def stop_update_loop(self):
if self._dof_t is not None:
self._dof_t.stop()
if self.auto_enable_servos:
with Hardware.lock:
Hardware.servo_disable()
def startcap(electrodes):
global running
global numelectrodes
Hardware.cap_init(electrodes=electrodes, gpios=0, autoconfig=True)
numelectrodes = electrodes
running = True
def s_setservopos(conn, data):
pin_number = int(data.pop('pin_number', 0))
value = int(data.pop('value', 1500))
value = constrain(value, 500, 2500)
with Hardware.lock:
Hardware.servo_set(pin_number, value)
def stop(self):
print_info('Stop Robot loop')
with Hardware.lock:
Hardware.servo_disable()
self.stop_alive_loop()
self.stop_update_loop()
def start_update_loop(self):
if self._dof_t is not None:
self._dof_t.stop()
with Hardware.lock:
Hardware.servo_enable()
self._dof_t = StoppableThread(target=self.dof_update_loop)
def start(self):
print_info('Start Robot loop')
with Hardware.lock:
Hardware.servo_init()
self.start_update_loop()
if Preferences.get('alive', 'enabled', False):
self.start_alive_loop()
def robot_servo():
servo_pin = request.form.get('pin_number', type=int, default=0)
servo_value = request.form.get('value', type=int, default=1500)
servo_pin = constrain(servo_pin, 0, 32)
servo_value = constrain(servo_value, 500, 2500)
# print_info('pin: ' + str(servo_pin) + ', value: ' + str(servo_value))
with Hardware.lock:
Hardware.servo_enable()
Hardware.servo_set(servo_pin, servo_value)
return json.dumps({'success': True})
def robot_servos():
servo_data = request.form.get('servo_data', type=int, default=None)
values = []
for value in servo_data:
if value < 0:
values.append(None)
else:
values.append(constrain(value, 500, 2500))
with Hardware.lock:
Hardware.servo_enable()
Hardware.servo_set_all(values)
return json.dumps({'success': True})
def update(self):
"""
Updates the servo with the setted dof value.
:return: True if dof value is updated, False if dof value did not change
:rtype: bool
"""
dof_animation_changed = super(Servo, self).update()
# Only update if position is changed
if self.position == self.to_us():
return False
# print_info('Servo: pin: %i, pos: %f' % (self.pin, self.position))
if self.pin is not None:
with Hardware.lock:
Hardware.servo_set(self.pin, self.position)
# return True
return dof_animation_changed
def TouchLoop():
time.sleep(0.05) # delay
global running
global clientconn
while not touch_t.stopped():
if running:
data = {}
with Hardware.lock:
ret = Hardware.cap_get_filtered_data()
for i in range(numelectrodes):
data[i] = ret[i]
if clientconn:
clientconn.send_data('updateelectrodes',
{'electrodedata': data})
touch_t.sleep(0.1)
def servo_set_all(self, pos_list):
pos_list = list(pos_list.values())
Hardware.servo_set_all(post_list)
def spi_command(self, cmd, params=None, returned=0, delay=0):
if params is not None:
params = list(params.values())
return self.runtime.table_from(
Hardware.spi_command(cmd, params, returned, delay))
def ana_read_all_channels(self):
return self.runtime.table_from(Hardware.cap_get_baseline_data())
def cap_get_baseline_data(self):
return self.runtime.table_from(Hardware.cap_get_baseline_data())
def cap_get_filtered_data(self):
return self.runtime.table_from(Hardware.cap_get_filtered_data())