thomas
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CatToy
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add automatic mode

Thomas Buck 1 年之前
父節點
edf8a7679a
當前提交
2575ee857b
共有 2 個文件被更改，包括 192 次插入 和 64 次删除
分割檢視 顯示文件統計
  1. 180
    50
      CatToy.py
  2. 12
    14
      toy.py

+ 180
- 50
CatToy.py 查看文件 

@@ -1,45 +1,75 @@
1 1 
 from wifi import Wifi
2 2 
 from config import Config
3 3 
 from toy import Toy
4 
+import random
5 
+from machine import Timer
4 6
5 
-max_laser_power = 0.25
6 
-
7 
-html = """<!DOCTYPE html>
8 
-<html>
9 
-    <head>
10 
-        <title>Cat Toy</title>
11 
-    </head>
12 
-    <body>
13 
-        <h1>Cat Toy</h1>
14 
-        %s
15 
-        <h2>Laser Pointer</h2>
16 
-        <form action="/laser" method="get">
17 
-            Turn power:
18 
-            <input type="range" name="s" min="0" max="100" step="1" value="%d">
19 
-            <input type="submit" value="Set"><br>
20 
-        </form>
21 
-        <form action="/laser" method="get">
22 
-            Or just turn it:
23 
-            <input type="submit" name="s" value="Off">
24 
-        </form>
25 
-        <h2>Pan and Tilt Servos</h2>
26 
-        <form action="/servos" method="get">
27 
-            Pan: <input type="text" name="s1"><br>
28 
-            Tilt: <input type="text" name="s2"><br>
29 
-            <input type="submit" value="Move">
30 
-        </form>
31 
-        %s
32 
-    </body>
33 
-</html>
34 
-"""
7 
+max_laser_power = 0.15
35 8
9 
+limits = [
10 
+    # pan_min, pan_max, tilt_min, tilt_max, name
11 
+    (84, 120, 53, 76, 'office desk, front right')
12 
+]
13 
+
14 
+def buildPage(header, footer):
15 
+    html = """<!DOCTYPE html>
16 
+    <html>
17 
+        <head>
18 
+            <title>Cat Toy</title>
19 
+        </head>
20 
+        <body>
21 
+            <h1>Cat Toy</h1>
22 
+            %s
23 
+            <h2>Laser Pointer</h2>
24 
+            <form action="/laser" method="get">
25 
+                Turn power:
26 
+                <input type="range" name="s" min="0" max="100" step="1" value="%d">
27 
+                <input type="submit" value="Set"><br>
28 
+            </form>
29 
+            <form action="/laser" method="get">
30 
+                Or just turn it:
31 
+                <input type="submit" name="s" value="Off">
32 
+            </form>
33 
+            <h2>Pan and Tilt Servos</h2>
34 
+            <form action="/servos" method="get">
35 
+                Pan: <input type="text" name="s1"><br>
36 
+                Tilt: <input type="text" name="s2"><br>
37 
+                <input type="submit" value="Move">
38 
+            </form>
39 
+            <form action="/random_move" method="get">
40 
+                <input type="submit" name="s" value="Go to random position">
41 
+            </form>
42 
+            <h2>Auto Play</h2>
43 
+            <form action="/repeat" method="get">
44 
+                Limits:
45 
+                <select name="limit">
46 
+                    %s
47 
+                </select><br>
48 
+                Steps: <input type="text" name="steps" value="100"><br>
49 
+                Duration: <input type="text" name="duration" value="1000">ms<br>
50 
+                <input type="submit" name="s" value="Start Program">
51 
+            </form>
52 
+            %s
53 
+        </body>
54 
+    </html>
55 
+    """
56 
+
57 
+    sl = ""
58 
+    for pan_min, pan_max, tilt_min, tilt_max, name in limits:
59 
+        val = name.replace(' ', '_').replace(',', '').lower()
60 
+        sl += '<option value="' + val + '">' + name + '</option>'
61 
+    sl += '<option value="">None</option>'
62 
+
63 
+    page = html % (header, int(max_laser_power * 100.0), sl, footer)
64 
+    return page
65 
+
66 
+random.seed()
36 67 
 t = Toy()
37 68
38 69 
 def rootCallback(request):
39 
-    return html % (
70 
+    return buildPage(
40 71 
         '<p>Welcome to the Cat Toy interface by <a href="https://www.xythobuz.de">xythobuz</a>.</p>',
41 
-        round(max_laser_power * 100.0),
42 
-        ''
72 
+        "<p><b>Limits:</b> tMin={} tMax={} pMin={} pMax={}</p>".format(t.tilt_min, t.tilt_max, t.pan_min, t.pan_max)
43 73 
     )
44 74
45 75 
 def servoCallback(request):
 
