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CatToy
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Thomas Buck il y a 1 an
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edf8a7679a
9 fichiers modifiés avec 390 ajouts et 0 suppressions
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  1. 112
    0
      CatToy.py
  2. 5
    0
      README.md
  3. 4
    0
      config.py
  4. 21
    0
      copy.sh
  5. 56
    0
      servo.py
  6. 4
    0
      test_servo.py
  7. 5
    0
      test_wifi.py
  8. 65
    0
      toy.py
  9. 118
    0
      wifi.py

+ 112
- 0
CatToy.py Voir le fichier 

@@ -0,0 +1,112 @@
1 
+from wifi import Wifi
2 
+from config import Config
3 
+from toy import Toy
4 
+
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 
+"""
35 
+
36 
+t = Toy()
37 
+
38 
+def rootCallback(request):
39 
+    return html % (
40 
+        '<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 
+        ''
43 
+    )
44 
+
45 
+def servoCallback(request):
46 
+    q = request.find("/servos?")
47 
+    p1 = request.find("s1=")
48 
+    p2 = request.find("s2=")
49 
+    if (q < 0) or (p1 < 0) or (p2 < 0):
50 
+        return html % (
51 
+            '<p>Error: no servo arguments found in URL query string.</p>',
52 
+            round(max_laser_power * 100.0),
53 
+            '<p><a href="/">Back to main page</a></p>'
54 
+        )
55 
+
56 
+    servos = [p1, p2]
57 
+    result = []
58 
+    for p in servos:
59 
+        pe = request.find("&s", p)
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+        if (pe < 0) or (p + 3 >= pe) or (pe - (p + 3) > 3):
61 
+            pe = request.find(" HTTP", p)
62 
+        if (pe < 0) or (p + 3 >= pe) or (pe - (p + 3) > 3):
63 
+            return html % (
64 
+                '<p>Error parsing query string.</p>',
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+            round(max_laser_power * 100.0),
66 
+                '<p><a href="/">Back to main page</a></p>'
67 
+            )
68 
+        r = request[p + 3 : pe]
69 
+        s = int(r)
70 
+        result.append(s)
71 
+
72 
+    if result[0] < t.pan_min:
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+        result[0] = t.pan_min
74 
+    if result[0] > t.pan_max:
75 
+        result[0] = t.pan_max
76 
+    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 
+    t.angle(t.tilt, result[1])
83 
+
84 
+    return html % (
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+        '<p>Servos move to s1=' + str(result[0]) + ' s2=' + str(result[1]) + '.</p>',
86 
+        round(max_laser_power * 100.0),
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+        '<p><a href="/">Back to main page</a></p>'
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+    )
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+
90 
+def laserCallback(request):
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+    value = 0.0
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+    text = "off"
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+
94 
+    if request.find("?s=") == 10:
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+        pe = request.find(" HTTP", 10)
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+        r = request[13 : pe]
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+        if r != "Off":
98 
+            value = int(r)
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+            text = "to " + str(r) + '%'
100 
+
101 
+    t.laser(value / 100.0)
102 
+    return html % (
103 
+        '<p>Laser turned ' + text + '!</p>',
104 
+        round(max_laser_power * 100.0),
105 
+        '<p><a href="/">Back to main page</a></p>'
106 
+    )
107 
+
108 
+w = Wifi(Config.ssid, Config.password)
109 
+w.add_handler("/", rootCallback)
110 
+w.add_handler("/servos", servoCallback)
111 
+w.add_handler("/laser", laserCallback)
112 
+w.listen()

+ 5
- 0
README.md Voir le fichier 

@@ -0,0 +1,5 @@
1 
+
2 
+https://how2electronics.com/how-to-control-servo-motor-with-raspberry-pi-pico/
3 
+https://github.com/dhylands/rshell/blob/master/README.rst
4 
+https://github.com/raspberrypi/pico-examples/blob/master/pico_w/wifi/python_test_tcp/micropython_test_tcp_server.py
5 
+https://github.com/raspberrypi/pico-micropython-examples/blob/master/wireless/webserver.py

+ 4
- 0
config.py Voir le fichier 

@@ -0,0 +1,4 @@
1 
+class Config:
2 
+# Set your wifi ssid and password here
3 
+    ssid = const('')
4 
+    password = const('')

+ 21
- 0
copy.sh Voir le fichier 

@@ -0,0 +1,21 @@
1 
+#!/bin/bash
2 
+
3 
+PORT=/dev/ttyACM1
4 
+
5 
+if [ $# -ne 0 ] ; then
6 
+cat << EOF | rshell -p $PORT
7 
+cp config.py /pyboard
8 
+cp servo.py /pyboard
9 
+cp toy.py /pyboard
10 
+cp wifi.py /pyboard
11 
+cp $1 /pyboard/main.py
12 
+EOF
13 
+else
14 
+cat << EOF | rshell -p $PORT
15 
+cp config.py /pyboard
16 
+cp servo.py /pyboard
17 
+cp toy.py /pyboard
18 
+cp wifi.py /pyboard
19 
+cp CatToy.py /pyboard
20 
+EOF
21 
+fi

