1589 lines
62 KiB
C++
1589 lines
62 KiB
C++
#include "drivers/servo/servo.hpp"
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#include "drivers/servo/servo_cluster.hpp"
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#include <cstdio>
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#define MP_OBJ_TO_PTR2(o, t) ((t *)(uintptr_t)(o))
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using namespace servo;
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extern "C" {
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#include "servo.h"
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#include "py/builtin.h"
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typedef struct _mp_obj_float_t {
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mp_obj_base_t base;
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mp_float_t value;
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} mp_obj_float_t;
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const mp_obj_float_t const_float_1 = {{&mp_type_float}, 1.0f};
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/********** Calibration **********/
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/***** Variables Struct *****/
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typedef struct _Calibration_obj_t {
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mp_obj_base_t base;
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Calibration *calibration;
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bool owner;
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} _Calibtration_obj_t;
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/***** Print *****/
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void Calibration_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
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(void)kind; //Unused input parameter
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_Calibtration_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Calibtration_obj_t);
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Calibration* calib = self->calibration;
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mp_print_str(print, "Calibration(");
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uint size = calib->size();
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mp_print_str(print, "size = ");
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mp_obj_print_helper(print, mp_obj_new_int(size), PRINT_REPR);
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mp_print_str(print, ", points = {");
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for(uint i = 0; i < size; i++) {
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Calibration::Point *point = calib->point_at(i);
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mp_print_str(print, "\n\t{");
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mp_obj_print_helper(print, mp_obj_new_float(point->pulse), PRINT_REPR);
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mp_print_str(print, ", ");
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mp_obj_print_helper(print, mp_obj_new_float(point->value), PRINT_REPR);
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mp_print_str(print, "}");
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if(i < size - 1)
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mp_print_str(print, ", ");
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}
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if(size > 0) {
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mp_print_str(print, "\n");
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}
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mp_print_str(print, "}, lower_limit = ");
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mp_obj_print_helper(print, calib->has_lower_limit() ? mp_const_true : mp_const_false, PRINT_REPR);
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mp_print_str(print, ", upper_limit = ");
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mp_obj_print_helper(print, calib->has_upper_limit() ? mp_const_true : mp_const_false, PRINT_REPR);
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mp_print_str(print, ")");
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}
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/***** Constructor *****/
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mp_obj_t Calibration_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
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//NOTE Wonder if I can make it so calibration objects cannot be created in MP?
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_Calibtration_obj_t *self = nullptr;
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enum { ARG_type };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_type, MP_ARG_INT, {.u_int = (uint8_t)servo::CalibrationType::ANGULAR} },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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servo::CalibrationType calibration_type = (servo::CalibrationType)args[ARG_type].u_int;
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self = m_new_obj_with_finaliser(_Calibtration_obj_t);
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self->base.type = &Calibration_type;
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self->calibration = new Calibration(calibration_type);
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self->owner = true;
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return MP_OBJ_FROM_PTR(self);
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}
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/***** Destructor ******/
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mp_obj_t Calibration___del__(mp_obj_t self_in) {
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_Calibtration_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Calibtration_obj_t);
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if(self->owner)
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delete self->calibration;
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return mp_const_none;
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}
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/***** Methods *****/
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mp_obj_t Calibration_create_blank_calibration(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_self, ARG_size };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_size, MP_ARG_REQUIRED | MP_ARG_INT },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Calibration_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Calibration_obj_t);
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int size = args[ARG_size].u_int;
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if(size < 0)
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mp_raise_ValueError("size out of range. Expected 0 or greater");
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else
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self->calibration->create_blank_calibration((uint)size);
