Merge pull request #2839 from jedgarpark/servo-commander
first commit servo commander code
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Anne Barela
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212
Servo_Commander/code.py
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212
Servo_Commander/code.py
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# SPDX-FileCopyrightText: 2024 johnpark for Adafruit Industries
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#
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# SPDX-License-Identifier: MIT
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'''
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Servo Commander
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- Feather Reverse TFT ESP32-S3 + two servos + two push encoders
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- test servo ranges with encoder rotation
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- store saved positions with enc button + D0, D1, D2 buttons
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- recall saved positions with D0, D1, D2
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- playback animation by pressing both push encoders
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'''
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import time
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import board
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import displayio
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import terminalio
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from adafruit_display_text import label
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from adafruit_display_shapes.rect import Rect
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import rotaryio
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import pwmio
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from adafruit_motor import servo
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import keypad
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# Define custom servo pulse range variables
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s_cfgs = [
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{'min_pulse': 600, 'max_pulse': 2400, 'min_ang': 10, 'max_ang': 170},
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{'min_pulse': 600, 'max_pulse': 2300, 'min_ang': 10, 'max_ang': 170}
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]
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# Setup the PWM output for the servos
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pwm_pins = [board.D10, board.D11]
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servo_motors = []
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for i, config in enumerate(s_cfgs):
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pwm = pwmio.PWMOut(pwm_pins[i], duty_cycle=2**15, frequency=50)
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servo_motor = servo.Servo(pwm, min_pulse=config['min_pulse'], max_pulse=config['max_pulse'])
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servo_motors.append(servo_motor)
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servo_motor.angle = 90
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s_saves = [
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[s_cfgs[0]['min_ang'], 90, s_cfgs[0]['max_ang']],
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[s_cfgs[1]['min_ang'], 90, s_cfgs[1]['max_ang']]
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]
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# Setup the rotary encs
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encs = [
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rotaryio.IncrementalEncoder(board.A2, board.A1),
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rotaryio.IncrementalEncoder(board.A5, board.A4)
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]
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for enc in encs:
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enc.position = 90
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last_positions = [enc.position for enc in encs]
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# Setup the buttons
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enc_buttons = keypad.Keys((board.D13, board.D12), value_when_pressed=False, pull=True)
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tft_d0_button = keypad.Keys((board.D0,), value_when_pressed=False, pull=True)
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tft_buttons = keypad.Keys((board.D1, board.D2), value_when_pressed=True, pull=True)
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def set_servo_angle(s_servo_motor, s_angle, s_enc, min_ang, max_ang):
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s_angle = min(max(s_angle, min_ang), max_ang)
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s_servo_motor.angle = s_angle
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s_enc.position = s_angle
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def playback(mode, speed, steps):
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for k in range(3): # Loop through each save position (assuming 3 saves per motor)
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for m in range(len(servo_motors)):
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p_servo_motor = servo_motors[m]
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p_enc = encs[m]
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save = s_saves[m][k] # Get the k-th save position for the m-th motor
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if mode:
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direction = 1 if save > enc.position else -1
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for p_angle in range(enc.position, save, direction * steps):
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p_servo_motor.angle = p_angle
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time.sleep(speed)
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p_enc.position = save
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else:
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servo_motor.angle = save
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time.sleep(0.75)
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# Setup the display
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display = board.DISPLAY
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group = displayio.Group()
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background_rect = Rect(0, 10, display.width, display.height - 10, fill=0x000010)
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group.append(background_rect)
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mid_bar = Rect(116, 0, 3, display.height, fill=0x00000)
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group.append(mid_bar)
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top_bar = Rect(0, 0, display.width, 20, fill=0x000000)
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group.append(top_bar)
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FONT = terminalio.FONT
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TXTCOL = 0xFFFF00
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# Create labels
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labels = []
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for i, config in enumerate(s_cfgs):
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lbl = label.Label(FONT, text=f"Pulse: {config['min_pulse']}-{config['max_pulse']}",color=TXTCOL,
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scale=1, anchor_point=(0, 0), anchored_position=(5 + 125 * i, 5))
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labels.append(lbl)
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group.append(lbl)
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for i in range(2):
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lbl = label.Label(FONT, text="Angle:-", color=TXTCOL, scale=2, anchor_point=(0, 0),
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anchored_position=(4 + 126 * i, 24))
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labels.append(lbl)
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group.append(lbl)
