feature/button_input (#2)
* Added keyboard functionality for existing features * Droid won't repeat most recent noise * Starting button input * bcm * async * no args * no arglist * asycnio * lgpio * asyncio * wait * async * asycn * remove wait * added keyboard interrup * params * test * got callbacks working * added keyboard control update * droid commands have movement * i do not honestly know what is different * added movement stub * added movement support? * string * format string * trying less space * added global * manual control * select_speed * stop * droid running * stupid multiple naming * play sound fixed * testing forward functionality * callback * move * rotate head * typo
This commit is contained in:
hornet
GitHub
parent
91c94a771f
commit
8e02ed1a8b
131
button_input.py
Normal file
131
button_input.py
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@ -0,0 +1,131 @@
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from droid import Directions
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import droid_commands as d
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import asyncio
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from time import sleep
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import lgpio as GPIO
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NOISE = 16
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LEFT = 26
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DOWN = 27
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UP = 25
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RIGHT = 19
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ROT_LEFT = 6
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ROT_RIGHT = 5
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todo = []
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def play_sound(handle, gpio, edge, time):
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print(f"Playing sound at {time}")
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todo.append(d.play_sound())
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def move(handle, gpio, edge, time):
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# first, kill all other movements
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todo.append(d.move_stop())
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# then, check if this was a falling edge
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if edge == 0:
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return
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if gpio == RIGHT:
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print("Pressed right")
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todo.append(d.move_droid(right=True))
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elif gpio == LEFT:
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print("Pressed left")
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todo.append(d.move_droid(left=True))
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elif gpio == UP:
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print("Pressed forward")
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todo.append(d.move_droid(forward=True))
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elif gpio == DOWN:
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todo.append(d.move_droid(backward=True))
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print("Pressed backward")
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def move_head(handle, gpio, edge, time):
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todo.append(d.stop_rotate_head())
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if edge == 0:
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return
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if gpio == ROT_LEFT:
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print("Rotating left")
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todo.append(d.rotate_head(Directions.ROTATE_LEFT))
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elif gpio == ROT_RIGHT:
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print("Rotating right")
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todo.append(d.rotate_head(Directions.ROTATE_RIGHT))
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async def droid_connect(pi):
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try:
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await d.start_droid()
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while True:
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if len(todo) > 0:
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await todo[0]
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todo.pop(0)
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except KeyboardInterrupt:
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print("Thanks for using")
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finally:
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GPIO.gpiochip_close(pi)
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await d.stop_droid()
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async def main():
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pi = GPIO.gpiochip_open(0)
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if pi < 0:
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return
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GPIO.gpio_claim_alert(pi, NOISE, GPIO.RISING_EDGE)
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GPIO.gpio_set_debounce_micros(pi, NOISE, 200)
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# feet
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GPIO.gpio_claim_alert(pi, UP, GPIO.BOTH_EDGES)
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GPIO.gpio_set_debounce_micros(pi, UP, 200)
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GPIO.gpio_claim_alert(pi, DOWN, GPIO.BOTH_EDGES)
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GPIO.gpio_set_debounce_micros(pi, DOWN, 200)
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GPIO.gpio_claim_alert(pi, LEFT, GPIO.BOTH_EDGES)
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GPIO.gpio_set_debounce_micros(pi, LEFT, 200)
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GPIO.gpio_claim_alert(pi, RIGHT, GPIO.BOTH_EDGES)
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GPIO.gpio_set_debounce_micros(pi, RIGHT, 200)
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# head
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GPIO.gpio_claim_alert(pi, ROT_LEFT, GPIO.BOTH_EDGES)
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GPIO.gpio_set_debounce_micros(pi, ROT_LEFT, 200)
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GPIO.gpio_claim_alert(pi, ROT_RIGHT, GPIO.BOTH_EDGES)
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GPIO.gpio_set_debounce_micros(pi, ROT_RIGHT, 200)
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cbs = []
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print("Configuring callbacks")
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# noise
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cbs.append(GPIO.callback(pi, NOISE, func=play_sound))
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# feet
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cbs.append(GPIO.callback(pi, UP, func=move))
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cbs.append(GPIO.callback(pi, DOWN, func=move))
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cbs.append(GPIO.callback(pi, LEFT, func=move))
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cbs.append(GPIO.callback(pi, RIGHT, func=move))
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# head
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cbs.append(GPIO.callback(pi, ROT_LEFT, func=move_head))
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cbs.append(GPIO.callback(pi, ROT_RIGHT, func=move_head))
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print("Callback configured")
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await droid_connect(pi)
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if __name__ == "__main__":
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asyncio.run(main())
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27
droid.py
27
droid.py
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@ -2,7 +2,20 @@ import asyncio
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from time import sleep
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from bleak import BleakScanner, BleakClient, BleakError
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class Motors:
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LEFT=0
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RIGHT=1
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HEAD=2
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# Directions
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class Directions:
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FORWARD = 0
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BACKWARD = 8
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ROTATE_LEFT = 0
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ROTATE_RIGHT = 8
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class Droid():
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def __init__(self, profile):
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print("Initializing")
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self.disabledLeds = 0x00
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@ -25,9 +38,9 @@ class Droid():
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print("Connecting")
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self.droid = BleakClient(self.profile)
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await self.droid.connect()
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while not self.droid.is_connected and timeout < 10:
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sleep (.1)
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timeout += .1
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# while not self.droid.is_connected and timeout < 10:
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# sleep (.1)
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# timeout += .1
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print ("Connected!")