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return mp_const_none;
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}
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mp_obj_t Calibration_create_two_point_calibration(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_self, ARG_min_pulse, ARG_max_pulse, ARG_min_value, ARG_max_value };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_min_pulse, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_max_pulse, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_min_value, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_max_value, MP_ARG_REQUIRED | MP_ARG_OBJ },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Calibration_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Calibration_obj_t);
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float min_pulse = mp_obj_get_float(args[ARG_min_pulse].u_obj);
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float max_pulse = mp_obj_get_float(args[ARG_max_pulse].u_obj);
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float min_value = mp_obj_get_float(args[ARG_min_value].u_obj);
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float max_value = mp_obj_get_float(args[ARG_max_value].u_obj);
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self->calibration->create_two_point_calibration(min_pulse, max_pulse, min_value, max_value);
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return mp_const_none;
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}
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mp_obj_t Calibration_create_three_point_calibration(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_self, ARG_min_pulse, ARG_mid_pulse, ARG_max_pulse, ARG_min_value, ARG_mid_value, ARG_max_value };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_min_pulse, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_mid_pulse, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_max_pulse, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_min_value, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_mid_value, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_max_value, MP_ARG_REQUIRED | MP_ARG_OBJ },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Calibration_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Calibration_obj_t);
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float min_pulse = mp_obj_get_float(args[ARG_min_pulse].u_obj);
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float mid_pulse = mp_obj_get_float(args[ARG_mid_pulse].u_obj);
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float max_pulse = mp_obj_get_float(args[ARG_max_pulse].u_obj);
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float min_value = mp_obj_get_float(args[ARG_min_value].u_obj);
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float mid_value = mp_obj_get_float(args[ARG_mid_value].u_obj);
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float max_value = mp_obj_get_float(args[ARG_max_value].u_obj);
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self->calibration->create_three_point_calibration(min_pulse, mid_pulse, max_pulse, min_value, mid_value, max_value);
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return mp_const_none;
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}
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mp_obj_t Calibration_create_uniform_calibration(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_self, ARG_size, ARG_min_pulse, ARG_max_pulse, ARG_min_value, ARG_max_value };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_size, MP_ARG_REQUIRED | MP_ARG_INT },
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{ MP_QSTR_min_pulse, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_max_pulse, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_min_value, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_max_value, MP_ARG_REQUIRED | MP_ARG_OBJ },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Calibration_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Calibration_obj_t);
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int size = args[ARG_size].u_int;
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if(size < 0)
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mp_raise_ValueError("size out of range. Expected 0 or greater");
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else {
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float min_pulse = mp_obj_get_float(args[ARG_min_pulse].u_obj);
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float max_pulse = mp_obj_get_float(args[ARG_max_pulse].u_obj);
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float min_value = mp_obj_get_float(args[ARG_min_value].u_obj);
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float max_value = mp_obj_get_float(args[ARG_max_value].u_obj);
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self->calibration->create_uniform_calibration((uint)size, min_pulse, max_pulse, min_value, max_value);
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}
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return mp_const_none;
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}
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mp_obj_t Calibration_create_default_calibration(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_self, ARG_type };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_type, MP_ARG_REQUIRED | MP_ARG_INT },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Calibration_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Calibration_obj_t);
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servo::CalibrationType calibration_type = (servo::CalibrationType)args[ARG_type].u_int;
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self->calibration->create_default_calibration(calibration_type);
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return mp_const_none;
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}
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mp_obj_t Calibration_size(mp_obj_t self_in) {
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_Calibration_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Calibration_obj_t);
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return mp_obj_new_int(self->calibration->size());
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}
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mp_obj_t Calibration_point_at(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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if(n_args <= 2) {
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enum { ARG_self, ARG_index };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_index, MP_ARG_REQUIRED | MP_ARG_INT },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Calibration_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Calibration_obj_t);
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int index = args[ARG_index].u_int;
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int calibration_size = (int)self->calibration->size();