+ 56
- 0
servo.py Voir le fichier 

@@ -0,0 +1,56 @@
1 
+# https://how2electronics.com/how-to-control-servo-motor-with-raspberry-pi-pico/
2 
+
3 
+from machine import Pin, PWM
4 
+
5 
+class Servo:
6 
+    """ A simple class for controlling a 9g servo with the Raspberry Pi Pico.
7 
+    Attributes:
8 
+        minVal: An integer denoting the minimum duty value for the servo motor.
9 
+        maxVal: An integer denoting the maximum duty value for the servo motor.
10 
+    """
11 
+
12 
+    def __init__(self, pin: int or Pin or PWM, minVal=2500, maxVal=7500):
13 
+        """ Creates a new Servo Object.
14 
+        args:
15 
+            pin (int or machine.Pin or machine.PWM): Either an integer denoting the number of the GPIO pin or an already constructed Pin or PWM object that is connected to the servo.
16 
+            minVal (int): Optional, denotes the minimum duty value to be used for this servo.
17 
+            maxVal (int): Optional, denotes the maximum duty value to be used for this servo.
18 
+        """
19 
+
20 
+        if isinstance(pin, int):
21 
+            pin = Pin(pin, Pin.OUT)
22 
+        if isinstance(pin, Pin):
23 
+            self.__pwm = PWM(pin)
24 
+        if isinstance(pin, PWM):
25 
+            self.__pwm = pin
26 
+        self.__pwm.freq(50)
27 
+        self.minVal = minVal
28 
+        self.maxVal = maxVal
29 
+
30 
+    def deinit(self):
31 
+        """ Deinitializes the underlying PWM object.
32 
+        """
33 
+        self.__pwm.deinit()
34 
+
35 
+    def goto(self, value: int):
36 
+        """ Moves the servo to the specified position.
37 
+        args:
38 
+            value (int): The position to move to, represented by a value from 0 to 1024 (inclusive).
39 
+        """
40 
+        if value < 0:
41 
+            value = 0
42 
+        if value > 1024:
43 
+            value = 1024
44 
+        delta = self.maxVal-self.minVal
45 
+        target = int(self.minVal + ((value / 1024) * delta))
46 
+        self.__pwm.duty_u16(target)
47 
+
48 
+    def middle(self):
49 
+        """ Moves the servo to the middle.
50 
+        """
51 
+        self.goto(512)
52 
+
53 
+    def free(self):
54 
+        """ Allows the servo to be moved freely.
55 
+        """
56 
+        self.__pwm.duty_u16(0)

+ 4
- 0
test_servo.py Voir le fichier 

@@ -0,0 +1,4 @@
1 
+from toy import Toy
2 
+
3 
+t = Toy()
4 
+t.test()

+ 5
- 0
test_wifi.py Voir le fichier 

@@ -0,0 +1,5 @@
1 
+from wifi import Wifi
2 
+from config import Config
3 
+
4 
+w = Wifi(Config.ssid, Config.password)
5 
+w.listen()

+ 65
- 0
toy.py Voir le fichier 

@@ -0,0 +1,65 @@
1 
+# https://how2electronics.com/how-to-control-servo-motor-with-raspberry-pi-pico/
2 
+
3 
+import time
4 
+from machine import Pin, PWM
5 
+from servo import Servo
6 
+
7 
+class Toy:
8 
+    """ Tools to control the Cat Toy hardware.
9 
+    Attributes:
10 
+        servo1: GPIO pin number of the pan servo.
11 
+        servo2: GPIO pin number of the tilt servo.
12 
+        laser: GPIO pin number of the laser diode.
13 
+    """
14 
+
15 
+    # first servo
16 
+    pan_min = 20
17 
+    pan_max = 160
18 
+
19 
+    # sevond servo
20 
+    tilt_min = 0
21 
+    tilt_max = 90
22 
+
23 
+    def __init__(self, servo1 = 28, servo2 = 27, laser = 2):
24 
+        self.laserPin = PWM(Pin(laser, Pin.OUT))
25 
+        self.laserPin.freq(1000)
26 
+        self.laser(0)
27 
+
28 
+        self.pan = Servo(servo1)
29 
+        self.tilt = Servo(servo2)
30 
+
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)
33 
+        time.sleep(0.1)
34 
+        self.pan.free()
35 
+        self.tilt.free()
36 
+
37 
+    def map_value(self, x, in_min, in_max, out_min, out_max):
38 
+        return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
39 
+
40 
+    def angle(self, servo, angle):
41 
+        if angle < 0:
42 
+            angle = 0
43 
+        if angle > 180:
44 
+            angle = 180
45 
+        servo.goto(round(self.map_value(angle, 0, 180, 0, 1024)))
46 
+
47 
+    def laser(self, value):
48 
+        v = 1.0 - value
49 
+        self.laserPin.duty_u16(round(v * 65535))
50 
+
51 
+    def test(self, steps = 10):
52 
+        self.laser(1)
53 
+
54 
+        for y in range(self.tilt_min, self.tilt_max, round((self.tilt_max - self.tilt_min) / steps)):
55 
+            self.angle(self.tilt, y)
56 
+            time.sleep(0.2)
57 
+
58 
+            for x in range(self.pan_min, self.pan_max, round((self.pan_max - self.pan_min) / steps)):
59 
+                self.angle(self.pan, x)
60 
+                time.sleep(0.2)
61 
+
62 
+        self.tilt.free()
63 
+        self.pan.free()
64 
+
65 
+        self.laser(0)