@@ -47,9 +77,9 @@ def servoCallback(request):
47 77 
     p1 = request.find("s1=")
48 78 
     p2 = request.find("s2=")
49 79 
     if (q < 0) or (p1 < 0) or (p2 < 0):
50 
-        return html % (
80 
+        print("servo query error: q={} p1={} p2={}".format(q, p1, p2))
81 
+        return buildPage(
51 82 
             '<p>Error: no servo arguments found in URL query string.</p>',
52 
-            round(max_laser_power * 100.0),
53 83 
             '<p><a href="/">Back to main page</a></p>'
54 84 
         )
55 85 
 
@@ -60,30 +90,21 @@ def servoCallback(request):
60 90 
         if (pe < 0) or (p + 3 >= pe) or (pe - (p + 3) > 3):
61 91 
             pe = request.find(" HTTP", p)
62 92 
         if (pe < 0) or (p + 3 >= pe) or (pe - (p + 3) > 3):
63 
-            return html % (
93 
+            print("servo query error: p={} pe={}".format(p, pe))
94 
+            return buildPage(
64 95 
                 '<p>Error parsing query string.</p>',
65 
-            round(max_laser_power * 100.0),
66 96 
                 '<p><a href="/">Back to main page</a></p>'
67 97 
             )
68 98 
         r = request[p + 3 : pe]
69 99 
         s = int(r)
70 100 
         result.append(s)
71 101
72 
-    if result[0] < t.pan_min:
73 
-        result[0] = t.pan_min
74 
-    if result[0] > t.pan_max:
75 
-        result[0] = t.pan_max
102 
+    print("servos: pan={} tilt={}", result[0], result[1])
76 103 
     t.angle(t.pan, result[0])
77 
-
78 
-    if result[1] < t.tilt_min:
79 
-        result[1] = t.tilt_min
80 
-    if result[1] > t.tilt_max:
81 
-        result[1] = t.tilt_max
82 104 
     t.angle(t.tilt, result[1])
83 105
84 
-    return html % (
106 
+    return buildPage(
85 107 
         '<p>Servos move to s1=' + str(result[0]) + ' s2=' + str(result[1]) + '.</p>',
86 
-        round(max_laser_power * 100.0),
87 108 
         '<p><a href="/">Back to main page</a></p>'
88 109 
     )
89 110 
 
