bot.py

from __future__ import division
import time
import Adafruit_PCA9685
import curses
import json

# Uncomment to enable debug output.
#import logging
#logging.basicConfig(level=logging.DEBUG)
# Initialise the PCA9685 using the default address (0x40).
pwm = Adafruit_PCA9685.PCA9685()

# Alternatively specify a different address and/or bus:
#pwm = Adafruit_PCA9685.PCA9685(address=0x41, busnum=2)


state = []

try:
    with open('botstate.json') as json_data:
        state = json.load(json_data)
    print(state)

except Error:
    state = []


nservos = 8

# Configure min and max servo pulse lengths
servo_min = 150  # Min pulse length out of 4096
servo_max = 600  # Max pulse length out of 4096

servo_mid = int((servo_min+servo_max)/2)
servo_rng = servo_max-servo_min;

stdscr = curses.initscr()
curses.cbreak()
stdscr.keypad(1)

stdscr.addstr(0,10,"Hit 'q' to quit")
stdscr.refresh()


key = ''


# Helper function to make setting a servo pulse width simpler.
def set_servo_pulse(channel, pulse):
    pulse_length = 1000000    # 1,000,000 us per second
    pulse_length //= 60       # 60 Hz
    print('{0}us per period'.format(pulse_length))
    pulse_length //= 4096     # 12 bits of resolution
    print('{0}us per bit'.format(pulse_length))
    pulse *= 1000
    pulse //= pulse_length
    pwm.set_pwm(channel, 0, pulse)

sv = []
ss = 0;

def svset(idx,pos):
    global ss;
    ss = idx;
    sv[ss]=pos;
    svpwm = int(((sv[ss]*servo_rng)/2)+servo_mid)
    pwm.set_pwm(ss,0,svpwm)
    

def disableServo(idx):
    pwm.set_pwm(idx,0,0)

def disableServos():
    for x in range(0,nservos):
        disableServo(x);

def resetServos():
    # Set frequency to 60hz, good for servos.
    pwm.set_pwm_freq(60)
    for x in range(0,nservos):
    
        stdscr.addstr(15,0,'Moving servo on channel '+str(x)+'         ')
        stdscr.refresh()
        pwm.set_pwm(x,0,servo_mid)
        time.sleep(0.25)
        disableServo(x)
        sv.append(0.0)
    #while True:
        # Move servo on channel O between extremes.
        #set_servo_pulse(0, servo_mid)
        #k = raw_input("?")
        #print(k)
        #time.sleep(1)
        #set_servo_pulse(1, servo_mid)



def svo(off):
    sv[ss]+=off
    if(sv[ss]<-1.0): sv[ss]=-1.0
    elif (sv[ss]>1.0): sv[ss]=1.0
    svpwm = int(((sv[ss]*servo_rng)/2)+servo_mid)
    pwm.set_pwm(ss,0,svpwm)
    stdscr.addstr(6,5,str(sv[ss])+"   "+str(svpwm)+"       ");
        

def svi(off):
    global ss
    ss += off
    if(ss<0): ss=0
    elif (ss>=len(sv)): ss=len(sv)-1
    stdscr.addstr(1,5,str(ss)+"   ");



resetServos()

while key != ord('q'):
    key = stdscr.getch()
    #stdscr.addch(20,25,key)
    stdscr.refresh()
    if key == curses.KEY_UP:
        stdscr.addstr(2, 20, "Up")
        svo(0.1)
    elif key == curses.KEY_DOWN:
        stdscr.addstr(4, 20, "Down")
        svo(-0.1)
    elif key == curses.KEY_LEFT:
        stdscr.addstr(3, 15, "Left")
        svi(-1)
    elif key == curses.KEY_RIGHT:
        stdscr.addstr(3, 25, "Right")
        svi(1)
    elif key == ord('r'):
        resetServos();
    elif key == ord('k'):
        for x in range(0,8):
            svset(x,0.5)
            time.sleep(0.15)
        for x in range(0,8):
            svset(x,-0.5)
            time.sleep(0.15)
    elif key == ord('x'):
        disableServos();

curses.endwin()