Différences entre versions de « Hack-micropython-ServoRobot-servorobot »
(Page créée avec « {{Hack-micropython-ServoRobot-NAV}} {{Hack-micropython-ServoRobot-TRAILER}} ») |
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{{Hack-micropython-ServoRobot-NAV}} | {{Hack-micropython-ServoRobot-NAV}} | ||
| + | |||
| + | == 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}} | ||
Version du 12 septembre 2016 à 14:16
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) """
Créé par Meurisse D. pour MCHobby.be - Created by Meurisse D. for MCHobby.be
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