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raspi_servo_control.py
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raspi_servo_control.py
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import socket
from adafruit_servokit import ServoKit
PORT = 12345
HOST = "192.168.0.183"
kit = ServoKit(channels=16)
s_list = [
[kit.servo[10], kit.servo[11]],
[kit.servo[13], kit.servo[12]],
[kit.servo[15], kit.servo[14]],
]
states = {
"Neutral": [60, 60, 60],
"Angry": [110, 60, 0],
"Sad": [110, 110, 110],
"Surprised": [0, 0, 0],
"Disgusted": [0, 60, 110],
"Happy": [100, 50, 10],
"Fearful": [0, 30, 60],
}
def reverse(degree):
return 180 - degree
def move_servo(pos):
print(f"moving motors to {pos}")
for index, s_pair in enumerate(s_list):
s_pair[0].angle = pos[index]
s_pair[1].angle = reverse(pos[index])
def start():
last_emo = "Nothing"
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server.connect((HOST, PORT))
while True:
try:
msg = server.recv(64).decode("utf-8")
print(f"Emotion received: {msg}")
if msg != last_emo:
if msg in states:
move_servo(states[msg])
last_emo = msg
except socket.error:
break
except KeyboardInterrupt:
break
if __name__ == "__main__":
start()