def do(self):
old_angle = self.device.get_servo_rotation(self.servo_id)
speed = settings.get_servo(self.servo_id).speed
duration = abs(old_angle - self.angle) / speed
self.device.set_servo_rotation(self.servo_id, self.angle)
sleep(duration)
self.end()
def on_ok_button_press(self, *largs):
for i in range(settings.servo_count):
slider = self.ids['sliders_grid'].children[i]
servo_settings = settings.get_servo(i)
servo_settings.min_rotation = int(slider.min)
servo_settings.max_rotation = int(slider.max)
self.parent.back_to_main_menu()
def go_into_dance_pose():
for i in range(settings.servo_count):
servo_settings = settings.get_servo(i)
default_init_rotation = (servo_settings.max_rotation + servo_settings.min_rotation) / 2
if i == 1:
timmy_device.set_servo_rotation(i, 14) # magic const
else:
timmy_device.set_servo_rotation(i, default_init_rotation)
sleep(1)
def set_servo_rotation(self, servo_id, rotation):
if servo_id < 0 or servo_id > settings.servo_count - 1:
print 'Wrong servo index: {}'.format(servo_id)
return
servo_settings = settings.get_servo(servo_id)
if rotation < servo_settings.min_rotation:
rotation = servo_settings.min_rotation
if rotation > servo_settings.max_rotation:
rotation = servo_settings.max_rotation
self.rotations[servo_id] = rotation
return True
def dance():
def dance_processing():
while not self.is_stopped:
elapsed_time = time() - start_time
# if elapsed_time > length:
# break
# if elapsed_time > beats[current_beat]:
# current_beat += 1
# if current_beat >= len(beats):
# break
# state = 'min'
# self.app.timmy_device.set_servo_rotation(servo_id, min_rotation)
# elif current_beat > 0 and elapsed_time > (beats[current_beat - 1] + beats[current_beat]) / 2 and state == 'min':
# state = 'max'
# self.app.timmy_device.set_servo_rotation(servo_id, max_rotation)
if elapsed_time >= total_duration:
break
t = int(elapsed_time / total_duration * length)
s = self.sound_data.signal[t] * scale
rotation = int((max_rotation + min_rotation) / 2 + (max_rotation - min_rotation) / 2 * s / 32768)
timmy_device.set_servo_rotation(servo_id, rotation)
if not timmy_device.is_active():
return False
servo_id = 2 # !!! gui
scale = 4 # ??? calc
servo_settings = settings.get_servo(servo_id)
min_rotation = servo_settings.min_rotation
max_rotation = servo_settings.max_rotation
timmy_device.set_servo_rotation(servo_id, max_rotation)
state = 'max'
current_beat = 0
start_time = time()
length = len(self.sound_data.signal) #!!!: already calc
total_duration = float(length) / self.sound_data.rate
dance_thread = Thread(target=dance_processing)
dance_thread.start()
def set_servo_rotation(self, servo_id, rotation):
if servo_id < 0 or servo_id > settings.servo_count - 1:
print 'Wrong servo index: {}'.format(servo_id)
return
servo_settings = settings.get_servo(servo_id)
if rotation < servo_settings.min_rotation:
rotation = servo_settings.min_rotation
if rotation > servo_settings.max_rotation:
rotation = servo_settings.max_rotation
buffer = array('B', [0, 0, 0x01, TimmyDevice.servo_pulse, servo_id, rotation % 256, rotation / 256, 0, 0, 0, 0])
result = self.usb_dev.write(TimmyDevice.write_end_point_address, buffer, settings.timeout)
if result:
self.rotations[servo_id] = rotation
return result
def get_slider(servo_index):
servo_settings = settings.get_servo(servo_index)
return ServoSlider(min=servo_settings.min_rotation, max=servo_settings.max_rotation,
value=timmy_device.get_servo_rotation(servo_index),
on_value_changed=lambda value: on_slider_value_changed(servo_index, value))