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for i in range(2):
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for j in range(3):
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lbl = label.Label(FONT, text=f"D{j}:{s_saves[i][j]}", color=TXTCOL, scale=2,
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anchor_point=(0, 0), anchored_position=(4 + i * 126, 48 + 24 * j))
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labels.append(lbl)
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group.append(lbl)
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display.root_group = group
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modifier1 = False
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modifier2 = False
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print("[]-Servo Commander READY-[]")
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while True:
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enc_button_event = enc_buttons.events.get()
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if enc_button_event:
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if enc_button_event.pressed:
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if enc_button_event.key_number == 0:
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modifier1 = True
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elif enc_button_event.key_number == 1:
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modifier2 = True
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if enc_button_event.released:
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if enc_button_event.key_number == 0:
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modifier1 = False
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elif enc_button_event.key_number == 1:
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modifier2 = False
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if modifier1 and modifier2:
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print("Playback")
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playback(True, 0.006, 2)
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tft_d0_button_event = tft_d0_button.events.get()
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if tft_d0_button_event and tft_d0_button_event.pressed:
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if modifier1:
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s_saves[0][0] = min(max(encs[0].position, s_cfgs[0]['min_ang']), s_cfgs[0]['max_ang'])
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print("D0 save motor1:", s_saves[0][0])
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labels[4].text = f"D0:{s_saves[0][0]}"
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elif modifier2:
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s_saves[1][0] = min(max(encs[1].position, s_cfgs[1]['min_ang']), s_cfgs[1]['max_ang'])
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print("D0 save motor2:", s_saves[1][0])
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labels[7].text = f"D0:{s_saves[1][0]}"
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else:
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for i in range(len(servo_motors)):
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servo_motor = servo_motors[i]
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enc = encs[i]
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s_save = s_saves[i][0]
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config = s_cfgs[i]
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print(f"D0 recalled motor{i+1}:", s_save)
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set_servo_angle(servo_motor, s_save, enc, config['min_ang'], config['max_ang'])
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labels[2 + i].text = f"Angle:{s_save}"
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tft_buttons_event = tft_buttons.events.get()
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if tft_buttons_event and tft_buttons_event.pressed:
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if tft_buttons_event.key_number == 0:
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if modifier1:
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s_saves[0][1] = min(max(encs[0].position,s_cfgs[0]['min_ang']),s_cfgs[0]['max_ang'])
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print("D1 save motor1:", s_saves[0][1])
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labels[5].text = f"D1:{s_saves[0][1]}"
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elif modifier2:
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s_saves[1][1] = min(max(encs[1].position,s_cfgs[1]['min_ang']),s_cfgs[1]['max_ang'])
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print("D1 save motor2:", s_saves[1][1])
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labels[8].text = f"D1:{s_saves[1][1]}"
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else:
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for i in range(len(servo_motors)):
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servo_motor = servo_motors[i]
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enc = encs[i]
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s_save = s_saves[i][1]
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config = s_cfgs[i]
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print(f"D1 recalled motor{i+1}:", s_save)
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set_servo_angle(servo_motor, s_save, enc, config['min_ang'], config['max_ang'])
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labels[2 + i].text = f"Angle:{s_save}"
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elif tft_buttons_event.key_number == 1:
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if modifier1:
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s_saves[0][2] = min(max(encs[0].position,s_cfgs[0]['min_ang']),s_cfgs[0]['max_ang'])
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print("D2 save motor1:", s_saves[0][2])
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labels[6].text = f"D2:{s_saves[0][2]}"
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elif modifier2:
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s_saves[1][2] = min(max(encs[1].position,s_cfgs[1]['min_ang']),s_cfgs[1]['max_ang'])
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print("D2 save motor2:", s_saves[1][2])
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labels[9].text = f"D2:{s_saves[1][2]}"
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else:
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for i in range(len(servo_motors)):
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servo_motor = servo_motors[i]
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enc = encs[i]
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s_save = s_saves[i][2]
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config = s_cfgs[i]
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print(f"D2 recalled motor{i+1}:", s_save)
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set_servo_angle(servo_motor, s_save, enc, config['min_ang'], config['max_ang'])
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labels[2 + i].text = f"Angle:{s_save}"
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for i in range(len(servo_motors)):
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current_position = encs[i].position
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if current_position != last_positions[i]:
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config = s_cfgs[i]
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angle = min(max(current_position, config['min_ang']), config['max_ang'])
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servo_motor = servo_motors[i]
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enc = encs[i]
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set_servo_angle(servo_motor, angle, enc, config['min_ang'], config['max_ang'])
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labels[2 + i].text = f"Angle:{angle}"
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last_positions[i] = current_position
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