@@ -98,10 +119,117 @@ def laserCallback(request):
98 119 
             value = int(r)
99 120 
             text = "to " + str(r) + '%'
100 121
122 
+    print("laser: {}%".format(value))
101 123 
     t.laser(value / 100.0)
102 
-    return html % (
124 
+
125 
+    return buildPage(
103 126 
         '<p>Laser turned ' + text + '!</p>',
104 
-        round(max_laser_power * 100.0),
127 
+        '<p><a href="/">Back to main page</a></p>'
128 
+    )
129 
+
130 
+def randomMoveCallback(request):
131 
+    tilt = random.randint(t.tilt_min, t.tilt_max)
132 
+    pan = random.randint(t.pan_min, t.pan_max)
133 
+    print("random: tilt={} pan={}".format(tilt, pan))
134 
+    t.angle(t.tilt, tilt)
135 
+    t.angle(t.pan, pan)
136 
+    return buildPage(
137 
+        '<p>Random move to pan={} tilt={}</p>'.format(pan, tilt),
138 
+        '<p><a href="/">Back to main page</a></p>'
139 
+    )
140 
+
141 
+def doMove(pan_min, pan_max, tilt_min, tilt_max, dur):
142 
+    tilt = random.randint(tilt_min, tilt_max)
143 
+    pan = random.randint(pan_min, pan_max)
144 
+    print("random move: tilt={} pan={} duration={}".format(tilt, pan, dur))
145 
+    t.angle(t.tilt, tilt)
146 
+    t.angle(t.pan, pan)
147 
+
148 
+timerRunning = False
149 
+timerData = None
150 
+
151 
+def timerCallback(unused):
152 
+    global timerRunning, timerData
153 
+
154 
+    if not timerRunning:
155 
+        return
156 
+
157 
+    pan_min, pan_max, tilt_min, tilt_max, steps, duration = timerData
158 
+
159 
+    dur = duration
160 
+    if dur < 200:
161 
+        dur = random.randint(200, 2000)
162 
+    else:
163 
+        dur = random.randint(200, duration)
164 
+
165 
+    if steps > 0:
166 
+        steps -= 1
167 
+        doMove(pan_min, pan_max, tilt_min, tilt_max, dur)
168 
+        tim = Timer(period = dur, mode=Timer.ONE_SHOT, callback = timerCallback)
169 
+    else:
170 
+        timerRunning = False
171 
+        t.laser(0.0)
172 
+
173 
+    timerData = (pan_min, pan_max, tilt_min, tilt_max, steps, duration)
174 
+
175 
+def startRepeat(pan_min, pan_max, tilt_min, tilt_max, steps, duration):
176 
+    global timerRunning, timerData
177 
+    timerData = (pan_min, pan_max, tilt_min, tilt_max, steps, duration)
178 
+
179 
+    if not timerRunning:
180 
+        timerRunning = True
181 
+        t.laser(max_laser_power)
182 
+        timerCallback(None)
183 
+
184 
+def stopRepeat():
185 
+    global timerRunning, timerData
186 
+    timerRunning = False
187 
+    t.laser(0.0)
188 
+
189 
+def repeatCallback(request):
190 
+    q = request.find("/repeat?")
191 
+    pl = request.find("limit=")
192 
+    ps = request.find("steps=")
193 
+    pd = request.find("duration=")
194 
+    if (q < 0) or (pl < 0) or (ps < 0) or (pd < 0):
195 
+        print("repeat query error: q={} pl={} ps={} pd={}".format(q, pl, ps, pd))
196 
+        return buildPage(
197 
+            '<p>Error: no repeat arguments found in URL query string.</p>',
198 
+            '<p><a href="/">Back to main page</a></p>'
199 
+        )
200 
+
201 
+    data = [("limit=", pl), ("steps=", ps), ("duration=", pd)]
202 
+    result = []
203 
+    for s, p in data:
204 
+        pe = request.find("&", p)
205 
+        if (pe < 0) or (p + len(s) > pe) or (pe - (p + 3) > 40):
206 
+            pe = request.find(" HTTP", p)
207 
+        if (pe < 0) or (p + len(s) > pe) or (pe - (p + 3) > 40):
208 
+            print("repeat query error: p={} pe={}".format(p, pe))
209 
+            return buildPage(
210 
+                '<p>Error parsing query string.</p>',
211 
+                '<p><a href="/">Back to main page</a></p>'
212 
+            )
213 
+        r = request[p + len(s) : pe]
214 
+        result.append(r)
215 
+
216 
+    print("repeat: limit={} steps={} duration={}".format(result[0], result[1], result[2]))
217 
+
218 
+    if len(result[0]) == 0:
219 
+        stopRepeat()
220 
+        return buildPage(
221 
+            '<p>Stopped repeated automatic moves!</p>',
222 
+            '<p><a href="/">Back to main page</a></p>'
223 
+        )
224 
+
225 
+    for pan_min, pan_max, tilt_min, tilt_max, name in limits:
226 
+        val = name.replace(' ', '_').replace(',', '').lower()
227 
+        if result[0] == val:
228 
+            startRepeat(pan_min, pan_max, tilt_min, tilt_max, int(result[1]), int(result[2]))
229 
+            break
230 
+
231 
+    return buildPage(
232 
+        '<p>Starting moves with limit={} steps={} duration={}</p>'.format(result[0], result[1], result[2]),
105 233 
         '<p><a href="/">Back to main page</a></p>'
106 234 
     )
107 235 
 