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if(calibration_size == 0)
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mp_raise_ValueError("this calibration does not have any points");
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if(index < 0 || index >= calibration_size)
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mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("index out of range. Expected 0 to %d"), calibration_size);
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else {
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Calibration::Point *point = self->calibration->point_at((uint)index);
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mp_obj_t tuple[2];
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tuple[0] = mp_obj_new_float(point->pulse);
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tuple[1] = mp_obj_new_float(point->value);
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return mp_obj_new_tuple(2, tuple);
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}
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}
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else {
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enum { ARG_self, ARG_index, ARG_point };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_index, MP_ARG_REQUIRED | MP_ARG_INT },
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{ MP_QSTR_point, MP_ARG_REQUIRED | MP_ARG_OBJ },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Calibration_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Calibration_obj_t);
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int index = args[ARG_index].u_int;
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int calibration_size = (int)self->calibration->size();
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if(calibration_size == 0)
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mp_raise_ValueError("this calibration does not have any points");
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if(index < 0 || index >= calibration_size)
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mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("index out of range. Expected 0 to %d"), calibration_size);
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else {
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Calibration::Point *point = self->calibration->point_at((uint)index);
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const mp_obj_t object = args[ARG_point].u_obj;
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if(mp_obj_is_type(object, &mp_type_list)) {
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mp_obj_list_t *list = MP_OBJ_TO_PTR2(object, mp_obj_list_t);
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if(list->len == 2) {
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point->pulse = mp_obj_get_float(list->items[0]);
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point->value = mp_obj_get_float(list->items[1]);
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}
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else {
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mp_raise_ValueError("list must contain two numbers");
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}
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}
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else if(!mp_obj_is_type(object, &mp_type_tuple)) {
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mp_obj_tuple_t *tuple = MP_OBJ_TO_PTR2(object, mp_obj_tuple_t);
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if(tuple->len == 2) {
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point->pulse = mp_obj_get_float(tuple->items[0]);
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point->value = mp_obj_get_float(tuple->items[1]);
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}
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else {
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mp_raise_ValueError("tuple must contain two numbers");
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}
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}
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else {
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mp_raise_TypeError("can't convert object to list or tuple");
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}
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}
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}
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return mp_const_none;
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}
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mp_obj_t Calibration_first_point(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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if(n_args <= 1) {
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enum { ARG_self };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Calibration_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Calibration_obj_t);
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Calibration::Point *point = self->calibration->first_point();
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if(point == nullptr)
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mp_raise_ValueError("this calibration does not have any points");
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else {
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mp_obj_t tuple[2];
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tuple[0] = mp_obj_new_float(point->pulse);
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tuple[1] = mp_obj_new_float(point->value);
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return mp_obj_new_tuple(2, tuple);
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}
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}
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else {
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enum { ARG_self, ARG_point };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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{ MP_QSTR_point, MP_ARG_REQUIRED | MP_ARG_OBJ },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Calibration_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Calibration_obj_t);
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Calibration::Point *point = self->calibration->first_point();
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if(point == nullptr)
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mp_raise_ValueError("this calibration does not have any points");
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else {
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const mp_obj_t object = args[ARG_point].u_obj;
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if(mp_obj_is_type(object, &mp_type_list)) {
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mp_obj_list_t *list = MP_OBJ_TO_PTR2(object, mp_obj_list_t);
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if(list->len == 2) {
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point->pulse = mp_obj_get_float(list->items[0]);
