def test_moveSync(self):
servos = set()
for num in range(16):
joint = Joint(str(num))
servo = Servo(joint, num)
servo.pulse = 750
servos.add(servo)
self._driver.move(servos) # blocking
time.sleep(1)
for i in range(5):
for servo in servos:
servo.pulse = 2000
self._driver.moveSync(servos, 0.5) # non blocking
# Wait previous move to end
self._driver.waitEndOfSyncMove()
for servo in servos:
servo.pulse = 750
self._driver.moveSync(servos, 0.5) # non blocking
# Wait previous move to end
self._driver.waitEndOfSyncMove()
def main():
"""
"""
def hexdec(value):
"""
"""
try:
return str(int(value))
except ValueError:
return str(int(value, 16))
# Parser options
parser = argparse.ArgumentParser(description="This tool is used to calibrate servos.")
parser.add_argument("-l", "--logger",
choices=("trace", "debug", "info", "warning", "error", "exception", "critical"), default="info",
dest="loggerLevel", metavar="LEVEL",
help="logger level")
parser.add_argument("-d", "--driver",
choices=("pru", "pca9685", "veyron", "pololuserial", "fake"), default="fake",
help="servos driver to use")
# Only for pca9685
pca9685Group = parser.add_argument_group("pca9685")
pca9685Group.add_argument("-t", "--target",
choices=("bbb", "rpi", "fake"), default="fake",
help="target to run I²C backend")
pca9685Group.add_argument("-b", "--bus",
type=int, default=-1,
help="I²C bus to use")
pca9685Group.add_argument("-f", "--frequency",
type=float, default=50.,
help="PWM frequency, in Hz")
pca9685Group.add_argument("-a", "--address",
type=hexdec, nargs='+',
help="I²C address of PCA 9685 chips")
# Only for veyron/pololuserial
veyronPololuGroup = parser.add_argument_group("veyron/pololuserial")
veyronPololuGroup.add_argument("-p", "--port",
default="/dev/ttyACM0",
help="serial port")
veyronPololuGroup.add_argument("-r", "--baudrate",
type=int, default=9600,
help="serial baudrate")
args = parser.parse_args()
Logger().setLevel(args.loggerLevel)
nbServos = None
if args.driver == "pru":
from py4bot.drivers.servosPRU import ServosPRU
nbServos = 32
driver = ServosPRU()
elif args.driver =="pca9685":
from py4bot.drivers.pipeDriver import PipeDriver
nbServos = 16 * len(args.address)
ARGS = [
"py4bot-pca9685.py",
"--logger", args.loggerLevel, "--target", args.target, "--bus", str(args.bus), "--frequency", str(args.frequency)
] + args.address
driver = PipeDriver(ARGS)
elif args.driver =="veyron":
from py4bot.drivers.veyron import Veyron
nbServos = 24
driver = Veyron(args.port, args.baudrate)
elif args.driver =="pololuserial":
from py4bot.drivers.pololuSerial import PololuSerial
nbServos = 8
driver = PololuSerial(args.port, args.baudrate)
elif args.driver =="fake":
from py4bot.drivers.fakeDriver import FakeDriver
nbServos = 32
driver = FakeDriver()
# Create servo pool
#servoPool = ServoPool() # TODO when using legsIndex and all settings params -> manage joints with names
servos = []
for num in range(nbServos):
joint = Joint(str(num))
servo = Servo(joint, num)
servo.pulse = 0
servo.guiPulse = DEFAULT_PULSE
servo.guiEnable = DEFAULT_ENABLE
servo.guiAngleMin = DEFAULT_ANGLE_MIN
servo.guiAngleMax = DEFAULT_ANGLE_MAX
servo.guiAngleNeutral = DEFAULT_ANGLE_NEUTRAL
try:
servo._offset = settings.SERVOS_CALIBRATION[num]['offset']
servo._ratio = settings.SERVOS_CALIBRATION[num]['ratio']
servo._pulse90 = settings.SERVOS_CALIBRATION[num]['pulse90']
except NameError:
#Logger().exception("main()", debug=True)
servo._offset = 90. - DEFAULT_ANGLE_NEUTRAL
servo._ratio = DEFAULT_RATIO
servo._pulse90 = DEFAULT_PULSE
servos.append(servo)
# Create Tkinter application
root = tk.Tk()
root.title("Servos Calibrator")
root.resizable(0, 0)
# Create View
params = {'nbServos': nbServos}
view = View(root, params)
# Create controller
model = {'servos': servos, 'driver': driver}
controller = Controller(model, view)
root.mainloop()
# Stop servos
for servo in servos:
servo.pulse = 0