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acp_robot.py
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/
acp_robot.py
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import os
import logging
import sys
import signal
from acp.hexapod import Hexapod
from acp.servo import Servo
from acp.controller_xbox import XboxOneController
from acp.controller_network import NetworkController
from common import set_disposition, rconf, map
from typing import List
from dummy import DummyServo, DummyLed
from state import current_state
from spec.ttypes import Mode
try:
import board
import busio
from adafruit_motor import servo as ada_servo
from adafruit_pca9685 import PCA9685
BOARD_IMPORT_OK=True
except NotImplementedError as e:
board = object()
BOARD_IMPORT_OK=False
servo_error = e
except ModuleNotFoundError as e:
board = object()
BOARD_IMPORT_OK=False
servo_error = e
try:
from acp.led import Led
LED_IMPORT_OK=True
except ModuleNotFoundError as e:
LED_IMPORT_OK=False
led_error = e
logger = logging.getLogger(__name__)
class AcpRobot(Hexapod):
HEAD_TILT_CAL = [50, 120] # min, max
HEAD_ROTATE_CAL = [107, 0] # min, max
PCA_FREQ = 50 # Servo control freq
CONTROLLERS = {
"xbox": XboxOneController,
"network": NetworkController
}
def __init__(self, config_file_path: str,
controller: str = "xbox",
debug_servo: bool = False,
debug_led: bool = False):
super().__init__(config_file_path)
set_disposition()
if controller in self.CONTROLLERS:
self.controller = self.CONTROLLERS.get(controller)()
elif controller is None:
logger.warning("No controller provided")
else:
raise ValueError("Controller %s not found. Valid options: %s", self.CONTROLLERS)
self.debug_servo = debug_servo
if not debug_servo:
if not BOARD_IMPORT_OK:
logger.error("Unable to load servo/board libs. You can still use app with dummy servo, by using --debug-servo")
raise servo_error
self._init_servo()
else:
self.head_tilt = DummyServo()
self.head_rotate = DummyServo()
if not debug_led:
if not LED_IMPORT_OK:
logger.error("Unable to load RPi/led libs. You can still use app with dummy led, by using --debug-led")
raise led_error
self.led1 = Led(17)
self.led2 = Led(18)
else:
self.led1 = DummyLed(1)
self.led2 = DummyLed(2)
self.all_servos = []
def _init_servo(self):
self.i2c = busio.I2C(board.SCL, board.SDA)
self.pca1 = PCA9685(self.i2c, address=0x41)
self.pca2 = PCA9685(self.i2c, address=0x40)
self.pca1.frequency = self.PCA_FREQ
self.pca2.frequency = self.PCA_FREQ
self.coxa1_servo = Servo(ada_servo.Servo(self.pca2.channels[6]))
self.femur1_servo = Servo(ada_servo.Servo(self.pca2.channels[7]))
self.tibia1_servo = Servo(ada_servo.Servo(self.pca2.channels[8]))
self.coxa2_servo = Servo(ada_servo.Servo(self.pca2.channels[3]))
self.femur2_servo = Servo(ada_servo.Servo(self.pca2.channels[4]))
self.tibia2_servo = Servo(ada_servo.Servo(self.pca2.channels[5]))
self.coxa3_servo = Servo(ada_servo.Servo(self.pca2.channels[0]))
self.femur3_servo = Servo(ada_servo.Servo(self.pca2.channels[1]))
self.tibia3_servo = Servo(ada_servo.Servo(self.pca2.channels[2]))
self.coxa4_servo = Servo(ada_servo.Servo(self.pca1.channels[6]))
self.femur4_servo = Servo(ada_servo.Servo(self.pca1.channels[7]), reverse=True)
self.tibia4_servo = Servo(ada_servo.Servo(self.pca1.channels[8]), reverse=True)
self.coxa5_servo = Servo(ada_servo.Servo(self.pca1.channels[3]))
self.femur5_servo = Servo(ada_servo.Servo(self.pca1.channels[4]), reverse=True)
self.tibia5_servo = Servo(ada_servo.Servo(self.pca1.channels[5]), reverse=True)
self.coxa6_servo = Servo(ada_servo.Servo(self.pca1.channels[0]))
self.femur6_servo = Servo(ada_servo.Servo(self.pca1.channels[1]), reverse=True)
self.tibia6_servo = Servo(ada_servo.Servo(self.pca1.channels[2]), reverse=True)
self.head_tilt = Servo(ada_servo.Servo(self.pca2.channels[13]), reverse=True)
self.head_rotate = Servo(ada_servo.Servo(self.pca2.channels[12]))
self.all_servos: List[Servo] = [
self.coxa1_servo,
self.femur1_servo,
self.tibia1_servo,
self.coxa2_servo,
self.femur2_servo,
self.tibia2_servo,
self.coxa3_servo,
self.femur3_servo,
self.tibia3_servo,
self.coxa4_servo,
self.femur4_servo,
self.tibia4_servo,
self.coxa5_servo,
self.femur5_servo,
self.tibia5_servo,
self.coxa6_servo,
self.femur6_servo,
self.tibia6_servo,
self.head_tilt,
self.head_rotate
]
def loop(self):
if rconf.sigint:
logger.info("CTRL+C. Terminating")
self.led1.off()
self.led2.off()
if not self.debug_servo:
for servo in self.all_servos:
servo.angle = None
self.pca1.deinit()
self.pca2.deinit()
# Yeah... I know, but thrift thread doesn't have stop method
os.kill(os.getpid(), 9)
super().loop()
current_state.mode = self.mode
if current_state.mode == Mode.WALK:
current_state.sub_mode = self.gait
else:
current_state.mode == 0
current_state.speed = self.gait_speed
current_state.light_1 = self.led1.state
current_state.light_2 = self.led2.state
current_state.battery = 100
if self.mode == self.MODE_WALK:
self.control_head()
else:
self.default_head()
def process_gamepad(self):
super().process_gamepad()
if self.controller.button_pressed(self.BUT_THUMBR):
self.led1.change()
logger.info("Changing lights")
if self.controller.button_pressed(self.BUT_THUMBL):
self.led2.change()
logger.info("Changing main light")
def control_head(self):
commanded_head_tilt = int(map(self.controller.analog(self.AS_LY), 0, 255, self.HEAD_TILT_CAL[0], self.HEAD_TILT_CAL[1]))
commanded_head_rotate = int(map(self.controller.analog(self.AS_LX), 0, 255, self.HEAD_ROTATE_CAL[0], self.HEAD_ROTATE_CAL[1]))
self.head_tilt.write(commanded_head_tilt)
self.head_rotate.write(commanded_head_rotate)
def default_head(self):
commanded_head_tilt = int(map(127, 0, 255, self.HEAD_TILT_CAL[0], self.HEAD_TILT_CAL[1]))
commanded_head_rotate = int(map(127, 0, 255, self.HEAD_ROTATE_CAL[0], self.HEAD_ROTATE_CAL[1]))
self.head_tilt.write(commanded_head_tilt)
self.head_rotate.write(commanded_head_rotate)