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point->value = mp_obj_get_float(list->items[1]);
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}
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else {
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mp_raise_ValueError("list must contain two numbers");
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}
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}
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else if(!mp_obj_is_type(object, &mp_type_tuple)) {
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mp_obj_tuple_t *tuple = MP_OBJ_TO_PTR2(object, mp_obj_tuple_t);
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if(tuple->len == 2) {
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point->pulse = mp_obj_get_float(tuple->items[0]);
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point->value = mp_obj_get_float(tuple->items[1]);
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}
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else {
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mp_raise_ValueError("tuple must contain two numbers");
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}
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}
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else {
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mp_raise_TypeError("can't convert object to list or tuple");
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}
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}
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}
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return mp_const_none;
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}
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mp_obj_t Calibration_last_point(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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if(n_args <= 1) {
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enum { ARG_self };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
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};
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// Parse args.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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_Calibration_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Calibration_obj_t);
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Calibration::Point *point = self->calibration->last_point();
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if(point == nullptr)
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mp_raise_ValueError("this calibration does not have any points");
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else {
|
|
mp_obj_t tuple[2];
|
|
tuple[0] = mp_obj_new_float(point->pulse);
|
|
tuple[1] = mp_obj_new_float(point->value);
|
|
return mp_obj_new_tuple(2, tuple);
|
|
}
|
|
}
|
|
else {
|
|
enum { ARG_self, ARG_point };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_point, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_Calibration_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Calibration_obj_t);
|
|
|
|
Calibration::Point *point = self->calibration->last_point();
|
|
if(point == nullptr)
|
|
mp_raise_ValueError("this calibration does not have any points");
|
|
else {
|
|
const mp_obj_t object = args[ARG_point].u_obj;
|
|
if(mp_obj_is_type(object, &mp_type_list)) {
|
|
mp_obj_list_t *list = MP_OBJ_TO_PTR2(object, mp_obj_list_t);
|
|
if(list->len == 2) {
|
|
point->pulse = mp_obj_get_float(list->items[0]);
|
|
point->value = mp_obj_get_float(list->items[1]);
|
|
}
|
|
else {
|
|
mp_raise_ValueError("list must contain two numbers");
|
|
}
|
|
}
|
|
else if(!mp_obj_is_type(object, &mp_type_tuple)) {
|
|
mp_obj_tuple_t *tuple = MP_OBJ_TO_PTR2(object, mp_obj_tuple_t);
|
|
if(tuple->len == 2) {
|
|
point->pulse = mp_obj_get_float(tuple->items[0]);
|
|
point->value = mp_obj_get_float(tuple->items[1]);
|
|
}
|
|
else {
|
|
mp_raise_ValueError("tuple must contain two numbers");
|
|
}
|
|
}
|
|
else {
|
|
mp_raise_TypeError("can't convert object to list or tuple");
|
|
}
|
|
}
|
|
}
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
mp_obj_t Calibration_has_lower_limit(mp_obj_t self_in) {
|
|
_Calibration_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Calibration_obj_t);
|
|
return self->calibration->has_lower_limit() ? mp_const_true : mp_const_false;
|
|
}
|
|
|
|
mp_obj_t Calibration_has_upper_limit(mp_obj_t self_in) {
|
|
_Calibration_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Calibration_obj_t);
|
|
return self->calibration->has_upper_limit() ? mp_const_true : mp_const_false;
|
|
}
|
|
|
|
mp_obj_t Calibration_limit_to_calibration(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_self, ARG_lower, ARG_upper };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_lower, MP_ARG_REQUIRED | MP_ARG_BOOL },
|
|
{ MP_QSTR_upper, MP_ARG_REQUIRED | MP_ARG_BOOL },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_Calibration_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Calibration_obj_t);
|
|
|
|
bool lower = args[ARG_lower].u_bool;
|
|
bool upper = args[ARG_upper].u_bool;
|
|
self->calibration->limit_to_calibration(lower, upper);
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
mp_obj_t Calibration_value_to_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_self, ARG_value };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_value, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_Calibration_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Calibration_obj_t);
|
|
|
|
float value = mp_obj_get_float(args[ARG_value].u_obj);
|
|
|
|
float pulse_out, value_out;
|
|
if(self->calibration->value_to_pulse(value, pulse_out, value_out)) {
|
|
mp_obj_t tuple[2];
|
|
tuple[0] = mp_obj_new_float(pulse_out);
|
|
tuple[1] = mp_obj_new_float(value_out);
|
|
return mp_obj_new_tuple(2, tuple);
|
|
}
|
|
else {
|
|
mp_raise_msg(&mp_type_RuntimeError, "Unable to convert value to pulse. Calibration needs at least 2 points");
|
|
}
|
|
return mp_const_none;
|
|
}
|
|
|
|
mp_obj_t Calibration_pulse_to_value(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_self, ARG_pulse };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_pulse, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_Calibration_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Calibration_obj_t);
|
|
|
|
float pulse = mp_obj_get_float(args[ARG_pulse].u_obj);
|
|
|
|
float value_out, pulse_out;
|
|
if(self->calibration->pulse_to_value(pulse, value_out, pulse_out)) {
|
|
mp_obj_t tuple[2];
|
|
tuple[0] = mp_obj_new_float(pulse_out);
|
|
tuple[1] = mp_obj_new_float(value_out);
|
|
return mp_obj_new_tuple(2, tuple);
|
|
}
|
|
else {
|
|
mp_raise_msg(&mp_type_RuntimeError, "Unable to convert pulse to value. Calibration needs at least 2 points");
|
|
}
|
|
return mp_const_none;
|
|
}
|
|
|
|
|
|
/********** Servo **********/
|
|
|
|
/***** Variables Struct *****/
|
|
typedef struct _Servo_obj_t {
|
|
mp_obj_base_t base;
|
|
Servo* servo;
|
|
// NOTE should this keep track of all calibration objects released?
