotate * fraction_per_increment
lift_increment = dlift * fraction_per_increment
grab_increment = dgrab * fraction_per_increment
i = 1
while (i < increments):
new_rotate = start_rotate + i * rotate_increment
new_lift = start_lift + i * lift_increment
new_grab = start_grab + i * grab_increment
self.setRotate(new_rotate)
self.setLift(new_lift)
self.setGrab(new_grab)
time.sleep(self.move_timeperiod)
i += 1
self.setRotate(finish_rotate)
self.setLift(finish_lift)
self.setGrab(finish_grab)
time.sleep(self.move_timeperiod)
def initialiseOffsets(self):
self.setRotate(0)
self.setLift(0)
self.setGrab(0)
def setRotate(self, rotate):
self.position['rotate'] = rotate
self.servos[ARMS_SERVO_BOARD][LEFT_ROTATE_PIN] = int(mapToLimits((self.position['rotate'] + LEFT_ROTATE_OFFSET) * LEFT_ROTATE_DIRECTION))
self.servos[ARMS_SERVO_BOARD][RIGHT_ROTATE_PIN] = int(mapToLimits((self.position['rotate'] + RIGHT_ROTATE_OFFSET) * RIGHT_ROTATE_DIRECTION))
def setLift(self, lift):
self.position['lift'] = lift
self.servos[ARMS_SERVO_BOARD][LEFT_LIFT_PIN] = int(mapToLimits((self.position['lift'] + LEFT_LIFT_OFFSET) * LEFT_LIFT_DIRECTION))
self.servos[ARMS_SERVO_BOARD][RIGHT_LIFT_PIN] = int(mapToLimits((self.position['lift'] + RIGHT_LIFT_OFFSET) * RIGHT_LIFT_DIRECTION))
def setGrab(self, grab):
self.position['grab'] = grab
self.servos[ARMS_SERVO_BOARD][LEFT_GRAB_PIN] = int(mapToLimits((self.position['grab'] + LEFT_GRAB_OFFSET) * LEFT_GRAB_DIRECTION))
self.servos[ARMS_SERVO_BOARD][RIGHT_GRAB_PIN] = int(mapToLimits((self.position['grab'] + RIGHT_GRAB_OFFSET) * RIGHT_GRAB_DIRECTION))
def run(self):
print "Starting " + self.name
while(True):
self.processNewPosition()
time.sleep(self.position_timeperiod)
print "Exiting " + self.name
def debug(self):
if (DEBUG_SERVO == True):
print self.name
print "position = " + str(self.position)
print "len(sequence) = " + str(len(self.sequence))
#from sr.robot import *
#import time
#R = Robot()
#lr = 5 #back is positive
#rr = 2 #forth is positive
#lt = 4 #left hand top servo (positive is down)
#rt = 1 #right hand top servo (positive up)
#lb = 0 #right hand bottom servo (positive is out)
#rb = 3 #left hand bottom servo (positive is in)
#
#
#R.servos[0][lr] = -20
#R.servos[0][rr] = 20
#R.servos[0][lt] = -20
##R.servos[0][rt] = 20
#R.servos[0][lb] = -20
#R.servos[0][rb] = 20
#time.sleep(5)
#
#R.servos[0][lr] = 0
#R.servos[0][rr] = 0
#R.servos[0][lt] = 0
#R.servos[0][rt] = 0
#R.servos[0][lb] = 0
#R.servos[0][rb] = 0
#
#time.sleep(5)
#
#R.servos[0][lr] = 0
#R.servos[0][rr] = 0
#R.servos[0][lt] = 40
#R.servos[0][rt] = -40
#R.servos[0][lb] = 0
#R.servos[0][rb] = 0
#
#time.sleep(5)
#
#R.servos[0][lr] = 0
#R.servos[0][rr] = 0
#R.servos[0][lt] = 40
#R.servos[0][rt] = -40
#R.servos[0][lb] = -20
#R.servos[0][rb] = 20
#
#time.sleep(5)
#
#R.servos[0][lr] = 0
#R.servos[0][rr] = 0
#R.servos[0][lt] = 40
#R.servos[0][rt] = -40
#R.servos[0][lb] = -40
#R.servos[0][rb] = 40
#
#
#i = 0
#while (i < 100):
# i += 0.1
# time.sleep(0.01)
# R.servos[0][lt] = 40 - i
# R.servos[0][rt] = -40 + i
#
#i = 0
#while (i < 100):
# i += 0.1
# time.sleep(0.01)
# R.servos[0][lr] = - i
# R.servos[0][rr] = i
#