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servov3.py
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servov3.py
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#!/usr/bin/python
from Adafruit_PWM_Servo_Driver import PWM
import time
# ===========================================================================
# Example Code
# ===========================================================================
# Initialise the PWM device using the default address
pwm = PWM(0x40)
# Note if you'd like more debug output you can instead run:
#pwm = PWM(0x40, debug=True)
servoMin = 160 # Min pulse length out of 4096
servoMax = 500 # Max pulse length out of 4096
servoNeutral = 320
activeMotor = 0
currentPos0 = 0
currentPos1 = 0
currentPos2 = 0
currentPos3 = 0
currentPos4 = 0
CHOOSE_MOTOR_COMMAND = 'u'
REST_ARM_COMMAND = 'q'
INITIATE_ARM_COMMAND = 'w'
GRABBING_ARM_COMMAND = 'e'
PUT_IN_HOLE_COMMAND = 'r'
CARRY_PAYLOAD_COMMAND = 't'
STOP_COMMAND = 'y'
INVALID_MOTOR = -1
MOTOR_0 = 0
MOTOR_1 = 4
MOTOR_2 = 5
MOTOR_3 = 6
MOTOR_4 = 7
MOTOR_DELAY = 0.0005
#gripper 330 closed- 230 open
'''def setServoPulse(channel, pulse):
pulseLength = 1000000 # 1,000,000 us per second
pulseLength /= 50 # 60 Hz
print "%d us per period" % pulseLength
pulseLength /= 4096 # 12 bits of resolution
print "%d us per bit" % pulseLength
pulse *= 1000
pulse /= pulseLength
pwm.setPWM(channel, 0, pulse)'''
def chooseMotor():
global activeMotor
motorNum = input('Choose Motor')
if(motorNum == MOTOR_0):
activeMotor = motorNum
elif(motorNum == MOTOR_1):
activeMotor = motorNum
elif(motorNum == MOTOR_2):
activeMotor = motorNum
elif(motorNum == MOTOR_3):
activeMotor = motorNum
elif(motorNum == MOTOR_4):
activeMotor = motorNum
else:
activeMotor = MOTOR_0
def runMotor(activeMotor, bit):
global motorPwm
if(bit >= 160 & bit <= 500):
motorPwm.setPWM(activeMotor, 0, bit)
'''else:
print('Bit value out of range in runMotor')'''
def getMotorPosition(activeMotor):
global currentPos0
global currentPos1
global currentPos2
global currentPos3
global currentPos4
if(activeMotor == MOTOR_0):
return currentPos0
elif(activeMotor == MOTOR_1):
return currentPos1
elif(activeMotor == MOTOR_2):
return currentPos2
elif(activeMotor == MOTOR_3):
return currentPos3
elif(activeMotor == MOTOR_4):
return currentPos4
else:
return INVALID_MOTOR
def setMotorPosition(activeMotor, position):
global currentPos0
global currentPos1
global currentPos2
global currentPos3
global currentPos4
if(activeMotor == MOTOR_0):
currentPos0 = position
elif(activeMotor == MOTOR_1):
currentPos1 = position
elif(activeMotor == MOTOR_2):
currentPos2 = position
elif(activeMotor == MOTOR_3):
currentPos3 = position
elif(activeMotor == MOTOR_4):
currentPos4 = position
else:
print("Did not set position for motor")
def runMotorSlow(activeMotor, incrementPos):
global motorPwm
currentPos = getMotorPosition(activeMotor)
destinationValue = currentPos + incrementPos
#print('Destination value is ' + str(destinationValue))
if (currentPos == INVALID_MOTOR):
print("Invalid active motor")
return
if(activeMotor == MOTOR_4 and destinationValue <= 230):
# motor 4 is lower than 230
destinationValue = 230
elif(activeMotor == MOTOR_4 and destinationValue >= 330):
# motor 4 is higher than 330
destinationValue = 330
elif(destinationValue <= 160):
# motor is lower than 160
destinationValue = 160
elif(destinationValue >= 500):
# motor is higher than 500
destinationValue = 500
incrementValue = 0
if(currentPos >= destinationValue):
incrementValue = -1
elif(currentPos < destinationValue):
incrementValue = 1
for tick in range(currentPos, (destinationValue + incrementValue), incrementValue):
#print(tick)
motorPwm.setPWM(activeMotor, 0, tick)
time.sleep(MOTOR_DELAY)
setMotorPosition(activeMotor, destinationValue)