|
|
} _Servo_obj_t;
|
|
|
|
|
|
/***** Print *****/
|
|
void Servo_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
|
|
(void)kind; //Unused input parameter
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
|
|
mp_print_str(print, "Servo(");
|
|
|
|
mp_print_str(print, "pin = ");
|
|
mp_obj_print_helper(print, mp_obj_new_int(self->servo->get_pin()), PRINT_REPR);
|
|
mp_print_str(print, ", enabled = ");
|
|
mp_obj_print_helper(print, self->servo->is_enabled() ? mp_const_true : mp_const_false, PRINT_REPR);
|
|
mp_print_str(print, ", pulse = ");
|
|
mp_obj_print_helper(print, mp_obj_new_float(self->servo->get_pulse()), PRINT_REPR);
|
|
mp_print_str(print, ", value = ");
|
|
mp_obj_print_helper(print, mp_obj_new_float(self->servo->get_value()), PRINT_REPR);
|
|
mp_print_str(print, ", freq = ");
|
|
mp_obj_print_helper(print, mp_obj_new_float(self->servo->get_frequency()), PRINT_REPR);
|
|
|
|
mp_print_str(print, ")");
|
|
}
|
|
|
|
|
|
/***** Constructor *****/
|
|
mp_obj_t Servo_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
|
|
_Servo_obj_t *self = nullptr;
|
|
|
|
enum { ARG_pin, ARG_type, ARG_freq };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_pin, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
{ MP_QSTR_type, MP_ARG_INT, {.u_int = (uint8_t)servo::CalibrationType::ANGULAR} },
|
|
{ MP_QSTR_freq, MP_ARG_OBJ, {.u_obj = mp_const_none} },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
int pin = args[ARG_pin].u_int;
|
|
servo::CalibrationType calibration_type = (servo::CalibrationType)args[ARG_type].u_int;
|
|
|
|
float freq = servo::ServoState::DEFAULT_FREQUENCY;
|
|
if(args[ARG_freq].u_obj != mp_const_none) {
|
|
freq = mp_obj_get_float(args[ARG_freq].u_obj);
|
|
}
|
|
|
|
self = m_new_obj_with_finaliser(_Servo_obj_t);
|
|
self->base.type = &Servo_type;
|
|
|
|
self->servo = new Servo(pin, calibration_type, freq);
|
|
self->servo->init();
|
|
|
|
return MP_OBJ_FROM_PTR(self);
|
|
}
|
|
|
|
|
|
/***** Destructor ******/
|
|
mp_obj_t Servo___del__(mp_obj_t self_in) {
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
|
|
delete self->servo;
|
|
return mp_const_none;
|
|
}
|
|
|
|
|
|
/***** Methods *****/
|
|
extern mp_obj_t Servo_pin(mp_obj_t self_in) {
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
|
|
return mp_obj_new_int(self->servo->get_pin());
|
|
}
|
|
|
|
extern mp_obj_t Servo_enable(mp_obj_t self_in) {
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
|
|
self->servo->enable();
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t Servo_disable(mp_obj_t self_in) {
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
|
|
self->servo->disable();
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t Servo_is_enabled(mp_obj_t self_in) {
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
|
|
return self->servo->is_enabled() ? mp_const_true : mp_const_false;
|
|
}
|
|
|
|
extern mp_obj_t Servo_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
if(n_args <= 1) {
|
|
enum { ARG_self };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
|
|
|
|
return mp_obj_new_float(self->servo->get_pulse());
|
|
}
|
|
else {
|
|
enum { ARG_self, ARG_pulse };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_pulse, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
|
|
|
|
float pulse = mp_obj_get_float(args[ARG_pulse].u_obj);
|
|
|
|
self->servo->set_pulse(pulse);
|
|
return mp_const_none;
|
|
}
|
|
}
|
|
|
|
extern mp_obj_t Servo_value(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
if(n_args <= 1) {
|
|
enum { ARG_self };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
|
|
|
|
return mp_obj_new_float(self->servo->get_value());
|
|
}
|
|
else {
|
|
enum { ARG_self, ARG_value };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_value, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
|
|
|
|
float value = mp_obj_get_float(args[ARG_value].u_obj);
|
|
|
|
self->servo->set_value(value);
|
|
return mp_const_none;
|
|
}
|
|
}
|
|
|
|
extern mp_obj_t Servo_frequency(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
if(n_args <= 1) {
|
|
enum { ARG_self };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
|
|
|
|
return mp_obj_new_float(self->servo->get_frequency());
|
|
}
|
|
else {
|
|
enum { ARG_self, ARG_freq };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_freq, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
|
|
|
