work

MikesServoMapper.py

@@ -1,13 +1,31 @@
 
 
+from adafruit_servokit import ServoKit
+
+
+import getch
 import logging
+import multiprocessing
+import os
 import pprint
 import sys
+import time
+import threading
+import tty
 import yaml
 
 
 class MikesServoMapper:
 	
+	__BASE_I2C_ADDRESS = 0x40
+	__CHANNELS_COUNT = 16
+	
+	__DEFAULT_SERVO_DEGREES = 180
+	__DEFAULT_JIGGLE_DURATION = 2
+	__DEFAULT_JIGGLE_SLICES = 50
+	
+	__ESCAPE_KEY = chr(27)
+	
 	def __init__(self, config_file: str, names):
 		
 		# noinspection PyTypeChecker
@@ -21,15 +39,17 @@ class MikesServoMapper:
 		self.__config = None
 		self.load_config(config_file)
 		self.pull_config_names()
-		
 		self.__logger.info("Names: %s" % (pprint.pformat(self.__names)))
 		
+		self.__mappings = {}
+	
 	def init_logging(self):
 		
 		self.__logger = logging.Logger("Mikes Servo Mapper")
-		self.__logger_formatter = logging.Formatter(fmt="Hi poop")
+		self.__logger_formatter = logging.Formatter(fmt="[%(asctime)s][%(name)s] %(message)s")
 		
 		stream_handler = logging.StreamHandler(sys.stdout)
+		stream_handler.setFormatter(self.__logger_formatter)
 		
 		self.__logger.addHandler(stream_handler)
 		
@@ -70,3 +90,170 @@ class MikesServoMapper:
 		self.__names.sort()
 		self.__logger.info("Names after pulling from config: %s" % (self.__names,))
 	
+	def set_name_mapping(self, name, channel):
+		
+		self.__mappings[name] = channel
+	
+	def get_name_mapping(self, name):
+		
+		if name in self.__mappings:
+			return self.__mappings[name]
+		
+		return None
+	
+	def determine_i2c_address(self):
+		
+		return self.__BASE_I2C_ADDRESS
+	
+	def run(self):
+		
+		self.__logger.info("Running!")
+		
+		while True:
+			
+			self.__logger.info("")
+			self.__logger.info("Please choose a mode: ")
+			self.__logger.info("1. Create mappings")
+			self.__logger.info("2. Test current mappings")
+			self.__logger.info("3. Write mappings to file")
+			self.__logger.info("Q. Quit")
+			user_choice = input("====> ")
+			
+			if user_choice == "q" or user_choice == "Q":
+				self.__logger.info("Quitting!")
+				break
+			
+			if user_choice == "1":
+				self.do_mappings()
+			elif user_choice == "2":
+				self.test_mappings()
+			elif user_choice == "3":
+				self.write_mappings()
+			else:
+				self.__logger.warning("Invalid choice: %s" % user_choice)
+	
+	def do_mappings(self):
+		
+		self.__logger.info("Begin mapping mode !")
+		
+		i2c_address = self.determine_i2c_address()
+		servo_kit = ServoKit(
+			address=i2c_address,
+			channels=self.__CHANNELS_COUNT
+		)
+		
+		#
+		while True:
+			
+			# Print all current mappings
+			self.__logger.info("")
+			self.__logger.info("Current Mappings:")
+			menu_number_to_name = {}
+			for name_index in range(len(self.__names)):
+				
+				name = self.__names[name_index]
+				name_number = name_index + 1
+				menu_number_to_name[str(name_number)] = name
+				
+				self.__logger.info(
+					"%s. %s ==> %s"
+					% (name_number, name, self.get_name_mapping(name=name))
+				)
+			
+			self.__logger.info("")
+			self.__logger.info("Please enter a number to change the corresponding mapping, or Q to quit.")
+			user_input = input("==========> ")
+			if user_input == "Q" or user_input == "q":
+				self.__logger.info("Quitting mapping mode")
+				break
+			elif user_input in menu_number_to_name:
+				name = menu_number_to_name[user_input]
+				channel = self.run_one_mapping(
+					servo_kit=servo_kit,
+					name=name,
+					default_channel=self.get_name_mapping(name)
+				)
+				self.set_name_mapping(name=name, channel=channel)
+			else:
+				self.__logger.warning("Invalid input: %s" % user_input)
+	
+	def run_one_mapping(self, servo_kit, name, default_channel=None):
+		
+		selected_channel = default_channel
+		
+		while True:
+			
+			self.__logger.info("")
+			self.__logger.info("Mapping channel for: %s" % (name,))
+			self.__logger.info(
+				"Press a key between 0-9 and A-F to try a channel."
+				" Press the space bar when you've found the correct channel, or escape to abort."
+			)
+			self.__logger.info("Currently selected channel: %s" % selected_channel)
+			
+			key = getch.getch().lower()
+			if key == self.__ESCAPE_KEY:
+				self.__logger.info("Aborting")
+				selected_channel = None
+				break
+			elif key == " ":
+				self.__logger.info("Selected channel: %s" % selected_channel)
+				break
+			else:
+				
+				try:
+					channel = int(key, 16)
+					selected_channel = channel
+					self.jiggle_channel(servo_kit=servo_kit, channel=channel)
+				except ValueError:
+					self.__logger.warning("Invalid input!: %s" % (key,))
+					time.sleep(1)
+		
+		return selected_channel
+	
+	def test_mappings(self):
+	
+		self.__logger.info("Testing mappings!")
+		
+		for name in self.__mappings.keys():
+			
+			channel = self.get_name_mapping(name=name)
+			self.__logger.info("Jiggling mapping: %s ==> %s" % (name, channel))
+			
+			time.sleep(1)
+		
+		self.__logger.info("Done testing mappings")
+	
+	def jiggle_channel(self, servo_kit, channel):
+		
+		duration = self.__DEFAULT_JIGGLE_DURATION
+		
+		degrees_per_slice = self.__DEFAULT_SERVO_DEGREES / self.__DEFAULT_JIGGLE_SLICES
+		seconds_per_slice = duration / self.__DEFAULT_JIGGLE_SLICES
+		
+		self.__logger.info(
+			"Jiggling servo on channel #%s using %s slices over %s seconds"
+			% (channel, self.__DEFAULT_JIGGLE_SLICES, duration)
+		)
+		
+		servo = servo_kit.servo[channel]
+		
+		# Jiggle
+		for slice_index in range(self.__DEFAULT_JIGGLE_SLICES):
+			
+			angle = 0 + (degrees_per_slice * slice_index)
+			servo.angle = angle
+			time.sleep(seconds_per_slice)
+		
+		# Center
+		servo.angle = 90
+	
+	def write_mappings(self):
+		
+		output_file_path = os.path.join(
+			"output",
+			"servo-mappings.yml"
+		)
+		
+		with open(output_file_path, 'w') as f:
+			yaml.dump(self.__mappings, f, default_flow_style=False)