+ 118
- 0
wifi.py Voir le fichier 

@@ -0,0 +1,118 @@
1 
+import network
2 
+import socket
3 
+import time
4 
+from machine import Pin
5 
+
6 
+class Wifi:
7 
+    html = """<!DOCTYPE html>
8 
+    <html>
9 
+        <head>
10 
+            <title>Pico W</title>
11 
+        </head>
12 
+        <body>
13 
+            <h1>%s</h1>
14 
+            <p>%s</p>
15 
+            <pre>%s</pre>
16 
+        </body>
17 
+    </html>
18 
+    """
19 
+
20 
+    def __init__(self, ssid, password, port = 80):
21 
+        # Check if wifi details have been set
22 
+        if len(ssid) == 0 or len(password) == 0:
23 
+            raise RuntimeError('Please set wifi ssid and password in config.py')
24 
+            self.led.value(1)
25 
+
26 
+        self.led = Pin("LED", Pin.OUT)
27 
+
28 
+        # Start connection
29 
+        self.wlan = network.WLAN(network.STA_IF)
30 
+        self.wlan.active(True)
31 
+        self.wlan.connect(ssid, password)
32 
+
33 
+        # Wait for connect success or failure
34 
+        max_wait = 20
35 
+        error_count = 20
36 
+        while max_wait > 0:
37 
+            if self.wlan.status() >= 3:
38 
+                break
39 
+            elif self.wlan.status() < 0:
40 
+                self.wlan.connect(ssid, password)
41 
+                error_count -= 1
42 
+                if error_count <= 0:
43 
+                    break
44 
+            else:
45 
+                max_wait -= 1
46 
+            print('waiting for connection...')
47 
+            self.led.value(not self.led.value())
48 
+            time.sleep(0.5)
49 
+
50 
+        # Handle connection error
51 
+        if self.wlan.status() != 3:
52 
+            raise RuntimeError('wifi connection failed %d' % self.wlan.status())
53 
+            self.led.value(1)
54 
+
55 
+        print('connected')
56 
+        status = self.wlan.ifconfig()
57 
+        print('ip = ' + status[0])
58 
+
59 
+        # Open socket to the server
60 
+        self.sock = socket.socket()
61 
+        self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
62 
+        addr = socket.getaddrinfo('0.0.0.0', port)[0][-1]
63 
+        self.sock.bind(addr)
64 
+        self.sock.listen(1)
65 
+        print('listening on', addr)
66 
+
67 
+        self.handlers = []
68 
+        self.led.value(0)
69 
+
70 
+    def add_handler(self, path, callback):
71 
+        for hp, hc in self.handlers:
72 
+            if hp == path:
73 
+                raise RuntimeError('path is already registered %s' % path)
74 
+                self.led.value(1)
75 
+        h = (path, callback)
76 
+        self.handlers.append(h)
77 
+
78 
+
79 
+    def listen_once(self):
80 
+        # Listen for connections
81 
+        try:
82 
+            cl, addr = self.sock.accept()
83 
+            print('client connected from', addr)
84 
+
85 
+            request = cl.recv(1024).decode('utf-8')
86 
+            #print(request)
87 
+
88 
+            response = ""
89 
+            found = False
90 
+            for path, callback in self.handlers:
91 
+                pos = request.find(path)
92 
+                if ((pos == 4) or (pos == 5)) and ((request[pos + len(path)] == ' ') or (request[pos + len(path)] == '?')):
93 
+                    found = True
94 
+                    response = callback(request)
95 
+                    break
96 
+
97 
+            code = 200
98 
+            title = "OK"
99 
+            if not found:
100 
+                code = 404
101 
+                title = "Not Found"
102 
+                response = self.html % (str(code), title, request)
103 
+            elif len(response) == 0:
104 
+                code = 503
105 
+                title = "Internal Server Error"
106 
+                response = self.html % (str(code), title, request)
107 
+
108 
+            cl.send('HTTP/1.0 ' + str(code) + ' ' + title + '\r\nContent-type: text/html\r\n\r\n')
109 
+            cl.send(response)
110 
+        except OSError as e:
111 
+            print(e)
112 
+        finally:
113 
+            cl.close()
114 
+            print('connection closed')
115 
+
116 
+    def listen(self):
117 
+        while True:
118 
+            self.listen_once()

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