description=
'Example sketch that controls an LED strip via Spacebrew. It uses the LED Strip Python library for Adafruit\'s LPD8806 LED strips.'
)
# Define the server optional parameter
parser.add_argument('-s',
'--server',
nargs=1,
type=str,
default='sandbox.spacebrew.cc',
help='the spacesb server hostname')
# read all command line parameters
args = parser.parse_args()
pwm = PWM(0x40, debug=True)
pwm.setPWMFreq(250)
base_pos = 1024
bars = [0, 0, 0, 0]
bars_prev = [0, 0, 0, 0]
def updateBar1(val):
updateBar(1, val)
def updateBar2(val):
updateBar(2, val)
class ServoDriver:
##
# Constructor method for ServoDriver class
# @param {integer} address i2c address of the 16-channel PWM driver
# @param {integer} begin Default pulse length in nanosecs to set servo to beginning position
# @param {integer} end Default pulse length in nanosecs to set servo to end position
# @param {integer} freq number of pwn windows per second (frequency), determine max and min pulse length
# @partm {boolean} debug flag that turns on and off debug messages
def __init__ (self, address = 0x40, begin = 570, end = 2650, freq = 60, debug = False):
self.debug = debug
self.freq = freq
# minimum pulse length in nanoseconds based on freq and 12-bit resolution of PWM driver
self.nanosec_res = 1.0 / freq * 1000000.0 / 4096.0
# make sure the begin and end pulse length in nanoseconds is supported with current frequency
if begin < self.nanosec_res: begin = self.nanosec_res
if begin > (self.nanosec_res * 4096): begin = (self.nanosec_res * 4096)
if end < self.nanosec_res: end = self.nanosec_res
if end > (self.nanosec_res * 4096): end = (self.nanosec_res * 4096)
# initialize the configuration array that holds config settings for all servos
self.configurations = [{"begin": begin, "end": end, "range": (end - begin), "stop": 400, "continuous": False} for x in range(16)]
# connect to PWM driver at specified i2c address
self.connect(address)
##
# connect Method initializes that connects to PWM driver and sets the appropriate PWM frequency
# @param {integer} address i2c address of the 16-channel PWM driver
def connect (self, address):
if self.debug: print "[connect:ServoDriver] connecting to the servo driver at i2c address ", address
self.pwm = PWM(address, debug = self.debug)
self.pwm.setPWMFreq(self.freq)
##
# continuous Method that configures specified servos as continous rotation servos
# @param {integer} servo Number of the servo channel
# @param {boolean} continuous Sets whether the servo at the specified channel should be set to continuous
def continous (self, servo, continuous = True):
if self.debug: print "[continuous:ServoDriver] setting servo ", servo, " continuous mode to ", continuous