Pipfile

@@ -5,6 +5,8 @@ name = "pypi"
 
 [packages]
 pyaml = "*"
+adafruit-circuitpython-servokit = "*"
+getch = "*"
 
 [dev-packages]
 

Pipfile.lock

@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "1f84f63565324f6ff4b4071af61c776885d170eed424917d7adb74b2b97517e3"
+            "sha256": "82ef81fca28479231fa9cc4c64186b3ca5b9a84ed6de11c07c74fa837224d85a"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -16,6 +16,63 @@
         ]
     },
     "default": {
+        "adafruit-blinka": {
+            "hashes": [
+                "sha256:7f6b2361e066033cfbace159bf85c26f50ef18a3c889b068529e29891caf1a10"
+            ],
+            "version": "==5.2.3"
+        },
+        "adafruit-circuitpython-busdevice": {
+            "hashes": [
+                "sha256:7709c75c22e37f3af1b161be26c7b9925bafd68a0d7c5526637a3f838fcb6627"
+            ],
+            "version": "==4.3.2"
+        },
+        "adafruit-circuitpython-motor": {
+            "hashes": [
+                "sha256:9324290afa07faec1c7d9ca35f084150f0bf8169dc12599bda8fc4c615d0806e"
+            ],
+            "version": "==3.1.2"
+        },
+        "adafruit-circuitpython-pca9685": {
+            "hashes": [
+                "sha256:0f8e8c4cdb4ef1828ac9e8bc870017f2f5ef1cccc906172e06d81062859bc34e"
+            ],
+            "version": "==3.3.2"
+        },
+        "adafruit-circuitpython-register": {
+            "hashes": [
+                "sha256:5e7232fd7ffb3f0aac2dc0de631097c629e836a8845aa0e028e8dc1c364ea064"
+            ],
+            "version": "==1.9.0"
+        },
+        "adafruit-circuitpython-servokit": {
+            "hashes": [
+                "sha256:396c93f07b62ff5599691261ead0f0731d1a22dae8e394afbd372a0842fc886c"
+            ],
+            "index": "pypi",
+            "version": "==1.3.0"
+        },
+        "adafruit-platformdetect": {
+            "hashes": [
+                "sha256:01f07606319f4e463889ee129fa1c62b4538d754cb1f89cf530b1aef91253729"
+            ],
+            "version": "==2.14.1"
+        },
+        "adafruit-pureio": {
+            "hashes": [
+                "sha256:ebab172823f7249e02a644844a64e6dc2e4b3ded38ba42099068fd3e96623cfb"
+            ],
+            "version": "==1.1.5"
+        },
+        "getch": {
+            "hashes": [
+                "sha256:a6c22717c10051ce65b8fb7bddb171af705b1175e694a73be956990f6089d8b1",
+                "sha256:be451438f7a2b389f96753aea39b6ed2540a390f1b9a12badcbc110cf9a5ce7f"
+            ],
+            "index": "pypi",
+            "version": "==1.0"
+        },
         "pyaml": {
             "hashes": [
                 "sha256:29a5c2a68660a799103d6949167bd6c7953d031449d08802386372de1db6ad71",
@@ -24,6 +81,26 @@
             "index": "pypi",
             "version": "==20.4.0"
         },
+        "pyftdi": {
+            "hashes": [
+                "sha256:02926258d5dfd28452a3d4d7c2f6d5bab722133b2885bde8b9e28bd2ccc095ca",
+                "sha256:6cacb8fe28491ee6d00b8d45e18f73ea539b31bcd785f5d8c80a60322297c007"
+            ],
+            "version": "==0.51.2"
+        },
+        "pyserial": {
