Merge pull request #2 from xtruan/develop

Merge to master

arduino/actuator/actuator.ino

@@ -1,4 +1,5 @@
 #include <MeccaBrain.h>
+#include <Servo.h>
 #include <Wire.h>
 
 #ifndef cbi
@@ -11,11 +12,23 @@ const int I2C_ADDR = 0x8;
 // configure pin addresses
 const int LED_PIN = LED_BUILTIN;
 const int MECC_LED_PIN = 3;
+const int SERVO_PIN_0 = 5;
+const int SERVO_PIN_1 = 6;
+const int SERVO_PIN_2 = 9;
+const int SERVO_PIN_3 = 10;
+const int SERVO_PIN_4 = 11;
 
 // initialize MeccaBrain
 MeccaBrain meccLedChain(MECC_LED_PIN);
 const int MECC_COMM_LOOPS = 20;
 
+// initialize Servo
+Servo servo0;
+Servo servo1;
+Servo servo2;
+Servo servo3;
+Servo servo4;
+
 // the setup function runs once when you press reset or power the board
 void setup() {
   // initialize digital pin LED_BUILTIN as an output.
@@ -25,6 +38,13 @@ void setup() {
   // initialize Meccano LED pin as an output
   pinMode(MECC_LED_PIN, OUTPUT);
 
+  // initialize Servos
+  servo0.attach(SERVO_PIN_0);
+  servo1.attach(SERVO_PIN_1);
+  servo2.attach(SERVO_PIN_2);
+  servo3.attach(SERVO_PIN_3);
+  servo4.attach(SERVO_PIN_4);
+
   Wire.begin(I2C_ADDR);
 
   #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__)
@@ -57,6 +77,15 @@ void loop() {
   // NOP
 }
 
+// action received for test (internal Ardino) LED
+void actionTestLed(char setting) {
+  if (setting == 0) {
+    digitalWrite(LED_PIN, 0);
+  } else {
+    digitalWrite(LED_PIN, 1);
+  }
+}
+
 // action received for Meccano LED
 void actionMeccLed(int setting) {
   byte red, green, blue;
@@ -96,13 +125,19 @@ void setMeccLedColor(byte red, byte green, byte blue, byte fadeTime)
   }
 }
 
-// action received for test (internal Ardino) LED
-void actionTestLed(char setting) {
-  if (setting == 0) {
-      digitalWrite(LED_PIN, 0);
-    } else {
-      digitalWrite(LED_PIN, 1);
-    }
+// action received for servo
+void actionServo(char id, char setting) {
+  if (id == 0) {
+    servo0.write(setting * 2);
+  } else if (id == 1) {
+    servo1.write(setting * 2);
+  } else if (id == 2) {
+    servo2.write(setting * 2);
+  } else if (id == 3) {
+    servo3.write(setting * 2);
+  } else if (id == 4) {
+    servo4.write(setting * 2);
+  }
 }
 
 // process received event
@@ -112,7 +147,7 @@ void processEvent(char type, char id, char setting) {
   } else if (type == 'M') {
     actionMeccLed(setting);
   } else if (type == 'S') {
-    // NOP
+    actionServo(id, setting);
   }
 }
 

raspi/action_recorder.py

@@ -0,0 +1,43 @@
+from pynput.keyboard import Key, Listener
+import time
+
+import utils.transform as transform
+
+csv_file = open('rec.csv', 'w')
+start = time.time()
+key_mode = 0
+
+def on_press(key):
+    global csv_file, start, key_mode
+    if key_mode <= 0:
+        key_mode = 1
+
+        end = time.time()
+        out_str = transform.time_stringify(end - start) + ',SVO,2,90'
+        print(out_str)
+        csv_file.write(out_str + '\n')
+
+def on_release(key):
+    global csv_file, start, key_mode
+    if key_mode >= 0:
+        key_mode = -1
+
+        end = time.time()
+        out_str = transform.time_stringify(end - start) + ',SVO,2,00'
+        print(out_str)
+        csv_file.write(out_str + '\n')
+
+    if key == Key.esc:
+        # Stop listener
+        return False
+    if key == Key.backspace:
+        print('--RESET--')
+        csv_file.close()
+        csv_file = open('rec.csv', 'w')
+        start = time.time()
+
+# Collect events until released
+with Listener(
+        on_press=on_press,
+        on_release=on_release) as listener:
+    listener.join()

raspi/control.py

@@ -20,7 +20,7 @@ def read_anim_csv(filename, delimiter=',', quotechar='"'):
 
     for row in csv_reader:
         time_str = str(row[COL_TIME_STR])
-        time_sec = transform.time_convert(time_str)
+        time_sec = transform.time_floatify(time_str)
         device_type = str(row[COL_DEVICE_TYPE])
         device_id = int(row[COL_DEVICE_ID])
         setting = int(row[COL_SETTING])

raspi/utils/transform.py

@@ -1,4 +1,11 @@
+import time
 
-def time_convert(time_str):
+def time_floatify(time_str):
     time_list = time_str.split(':')
     return float(int(time_list[0]) * 3600 + int(time_list[1]) * 60 + float(time_list[2]))
+
+def time_stringify(time_secs):
+    frac = float(time_secs) - int(time_secs)
+    frac = int(frac * 1000)
+    return time.strftime('%H:%M:%S', time.gmtime(time_secs)) + '.' + str(frac)
+