def __init__(self, channel, shiftreg_nr, pulse_width_start, pulse_width_stop, init_angle, turnoff_timeout=0):
"""Define a new software controllable servo with adjustable speed control
Keyword arguments:
pulse_width_start -- The minimum pulse width defining the lowest angle
pulse_width_stop -- The maximum pulse width defining the biggest angle
init_angle -- Initial angle that the servo should take when it is powered on. Range is 0 to 180deg
turnoff_timeout -- number of seconds after which the servo is turned off if no command is received. 0 = never turns off
"""
self.pulse_width_start = pulse_width_start
self.pulse_width_stop = pulse_width_stop
self.turnoff_timeout = turnoff_timeout
self.current_pulse_width = (init_angle*(self.pulse_width_stop-self.pulse_width_start)/180.0+self.pulse_width_start)
self.last_pulse_width = self.current_pulse_width
self.queue = JoinableQueue(1000)
self.lastCommandTime = 0
self.t = Thread(target=self._wait_for_event)
self.t.daemon = True
self.running = True
self.t.start()
self.pwm = PWM_pin(channel, 100, 0.1)
# Set up the Shift register for enabling this servo
ShiftRegister.make()
self.shift_reg = ShiftRegister.registers[shiftreg_nr]
self.set_enabled()
def __init__(self, step_pin, dir_pin, fault_key, dac_channel, shiftreg_nr, name):
""" Init """
self.dac_channel = dac_channel # Which channel on the dac is connected to this stepper
self.step_pin = step_pin
self.dir_pin = dir_pin
self.fault_key = fault_key
self.name = name
self.enabled = False
self.in_use = False
self.steps_pr_mm = 1
self.microsteps = 1.0
self.microstepping = 0
self.direction = 1
self.current_disabled = False
# Set up the Shift register
ShiftRegister.make(8)
self.shift_reg = ShiftRegister.registers[shiftreg_nr]
# Set up the GPIO pins - we just have to initialize them so the PRU can flip them
# terrible hack to cover a bug in Adafruit
dir_name = "EHRPWM2A" if dir_pin == "GPIO0_22" else dir_pin
try:
GPIO.setup(dir_name, GPIO.OUT)
GPIO.setup(step_pin, GPIO.OUT)
except ValueError:
logging.warning("*** Stepper {} Pin {} initialization failure:".format(self.name, dir_name))
# Add a key code to the key listener
# Steppers have an nFAULT pin, so callback on falling
Key_pin(name, fault_key, Key_pin.FALLING, self.fault_callback)
def __init__(self,
channel,
pulse_width_start,
pulse_width_stop,
init_angle,
turnoff_timeout=0):
"""Define a new software controllable servo with adjustable speed control
Keyword arguments:
pulse_width_start -- The minimum pulse width defining the lowest angle
pulse_width_stop -- The maximum pulse width defining the biggest angle
init_angle -- Initial angle that the servo should take when it is powered on. Range is 0 to 180deg
turnoff_timeout -- number of seconds after which the servo is turned off if no command is received. 0 = never turns off
"""
self.pulse_width_start = pulse_width_start
self.pulse_width_stop = pulse_width_stop
self.turnoff_timeout = turnoff_timeout
self.current_pulse_width = init_angle * (
self.pulse_width_stop -
self.pulse_width_start) / 180.0 + self.pulse_width_start
self.last_pulse_width = self.current_pulse_width
self.queue = JoinableQueue(1000)
self.lastCommandTime = 0
self.t = Thread(target=self._wait_for_event)
self.t.daemon = True
self.running = True
self.t.start()
self.pwm = PWM_pin(channel, 100, self.current_pulse_width)
# Set up the Shift register for enabling this servo
if channel == "P9_14":
shiftreg_nr = 3
elif channel == "P9_16":
shiftreg_nr = 2
else:
logging.warning(
"Tried to assign servo to an unknown channel/pin: " +
str(channel))
return
ShiftRegister.make()
self.shift_reg = ShiftRegister.registers[shiftreg_nr]
self.set_enabled()
def __init__(self, stepPin, dirPin, faultPin, dac_channel, shiftreg_nr, name, internalStepPin, internalDirPin):
""" Init """
self.dac_channel = dac_channel # Which channel on the dac is connected to this stepper
self.stepPin = stepPin