+            "hashes": [
+                "sha256:6e2d401fdee0eab996cf734e67773a0143b932772ca8b42451440cfed942c627",
+                "sha256:e0770fadba80c31013896c7e6ef703f72e7834965954a78e71a3049488d4d7d8"
+            ],
+            "version": "==3.4"
+        },
+        "pyusb": {
+            "hashes": [
+                "sha256:4e9b72cc4a4205ca64fbf1f3fff39a335512166c151ad103e55c8223ac147362"
+            ],
+            "version": "==1.0.2"
+        },
         "pyyaml": {
             "hashes": [
                 "sha256:06a0d7ba600ce0b2d2fe2e78453a470b5a6e000a985dd4a4e54e436cc36b0e97",
@@ -39,6 +116,28 @@
                 "sha256:d13155f591e6fcc1ec3b30685d50bf0711574e2c0dfffd7644babf8b5102ca1a"
             ],
             "version": "==5.3.1"
+        },
+        "rpi-ws281x": {
+            "hashes": [
+                "sha256:461153b0ae29f28ebf7fbca781a92759a5f622d5478d3e61b0475fb0a7da6fb3",
+                "sha256:6cfb8c0c429dee312b2173ea3968c3da2a3625ce57bbf580ee9f49c3edaf4504",
+                "sha256:7175e708d6085bc02a9d0b8227797d697e34fd00787030ae5f119fe2f4f90889"
+            ],
+            "version": "==4.2.4"
+        },
+        "rpi.gpio": {
+            "hashes": [
+                "sha256:7424bc6c205466764f30f666c18187a0824077daf20b295c42f08aea2cb87d3f"
+            ],
+            "version": "==0.7.0"
+        },
+        "sysv-ipc": {
+            "hashes": [
+                "sha256:2b2b8491764845d06a9d5731ebe67f12fbe0c35967ac7f2bbe55ff24cb302405",
+                "sha256:8eff10dd17789ddf21b422ce46ae0f6420088902a88e4296cb805cf2fde8b4dc",
+                "sha256:a67fc5b7a3dd5fc9c50776de0c65a44eb776d29bb88364dedb1fb1149e53a1f1"
+            ],
+            "version": "==1.0.1"
         }
     },
     "develop": {}

README.md

@@ -7,13 +7,22 @@ Written and tested using the Adafruit I2C servo driver board: [PCA9685](https://
 
 ## Requiremments
 
-* ```pipenv```
+### Python Requirements
 
-## Installation
+Python's requirements are handled by pipenv, which you can install like so:
 
-cd to this repo's directory and install pip dependencies with:
+```bash
+sudo apt install pipenv
+```
+or
+```bash
+sudo dnf install pipenv
+```
 
-```pipenv install```
+Once installed, you can have pipenv install all python requirements like so:
+
+1. cd to this repo's directory
+2. Execute the command: ```pipenv install```
 
 ## Execution
 
@@ -23,6 +32,30 @@ cd to this repo's directory and execute using:
 
 ## Command Line Arguments
 
-TODO
+### ***--name*** (Specify one or more mapping names)
 
+You can specify desired mapping names by adding the ***--name*** argument, as many times as you wish:
+
+```bash
+$ pipenv run python3 main.py --name Leg --name Arm
+```
+
+### ***--config*** (Specify an input config file)
+
+You can specify a yaml configuration file to load with this argument, like so:
+
+```bash
+$ pipenv run python3 main.py --config /path/to/config.yaml
+```
+
+So far the config file is only good for storing desired names to be mapped. Here's an example:
+
+```yaml
+
+names:
+    - Manny
+    - Moe
+    - Jack
+
+```