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Added offset calibration example for Serial Servo, and some tidying
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,90 @@ | ||
| from pimoroni_yukon import Yukon | ||
| from pimoroni_yukon import SLOT1 as SLOT | ||
| from pimoroni_yukon.modules import SerialServoModule | ||
| from pimoroni_yukon.devices.lx_servo import LXServo | ||
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| """ | ||
| Calibrate a serial servo's angle offset with Yukon's onboard buttons. | ||
| This uses a Serial Bus Servo module connected to Slot1. | ||
| Press "A" to increment the servo angle offset. | ||
| Press "B" to decrement the servo angle offset. | ||
| Press "Boot/User" to save the angle offset to the servo and exit the program. | ||
| """ | ||
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| # Constants | ||
| SERVO_ID = 1 # The ID of the servo to control | ||
| VOLTAGE_LIMIT = 8.4 # The voltage to not exceed, to protect the servos | ||
| ANGLE_INCREMENT = 5 # The angle (in degrees) the servo will move to when button 'A' or 'B' are pressed | ||
| POWER_ON_DELAY = 1.0 # The time to sleep after turning on the power, for serial servos to power on | ||
| START_DURATION = 2.0 # The duration over which the servo will move to its starting angle | ||
| SAVE_DURATION = 0.5 # The duration to wait after sending a save command, for it to take effect | ||
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| # Variables | ||
| yukon = Yukon(voltage_limit=VOLTAGE_LIMIT) # Create a new Yukon object, with a lower voltage limit set | ||
| module = SerialServoModule() # Create a SerialServoModule object | ||
| last_button_states = {'A': False, 'B': False} # The last states of the buttons | ||
| angle_offset = 0 # The angle offset being tried | ||
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| # Function to check if the button has been newly pressed | ||
| def button_newly_pressed(btn): | ||
| global last_button_states | ||
| button_state = yukon.is_pressed(btn) | ||
| button_pressed = button_state and not last_button_states[btn] | ||
| last_button_states[btn] = button_state | ||
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| return button_pressed | ||
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| # Wrap the code in a try block, to catch any exceptions (including KeyboardInterrupt) | ||
| try: | ||
| yukon.register_with_slot(module, SLOT) # Register the SerialServoModule object with the slot | ||
| yukon.verify_and_initialise(allow_unregistered=True) # Verify that a SerialServoModule is attached to Yukon, and initialise it | ||
| yukon.enable_main_output() # Turn on power to the module slots | ||
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| yukon.monitored_sleep(POWER_ON_DELAY) # Wait for serial servos to power up | ||
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| # Create an LXServo object to interact with the servo, | ||
| # giving it access to the module's UART and Duplexer | ||
| servo = LXServo(SERVO_ID, module.uart, module.duplexer) | ||
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| # Print out the initial angle offset stored on the servo | ||
| print(f"Angle Offset: {servo.angle_offset()}") | ||
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| servo.move_to(0, START_DURATION) # Move the servo to its starting angle | ||
| yukon.monitored_sleep(START_DURATION) # Wait for serial servos to move to their starting angles | ||
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| # Loop until the BOOT/USER button is pressed | ||
| while not yukon.is_boot_pressed(): | ||
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| # Has the A button been pressed? | ||
| if button_newly_pressed('A'): | ||
| angle_offset += ANGLE_INCREMENT | ||
| servo.try_angle_offset(angle_offset) | ||
| print(f"Trying Offset: {angle_offset}") | ||
| yukon.set_led('A', True) # Show that A was pressed | ||
| else: | ||
| yukon.set_led('A', False) # A is no longer newly pressed | ||
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| # Has the B button been pressed? | ||
| if button_newly_pressed('B'): | ||
| angle_offset -= ANGLE_INCREMENT | ||
| servo.try_angle_offset(angle_offset) | ||
| print(f"Trying Offset: {angle_offset}") | ||
| yukon.set_led('B', True) # Show that B was pressed | ||
| else: | ||
| yukon.set_led('B', False) # B is no longer newly pressed | ||
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| # Perform a single check of Yukon's internal voltage, current, and temperature sensors | ||
| yukon.monitor_once() | ||
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| # Print out the angle offset stored on the servo | ||
| print(f"Saving Angle Offset: {servo.angle_offset()}") | ||
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| servo.save_angle_offset() # Save the angle offset back onto the servo | ||
| yukon.monitored_sleep(START_DURATION) # Give the serial servo some time to save the new offset | ||
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| finally: | ||
| # Put the board back into a safe state, regardless of how the program may have ended | ||
| yukon.reset() |
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