@@ -109,4 +237,6 @@ w = Wifi(Config.ssid, Config.password)
109 237 
 w.add_handler("/", rootCallback)
110 238 
 w.add_handler("/servos", servoCallback)
111 239 
 w.add_handler("/laser", laserCallback)
240 
+w.add_handler("/random_move", randomMoveCallback)
241 
+w.add_handler("/repeat", repeatCallback)
112 242 
 w.listen()

+ 12
- 14
toy.py 查看文件 

@@ -12,13 +12,9 @@ class Toy:
12 12 
         laser: GPIO pin number of the laser diode.
13 13 
     """
14 14
15 
-    # first servo
16 
-    pan_min = 20
17 
-    pan_max = 160
18 
-
19 
-    # sevond servo
20 
-    tilt_min = 0
21 
-    tilt_max = 90
15 
+    # maximum movements on cardboard box
16 
+    # pan_min, pan_max, tilt_min, tilt_max
17 
+    maximum_limits = (20, 160, 0, 90)
22 18
23 19 
     def __init__(self, servo1 = 28, servo2 = 27, laser = 2):
24 20 
         self.laserPin = PWM(Pin(laser, Pin.OUT))
 
@@ -28,8 +24,9 @@ class Toy:
28 24 
         self.pan = Servo(servo1)
29 25 
         self.tilt = Servo(servo2)
30 26
31 
-        self.angle(self.pan, round((self.pan_max - self.pan_min) / 2) + self.pan_min)
32 
-        self.angle(self.tilt, round((self.tilt_max - self.tilt_min) / 2) + self.tilt_min)
27 
+        pan_min, pan_max, tilt_min, tilt_max = self.maximum_limits
28 
+        self.angle(self.pan, int((pan_max - pan_min) / 2) + pan_min)
29 
+        self.angle(self.tilt, int((tilt_max - tilt_min) / 2) + tilt_min)
33 30 
         time.sleep(0.1)
34 31 
         self.pan.free()
35 32 
         self.tilt.free()
 
@@ -42,20 +39,21 @@ class Toy:
42 39 
             angle = 0
43 40 
         if angle > 180:
44 41 
             angle = 180
45 
-        servo.goto(round(self.map_value(angle, 0, 180, 0, 1024)))
42 
+        servo.goto(int(self.map_value(angle, 0, 180, 0, 1024)))
46 43
47 44 
     def laser(self, value):
48 45 
         v = 1.0 - value
49 
-        self.laserPin.duty_u16(round(v * 65535))
46 
+        self.laserPin.duty_u16(int(v * 65535))
50 47
51 48 
     def test(self, steps = 10):
49 
+        pan_min, pan_max, tilt_min, tilt_max = self.maximum_limits
50 
+
52 51 
         self.laser(1)
53 52
54 
-        for y in range(self.tilt_min, self.tilt_max, round((self.tilt_max - self.tilt_min) / steps)):
53 
+        for y in range(tilt_min, tilt_max, int((tilt_max - tilt_min) / steps)):
55 54 
             self.angle(self.tilt, y)
56 
-            time.sleep(0.2)
57 55
58 
-            for x in range(self.pan_min, self.pan_max, round((self.pan_max - self.pan_min) / steps)):
56 
+            for x in range(pan_min, pan_max, int((pan_max - pan_min) / steps)):
59 57 
                 self.angle(self.pan, x)
60 58 
                 time.sleep(0.2)
61 59

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