#print('Motor' + str(activeMotor) + ': ' + str(getMotorPosition(activeMotor)))
def stopMotors():
runMotor(MOTOR_0, 0)
runMotor(MOTOR_1, 0)
runMotor(MOTOR_2, 0)
runMotor(MOTOR_3, 0)
runMotor(MOTOR_4, 0)
print('Motors stopped')
def restArm():
# Used for laying arm back down from arm ready position
'''
First motor1 to 360, motor2 to 300, motor0 to 500
'''
runMotorSlow(MOTOR_4, 330 - getMotorPosition(MOTOR_4))
time.sleep(0.5)
runMotorSlow(MOTOR_3, 320 - getMotorPosition(MOTOR_3))
time.sleep(0.5)
runMotorSlow(MOTOR_1, 360 - getMotorPosition(MOTOR_1))
time.sleep(0.5)
runMotorSlow(MOTOR_2, 300 - getMotorPosition(MOTOR_2))
time.sleep(0.5)
runMotorSlow(MOTOR_0, 500 - getMotorPosition(MOTOR_0))
stopMotors()
def carryPayload():
# Used for laying arm back down from arm ready position
'''
First motor1 to 360, motor2 to 300, motor0 to 500
'''
runMotorSlow(MOTOR_4, 330 - getMotorPosition(MOTOR_4))
time.sleep(0.5)
runMotorSlow(MOTOR_3, 320 - getMotorPosition(MOTOR_3))
time.sleep(0.5)
runMotorSlow(MOTOR_2, 500 - getMotorPosition(MOTOR_2))
time.sleep(0.5)
runMotorSlow(MOTOR_1, 360 - getMotorPosition(MOTOR_1))
time.sleep(0.5)
runMotorSlow(MOTOR_0, 500 - getMotorPosition(MOTOR_0))
def initialArmPos():
# Used for initial arm position
runMotor(MOTOR_0, 500)
runMotor(MOTOR_1, 360)
runMotor(MOTOR_2, 290)
runMotor(MOTOR_3, 320)
runMotor(MOTOR_4, 330)
setMotorPosition(MOTOR_0, 500)
setMotorPosition(MOTOR_1, 360)
setMotorPosition(MOTOR_2, 290)
setMotorPosition(MOTOR_3, 320)
setMotorPosition(MOTOR_4, 330)
def initiateArm():
'''
First motor 1 to 230, motor 0 to 430, motor 2 to 300
'''
runMotorSlow(MOTOR_3, 320 - getMotorPosition(MOTOR_3))
time.sleep(0.5)
runMotorSlow(MOTOR_4, 330 - getMotorPosition(MOTOR_4))
time.sleep(0.5)
runMotorSlow(MOTOR_1, 230 - getMotorPosition(MOTOR_1))
time.sleep(1)
runMotorSlow(MOTOR_0, 430 - getMotorPosition(MOTOR_0))
time.sleep(1)
runMotorSlow(MOTOR_2, 300 - getMotorPosition(MOTOR_2))
time.sleep(1)
def grabbingArm():
# Used to grab block
'''
First motor2 to 500, motor1 to 160, motor0 to 480
'''
runMotorSlow(MOTOR_2, 500 - getMotorPosition(MOTOR_2))
time.sleep(0.5)
runMotorSlow(MOTOR_1, 160 - getMotorPosition(MOTOR_1))
time.sleep(0.5)
runMotorSlow(MOTOR_0, 410 - getMotorPosition(MOTOR_0))
time.sleep(0.5)
runMotorSlow(MOTOR_4, 230 - getMotorPosition(MOTOR_4))
def putInUpHole():
# Used to put block into hole
'''
First motor0 to 480, motor1 to 200, motor2 to 480
'''
runMotorSlow(MOTOR_0, 480 - getMotorPosition(MOTOR_0))
time.sleep(0.5)
runMotorSlow(MOTOR_1, 210 - getMotorPosition(MOTOR_1))
time.sleep(0.5)
runMotorSlow(MOTOR_2, 480 - getMotorPosition(MOTOR_2))
def putInHole():
runMotorSlow(MOTOR_0, 460 - getMotorPosition(MOTOR_0))
time.sleep(0.5)
runMotorSlow(MOTOR_1, 240 - getMotorPosition(MOTOR_1))
time.sleep(0.5)
runMotorSlow(MOTOR_2, 500 - getMotorPosition(MOTOR_2))
time.sleep(0.5)
def putInDownHole():
runMotorSlow(MOTOR_0, 400 - getMotorPosition(MOTOR_0))
time.sleep(0.5)
runMotorSlow(MOTOR_1, 270 - getMotorPosition(MOTOR_1))
time.sleep(0.5)
runMotorSlow(MOTOR_2, 430 - getMotorPosition(MOTOR_2))
time.sleep(0.5)
runMotorSlow(MOTOR_3, 395 - getMotorPosition(MOTOR_3))
time.sleep(0.5)
motorPwm = PWM(0x40)
motorPwm.setPWMFreq(50) # Set frequency to 50 Hz
initialArmPos()
chooseMotor()
while True:
try:
command = raw_input(str(activeMotor) + ': ' + str(getMotorPosition(activeMotor)) + '- ')
if (command == CHOOSE_MOTOR_COMMAND):
chooseMotor()
elif (command == REST_ARM_COMMAND):
restArm()
elif (command == INITIATE_ARM_COMMAND):
initiateArm()
elif (command == GRABBING_ARM_COMMAND):
grabbingArm()
elif(command == PUT_IN_HOLE_COMMAND):
putInHole()
elif(command == CARRY_PAYLOAD_COMMAND):
carryPayload()
elif (command == STOP_COMMAND):
stopMotors()
else:
runMotorSlow(activeMotor, int(command))
except KeyboardInterrupt:
stopMotors()
break