Added servo Calibration

Author: kevinmcaleer

bubo/__init__.py

@@ -0,0 +1,3 @@
+# Bubo Init
+
+from .bubo_library import Bubo2t

bubo/bubo_library.py

@@ -0,0 +1,145 @@
+# Bubo-2T the tooting robot
+# 2T will take a photo if you do specific hand gestures in front of it
+# It will then toot those pictures to mastodon.social
+
+from time import sleep
+# from gpiozero import Servo
+from .toot_randomiser import RandomToots
+from servo import servo2040, Servo
+import plasma
+from plasma import WS2812
+import math
+
+GREEN = (0, 255, 0)
+RED = (255, 0, 0)
+BLUE = (0, 0, 255)
+WHITE = (255, 255, 255)
+BLACK = (0, 0, 0)
+YELLOW = (255, 255, 0)
+CYAN = (0, 255, 255)
+MAGENTA = (255, 0, 255)
+
+# Set GPIO pins for the servos
+LEFT_EYE_PIN = servo2040.SERVO_3  # GPIO pin
+RIGHT_EYE_PIN = servo2040.SERVO_2 # GPIO pin
+MOUTH_PIN = servo2040.SERVO_1     # GPIO pin
+
+# Calibration allows us to limit the angle of the servo between and upper and lower value
+# We need to provide the lower pulse width, upper pulse width and the lower and upper angles
+MOUTH_MIN_PULSE = 1000
+MOUTH_MAX_PULSE = 2000
+MOUTH_MIN_ANGLE = -45
+MOUTH_MAX_ANGLE = 45
+
+EYE_MIN_PULSE = 1000
+EYE_MAX_PULSE = 2000
+EYE_MIN_ANGLE = -45
+EYE_MAX_ANGLE = 45
+
+class Bubo2t():
+    __mouth_open = -45 # open
+    __mouth_close = 45 # closed
+    __eyes_open = -45 # open
+    __eyes_close = 45 # closed
+
+    def __init__(self, left_eye_pin=LEFT_EYE_PIN, right_eye_pin=RIGHT_EYE_PIN, mouth_pin=MOUTH_PIN):
+        self.toot_randomiser = RandomToots()
+
+        # Setup the Servos
+        self.left_eye = Servo(left_eye_pin)
+        self.right_eye = Servo(right_eye_pin)
+        self.mouth = Servo(mouth_pin)
+
+        print('Bubo2t init')
+        print(f'mouth pin = {self.mouth.pin()}')
+        print(f'left eye pin = {self.left_eye.pin()}')
+        print(f'right eye pin = {self.right_eye.pin()}')
+        self.left_eye.value(0)
+        self.right_eye.value(0)
+        self.mouth.value(0)
+        print('-'*10)
+
+        # Apply the calibration to Mouth, Left Eye and Right Eye
+        mouth_cal.apply_two_pairs(MOUTH_MIN_PULSE, MOUTH_MAX_PULSE, MOUTH_MIN_ANGLE, MOUTH_MAX_ANGLE)
+        mouth_cal = self.mouth.calibration()
+        self.mouth.calibration(mouth_cal)
+
+        eye_cal = self.left_eye.calibration()
+        eye_cal.apply_two_pairs(EYE_MIN_PULSE, EYE_MAX_PULSE, EYE_MIN_ANGLE, EYE_MAX_ANGLE)
+        self.left_eye.calibration(eye_cal)
+
+        eye_cal = self.right_eye.calibration()
+        eye_cal.apply_two_pairs(EYE_MIN_PULSE, EYE_MAX_PULSE, EYE_MIN_ANGLE, EYE_MAX_ANGLE)
+        self.right_eye.calibration(eye_cal)
+        
+    def tick(self):
+        """ Perform a tick """
+        print('tick')
+
+        # TODO perform current action
+        # TODO check for new action
+        sleep(1)
+
+    def mouth_open(self):
+        """ Open the mouth """
+
+        print('mouth_open')
+
+        # Move the servos to different angles
+        from_val = float(self.mouth.value())
+        val = float(self.__mouth_open)
+        print(f'moving mouth from {from_val} to {val}')
+        self.mouth.value(val)
+        sleep(0.1)
+
+    def mouth_close(self):
+        """ Close the mouth """
+
+        print('mouth_close')
+
+        # Move the servos to different angles
+        from_val = float(self.mouth.value())
+        val = float(self.__mouth_close)
+        print(f'moving mouth from {from_val} to {val}')
+        self.mouth.value(val)
+        sleep(0.1)
+
+    def eyes_open(self, speed:None):
+        """ Open the eyes """
+
+        self.right_eye.value(self.__eyes_open)
+        self.left_eye.value(self.__eyes_open)
+        sleep(0.1)
+
+    def eyes_close(self):
+        """ Close the eyes """
+        
+        self.right_eye.value(self.__eyes_close)
+        self.left_eye.value(self.__eyes_close)
+        sleep(0.1)
+    
+    def open_left_eye(self):
+        """ Open the left eye """
+        self.left_eye.value(self.__eyes_open)
+        sleep(0.1)
+
+    def close_left_eye(self):
+        """ Close the left eye """
+        self.left_eye.value(self.__eyes_close)
+        sleep(0.1)
+    
+    def open_right_eye(self):
+        """ Open the right eye """
+        self.right_eye.value(self.__eyes_open)
+        sleep(0.1)
+
+    def close_right_eye(self):
+        """ Close the right eye """
+        self.right_eye.value(self.__eyes_close)
+        sleep(0.1)
+        
+    def eyes_colour(self, colour):
+        """ Set the colour of the eyes """
+        # colour is a tuple of RGB values
+        # Set the neopixel strip to the colour using set rgb
+        pass

mood.py renamed to bubo/mood.py

@@ -66,9 +66,9 @@ def __init__(self):
     def tick(self):
         super().tick()
 
-class Bubo():
+# class Bubo():
 
-    angry_mood = Mood("angry")
+#     angry_mood = Mood("angry")
 
-    def __init__(self):
-        self.mood = "neutral"
+#     def __init__(self):
+#         self.mood = "neutral"

toot_randomiser.py renamed to bubo/toot_randomiser.py

@@ -1,11 +1,12 @@
-from bubo_library import Bubo2t
+from bubo import Bubo2t
 from time import sleep
 
 bubo = Bubo2t()
 
 bubo.mouth_open()
-sleep(1)
+sleep(0.5)
 
 bubo.mouth_close()
-sleep(1)
+sleep(0.5)
 
+bubo.mouth.to_mid()

bubo.py renamed to bubo2t.py

@@ -1,6 +1,6 @@
 # Mood test
 
-from mood import Bubo, Mood
+from bubo.mood import Bubo, Mood
 
 bubo = Bubo()
 bubo.mood = "angry"