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connectCode = bytearray.fromhex("222001")
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await self.droid.write_gatt_char(0x000d, connectCode, False)
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@ -79,9 +92,15 @@ class Droid():
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ledOnCommand = bytearray.fromhex(f"27420f44440048{leds}")
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await self.droid.write_gatt_char(0x000d, ledOnCommand)
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def move (self, degrees, duration):
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async def move (self, degrees, duration):
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thrust = self.__throttle_angle_to_thrust__(degrees)
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async def move_motors(self, direction, motor, strength):
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move_selection = bytearray.fromhex("29420546{}{}{}012C0000".format(direction, motor, strength))
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await self.droid.write_gatt_char(0x000d, move_selection)
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async def play_sound(self, sound_id=None, bank_id=None, cycle=False, volume=None):
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if volume:
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self.set_volume(volume)
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89
droid_commands.py
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89
droid_commands.py
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@ -0,0 +1,89 @@
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import droid
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import asyncio
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from time import sleep
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from random import randrange
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d = ""
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lastSound = -1
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async def play_sound():
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global lastSound
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global d
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sound = lastSound
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while sound == lastSound:
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sound = randrange(0,5)
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lastSound = sound
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while d is None:
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sleep(0.1)
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await d.play_sound(f"0{sound}","00")
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async def play_specific_sound(bank, sound):
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global d
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await d.play_sound( sound_id = sound, bank_id = bank)
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async def move_droid(forward=False, backward=False, left=False, right=False):
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l = droid.Directions.FORWARD
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r = droid.Directions.FORWARD
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global d
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if forward:
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l = droid.Directions.FORWARD
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r = droid.Directions.FORWARD
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if backward:
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l = droid.Directions.BACKWARD
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r = droid.Directions.BACKWARD
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if left:
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# spin left
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l = droid.Directions.BACKWARD
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r = droid.Directions.FORWARD
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if right:
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# spin right
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l = droid.Directions.FORWARD
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r = droid.Directions.BACKWARD
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await d.move_motors(l, droid.Motors.LEFT, "FF")
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await d.move_motors(r, droid.Motors.RIGHT,"FF")
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async def move_manually(direction, motor, strength):
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global d
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await d.move_motors(direction, motor, strength)
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async def move_stop():
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global d
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await move_manually(droid.Directions.FORWARD, droid.Motors.LEFT, "00")
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await move_manually(droid.Directions.FORWARD, droid.Motors.RIGHT, "00")
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async def rotate_head(direction):
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global d
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await d.move_motors(direction, droid.Motors.HEAD, "FF")
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# eventually should we stop this call so we don't waste a bunch of battery?
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async def stop_rotate_head():
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global d
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await d.move_motors(droid.Directions.ROTATE_LEFT, droid.Motors.HEAD, "00")
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async def start_droid():
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"""
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This function should be in a try loop
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"""
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global d
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d = await droid.discoverDroid(retry=True)
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await d.connect()
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async def stop_droid():
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global d
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await d.disconnect()
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88
keyboard_control.py
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88
keyboard_control.py
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import asyncio
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from re import L
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from time import sleep
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from random import randrange
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import droid_commands as d
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from droid import Directions
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runningDroid = True
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async def select_noise(d):
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bank = input("\tBank> ")
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sound = input("\tSound> ")
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await d.play_specific_sound(bank, sound)
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async def play_sound(d):
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await d.play_sound()
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async def select_speed(d):
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direction = input("\tDirection> ")
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motor = input("\tMotor> ")
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speed = input("\tSpeed> ")
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await d.move_manually(direction, motor, speed)
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async def forward(d):
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await d.move_droid(Directions.FORWARD)
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async def backward(d):
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await d.move_droid(Directions.BACKWARD)
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async def left(d):
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await d.move_droid(Directions.LEFT)
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async def right(d):
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await d.move_droid(Directions.RIGHT)
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async def move_stop(d):
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await d.move_stop()
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async def quit(d):
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global runningDroid
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runningDroid = False
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async def main():
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# first, get droid
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await d.start_droid()
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commands = {
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"w": forward,
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"a": left,
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"s": backward,
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"d": right,
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"x": move_stop,
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"z": select_speed,
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#"e": rotate counter-clockwise,
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#"r": rotate clockwise,
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#"f": special effect
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"n": play_sound,
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"m": select_noise,
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"q": quit
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}
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try:
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global runningDroid
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while runningDroid:
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# next, await input
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command = input("Please input a command > ")
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# next, parse that command
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c = command.lower()[0:1]
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if c in commands.keys():
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await commands[c](d)
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else:
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print("Command does not exist.")
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sleep(0.2)
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except Exception as e:
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print(e)
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finally:
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await d.stop_droid()
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if __name__ == "__main__":
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asyncio.run(main())
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