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Hack-micropython-ServoRobot-servorobot (voir la source)
Version du 12 septembre 2016 à 14:16
, 12 septembre 2016 à 14:16aucun résumé de modification
{{Hack-micropython-ServoRobot-NAV}}
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== class ServoJoint ==
""" Define a joint/articulation (into a member) and associate it to a servo """
def inverted( self, value=True ):
""" Indicate if the Joint must be inverted. So position of +90 & -90 are echanged... and control inverted """
def set( self, degree=0 ):
""" set the joint degree between +90° in front/forward AND -90° for backward """
== class Member2DF() ==
""" Defining a member with 2 degree of free (2servo). So having a shouler and a wrist on a same controler """
def __init__( self, owner, shoulderindex, wristindex, ctrlindex=0 ):
""" see ServoJoint for parameters """
def reset( self ):
""" place all servos to 0° """
== class RobotBase ==
""" Base for PCA9685's based Servo Robot """
def __init__( self, controlers, movementscls ):
""" :params controlers : list of PCA9685 servo controleur. [ (i2c_bus, address=0x40), ... ]
:params movementscls : list of Movement classes to register """
def movement( self, name ):
""" retreive or create a Movement class instance
:params name: name of the movement (UPPERCASE!) """
def prepare( self, name, **kw ):
""" Call the prepare() on a Movement class instance """
def move( self, name, prepare=False, repeat=None, **kw ):
""" Call the step() on a Movement class instance
:params prepare: call prepare() first
:params repeat: can be an integer or a callback function.
integer - call x times the do()
callable( robotobj, move_name, iteration_count ) - call do() while callable returns True """
== class Movement ==
""" Base class that will allow you to code Movement """
def name():
""" return the inner name of the movement. use CAPITAL. Define as class function """
def prepare( self, **kw ):
""" Override this method to place all the servo to prepare the movement """
def do( self, **kw ):
""" perform one iteration of the movement (or the complete movement) """
{{Hack-micropython-ServoRobot-TRAILER}}
{{Hack-micropython-ServoRobot-TRAILER}}