self.dirPin = dirPin
self.faultPin = faultPin
self.name = name
self.enabled = False
self.in_use = False
self.steps_pr_mm = 1
self.microsteps = 1.0
self.direction = 1
self.internalStepPin = (1 << internalStepPin)
self.internalDirPin = (1 << internalDirPin)
# Set up the Shift register
ShiftRegister.make()
self.shift_reg = ShiftRegister.registers[shiftreg_nr]
def __init__(self, stepPin, dirPin, faultPin, dac_channel, shiftreg_nr,
name, internalStepPin, internalDirPin):
""" Init """
self.dac_channel = dac_channel # Which channel on the dac is connected to this stepper
self.stepPin = stepPin
self.dirPin = dirPin
self.faultPin = faultPin
self.name = name
self.enabled = False
self.in_use = False
self.steps_pr_mm = 1
self.microsteps = 1.0
self.direction = 1
self.internalStepPin = (1 << internalStepPin)
self.internalDirPin = (1 << internalDirPin)
# Set up the Shift register
ShiftRegister.make()
self.shift_reg = ShiftRegister.registers[shiftreg_nr]
def __init__(self, step_pin, dir_pin, fault_key, dac_channel, shiftreg_nr, name):
""" Init """
self.dac_channel = dac_channel # Which channel on the dac is connected to this stepper
self.step_pin = step_pin
self.dir_pin = dir_pin
self.fault_key = fault_key
self.name = name
self.enabled = False
self.in_use = False
self.steps_pr_mm = 1
self.microsteps = 1.0
self.microstepping = 0
self.direction = 1
# Set up the Shift register
ShiftRegister.make(8)
self.shift_reg = ShiftRegister.registers[shiftreg_nr]
# Add a key code to the key listener
# Steppers have an nFAULT pin, so callback on falling
Key_pin(name, fault_key, Key_pin.FALLING, self.fault_callback)
def __init__(self, step_pin, dir_pin, fault_key, dac_channel, shiftreg_nr,
name):
""" Init """
self.dac_channel = dac_channel # Which channel on the dac is connected to this stepper
self.step_pin = step_pin
self.dir_pin = dir_pin
self.fault_key = fault_key
self.name = name
self.enabled = False
self.in_use = False
self.steps_pr_mm = 1
self.microsteps = 1.0
self.microstepping = 0
self.direction = 1
# Set up the Shift register
ShiftRegister.make(8)
self.shift_reg = ShiftRegister.registers[shiftreg_nr]
# Add a key code to the key listener
# Steppers have an nFAULT pin, so callback on falling
Key_pin(name, fault_key, Key_pin.FALLING, self.fault_callback)
def __init__(self,
channel,
pulse_width_min,
pulse_width_max,
angle_min,
angle_max,
init_angle,
turnoff_timeout=0):
"""Define a new software controllable servo with adjustable speed control
Keyword arguments:
pulse_width_min -- The minimum pulse width defining the lowest angle
pulse_width_max -- The maximum pulse width defining the biggest angle
init_angle -- Initial angle that the servo should take when it is powered on. Range is 0 to 180deg
turnoff_timeout -- number of seconds after which the servo is turned off if no command is received. 0 = never turns off
"""
self.angle_min = angle_min
self.angle_max = angle_max
self.angle_total = angle_max - angle_min
self.pulse_width_min = pulse_width_min
self.pulse_width_max = pulse_width_max
self.pulse_width_total = pulse_width_max - pulse_width_min
self.turnoff_timeout = turnoff_timeout
self.current_pulse_width = self.angle_to_pulse_width(init_angle)
self.last_pulse_width = self.current_pulse_width
self.last_angle = init_angle
self.pulse_length = 20.0 * 10.0**-3.0 # 20 ms
logging.debug("Angle min: {} deg".format(self.angle_min))
logging.debug("Angle max: {} deg".format(self.angle_max))
logging.debug("Angle tot: {} deg".format(self.angle_total))
logging.debug("Pulse min: {} ms".format(self.pulse_width_min * 1000.0))
logging.debug("Pulse max: {} ms".format(self.pulse_width_max * 1000.0))
logging.debug("Pulse tot: {} ms".format(self.pulse_width_total *
1000.0))
self.queue = JoinableQueue(1000)
self.lastCommandTime = 0
self.t = Thread(target=self._wait_for_event, name="Servo")
self.t.daemon = True
self.running = True
self.t.start()