self.configurations[servo]["continuous"] = continuous
##
# calibrationTest Method that runs a calibration test designed to enable user to figure out
# the pulse length that sets a specific servo to its beginning and end positions.
# The test consists of changing the pulse length at a specified interval, and
# printing the current pulse length to the terminal/console.
# @param {integer} servo Number of the servo channel
# @param {integer} start_pulse Length in nanosecs of the pulse to start the calibration process. If
# this is set to shorter value than the minimum supported pulse length
# then it is adjusted appropriately.
# @param {integer} inc_pulse Increase in pulse length in nanosec during each step in the
# calibration process
# @param {integer} inc_inter Interval in seconds between each step in the calibration process.
#
def calibrationTest (self, servo, start_pulse = 1, inc_pulse = 25, inc_inter = 1):
# adjust start_pulse if it is shorter than minimum pulse length
if start_pulse < self.nanosec_res: start_pulse = self.nanosec_res
# convert starting pulse length, and pulse increment to format required for setting PWM driver
rel_cur_pulse = int(start_pulse / self.nanosec_res)
rel_inc_pulse = int(inc_pulse / self.nanosec_res)
# if the current pulse length is longer than supported by current frequency then abort
if rel_cur_pulse > 4098: return
print "*******************************************************************************"
print "Calibration Test "
print " - starting with pulse length (nanosecs): ", start_pulse
print " - increment per step (nanosecs): ", inc_pulse
print " - starting pulse length as 12-bit relative pos based on full window: ", rel_cur_pulse
print "--------------------------------------------------------------------------------"
# send pulse to take servo to starting position
self.pwm.setPWM(servo, 0, rel_cur_pulse)
time.sleep(3)
# increase pulse length until we reach the maximum pulse length
while rel_cur_pulse < 4098 :
print " - updated pulse length, nanosecs: ", (rel_cur_pulse * self.nanosec_res), ", 12-bit rel pos: ", rel_cur_pulse
self.pwm.setPWM(servo, 0, rel_cur_pulse) # set pulse length
rel_cur_pulse += rel_inc_pulse # increase the pulse length
time.sleep(inc_inter) # wait for interval time
##
# calibratePos Method used to calibrate a normal servo that is attached to the specified channel
# on the PWM driver
# @param {integer} servo Number of the servo channel
# @param {integer} begin Pulse length in nanosecs to set specified servo to beginning position
# @param {integer} end Pulse length in nanosecs to set specified servo to end position
def calibratePos (self, servo, begin, end):
if self.debug: print "[calibratePos:ServoDriver] calibrating servo ", servo, " begin pulse to ", begin, ", and end ", end
self.configurations[servo]["begin"] = begin
self.configurations[servo]["end"] = end
self.configurations[servo]["range"] = end - begin
##
# calibrateCont Method used to calibrate a continuous rotation servo that is attached to the specified
# channel on the PWM driver
# @param {integer} servo Number of the servo channel
# @param {integer} stop Pulse length in nanosecs to stop the servo from rotating
def calibrateCont (self, servo, stop):
if self.debug: print "[calibrateCont:ServoDriver] calibrating continous servo ", servo, " to stop pulse ", stop
self.configurations[servo]["stop"] = stop
##
# move Method that updates the position of the specified servo. For normal servos, this method
# enables you to set a specific position; for continuous rotation serovs this method
# enables you to set their rotation direction and speed.
# @param {integer} servo Number of the servo channel
# @param {integer} pos Values between 90 and -90 translate into a position for normal servos,
# For continuous rotation servos 0 will stop their rotation, a higher value
# will rotate it left, and a lower value will rotate it to the right.
def move (self, servo, pos):
if pos < -90: degress = -90
elif pos > 90: degree = 90
pos += 90
# handle normal servos
if self.configurations[servo]["continuous"] == False:
if self.debug: print "[move:ServoDriver] moving servo ", servo, " to pos ", pos
range_mult = self.configurations[servo]["range"] / 180.0
pos = self.configurations[servo]["begin"] + (pos * range_mult)
pos_int = int(pos / self.nanosec_res)
self.pwm.setPWM(servo, 0, pos_int)
# handle continuous servos
else:
if self.debug: print "[move:ServoDriver] moving continous servo ", servo, " to ", pos
pos = pos * (2048 / 90)
self.pwm.setPWM( servo, 0, (self.configurations[servo]["stop"] + pos) )
def connect (self, address): if self.debug: print "[connect:ServoDriver] connecting to the servo driver at i2c address ", address self.pwm = PWM(address, debug = self.debug) self.pwm.setPWMFreq(self.freq)
import argparse
import random
# Define app description and optional paramerters
parser = argparse.ArgumentParser(description='Example sketch that controls an LED strip via Spacebrew. It uses the LED Strip Python library for Adafruit\'s LPD8806 LED strips.')
# Define the server optional parameter
parser.add_argument('-s', '--server',
nargs=1, type=str,
default='sandbox.spacebrew.cc',
help='the spacesb server hostname')
# read all command line parameters
args = parser.parse_args()
pwm = PWM(0x40, debug=True)
pwm.setPWMFreq(250)
base_pos = 1024
bars = [0,0,0,0]
bars_prev = [0,0,0,0]
def updateBar1(val):
updateBar(1, val)
def updateBar2(val):
updateBar(2, val)
def updateBar3(val):
updateBar(3, val)
