Hack-micropython-ServoRobot-servorobot

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) """

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Créé par Meurisse D. pour MCHobby.be - Created by Meurisse D. for MCHobby.be

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