# Branch based on channel type.
if type(channel) == int: # Revision A
self.pwm = PWM(channel, 50, self.current_pulse_width)
else: # Revision B
# Set up the Shift register for enabling this servo
if channel == "P9_14":
shiftreg_nr = 1
self.pwm = PWM_pin(channel, 50, self.current_pulse_width)
elif channel == "P9_16":
shiftreg_nr = 2
self.pwm = PWM_pin(channel, 50, self.current_pulse_width)
else:
logging.warning(
"Tried to assign servo to an unknown channel/pin: " +
str(channel))
return
ShiftRegister.make(5)
self.shift_reg = ShiftRegister.registers[shiftreg_nr]
self.set_enabled()
self.pwm.set_value(
self.angle_to_pulse_width(init_angle) / self.pulse_length)
def __init__(self, channel, pulse_width_min, pulse_width_max, angle_min, angle_max, init_angle, turnoff_timeout=0):
"""Define a new software controllable servo with adjustable speed control
Keyword arguments:
pulse_width_min -- The minimum pulse width defining the lowest angle
pulse_width_max -- The maximum pulse width defining the biggest angle
init_angle -- Initial angle that the servo should take when it is powered on. Range is 0 to 180deg
turnoff_timeout -- number of seconds after which the servo is turned off if no command is received. 0 = never turns off
"""
self.angle_min = angle_min
self.angle_max = angle_max
self.angle_total = angle_max-angle_min
self.pulse_width_min = pulse_width_min
self.pulse_width_max = pulse_width_max
self.pulse_width_total = pulse_width_max-pulse_width_min
self.turnoff_timeout = turnoff_timeout
self.current_pulse_width = self.angle_to_pulse_width(init_angle)
self.last_pulse_width = self.current_pulse_width
self.last_angle = init_angle
self.pulse_length = 20.0*10.0**-3.0 # 20 ms
logging.debug("Angle min: {} deg".format(self.angle_min))
logging.debug("Angle max: {} deg".format(self.angle_max))
logging.debug("Angle tot: {} deg".format(self.angle_total))
logging.debug("Pulse min: {} ms".format(self.pulse_width_min*1000.0))
logging.debug("Pulse max: {} ms".format(self.pulse_width_max*1000.0))
logging.debug("Pulse tot: {} ms".format(self.pulse_width_total*1000.0))
self.queue = JoinableQueue(1000)
self.lastCommandTime = 0
self.t = Thread(target=self._wait_for_event)
self.t.daemon = True
self.running = True
self.t.start()
# Branch based on channel type.
if type(channel) == int: # Revision A
self.pwm = PWM(channel, 50, self.current_pulse_width)
else: # Revision B
# Set up the Shift register for enabling this servo
if channel == "P9_14":
shiftreg_nr = 1
self.pwm = PWM_pin(channel, 50, self.current_pulse_width)
elif channel == "P9_16":
shiftreg_nr = 2
self.pwm = PWM_pin(channel, 50, self.current_pulse_width)
else:
logging.warning("Tried to assign servo to an unknown channel/pin: "+str(channel))
return
ShiftRegister.make(5)
self.shift_reg = ShiftRegister.registers[shiftreg_nr]
self.set_enabled()
self.pwm.set_value(self.angle_to_pulse_width(init_angle)/self.pulse_length)