|
float freq = mp_obj_get_float(args[ARG_freq].u_obj);
|
|
|
|
if(!self->servo->set_frequency(freq)) {
|
|
mp_raise_ValueError("freq out of range. Expected 10Hz to 350Hz");
|
|
}
|
|
return mp_const_none;
|
|
}
|
|
}
|
|
|
|
extern mp_obj_t Servo_min_value(mp_obj_t self_in) {
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
|
|
return mp_obj_new_float(self->servo->get_min_value());
|
|
}
|
|
|
|
extern mp_obj_t Servo_mid_value(mp_obj_t self_in) {
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
|
|
return mp_obj_new_float(self->servo->get_mid_value());
|
|
}
|
|
|
|
extern mp_obj_t Servo_max_value(mp_obj_t self_in) {
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
|
|
return mp_obj_new_float(self->servo->get_max_value());
|
|
}
|
|
|
|
extern mp_obj_t Servo_to_min(mp_obj_t self_in) {
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
|
|
self->servo->to_min();
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t Servo_to_mid(mp_obj_t self_in) {
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
|
|
self->servo->to_mid();
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t Servo_to_max(mp_obj_t self_in) {
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
|
|
self->servo->to_max();
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t Servo_to_percent(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
if(n_args <= 2) {
|
|
enum { ARG_self, ARG_in };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_in, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
|
|
|
|
float in = mp_obj_get_float(args[ARG_in].u_obj);
|
|
|
|
self->servo->to_percent(in);
|
|
}
|
|
else if(n_args <= 4) {
|
|
enum { ARG_self, ARG_in, ARG_in_min, ARG_in_max };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_in, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_in_min, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_in_max, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
|
|
|
|
float in = mp_obj_get_float(args[ARG_in].u_obj);
|
|
float in_min = mp_obj_get_float(args[ARG_in_min].u_obj);
|
|
float in_max = mp_obj_get_float(args[ARG_in_max].u_obj);
|
|
|
|
self->servo->to_percent(in, in_min, in_max);
|
|
}
|
|
else {
|
|
enum { ARG_self, ARG_in, ARG_in_min, ARG_in_max, ARG_value_min, ARG_value_max };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_in, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_in_min, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_in_max, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_value_min, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_value_max, MP_ARG_REQUIRED | MP_ARG_OBJ }
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
|
|
|
|
float in = mp_obj_get_float(args[ARG_in].u_obj);
|
|
float in_min = mp_obj_get_float(args[ARG_in_min].u_obj);
|
|
float in_max = mp_obj_get_float(args[ARG_in_max].u_obj);
|
|
float value_min = mp_obj_get_float(args[ARG_value_min].u_obj);
|
|
float value_max = mp_obj_get_float(args[ARG_value_max].u_obj);
|
|
|
|
self->servo->to_percent(in, in_min, in_max, value_min, value_max);
|
|
}
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t Servo_calibration(mp_obj_t self_in) {
|
|
_Servo_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Servo_obj_t);
|
|
|
|
// NOTE This seems to work, in that it give MP access to the calibration object
|
|
// Could very easily mess up in weird ways once object deletion is considered
|
|
_Calibration_obj_t *calib = m_new_obj_with_finaliser(_Calibration_obj_t);
|
|
calib->base.type = &Calibration_type;
|
|
|
|
calib->calibration = &self->servo->calibration();
|
|
calib->owner = false;
|
|
|
|
return MP_OBJ_FROM_PTR(calib);
|
|
}
|
|
|
|
|
|
/********** ServoCluster **********/
|
|
|
|
/***** Variables Struct *****/
|
|
typedef struct _ServoCluster_obj_t {
|
|
mp_obj_base_t base;
|
|
ServoCluster* cluster;
|
|
} _ServoCluster_obj_t;
|
|
|
|
|
|
/***** Print *****/
|
|
void ServoCluster_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
|
|
(void)kind; //Unused input parameter
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(self_in, _ServoCluster_obj_t);
|
|
mp_print_str(print, "ServoCluster(");
|
|
|
|
mp_print_str(print, "servos = {");
|
|
|
|
uint8_t servo_count = self->cluster->get_count();
|
|
for(uint8_t servo = 0; servo < servo_count; servo++) {
|
|
mp_print_str(print, "\n\t{pin = ");
|
|
mp_obj_print_helper(print, mp_obj_new_int(self->cluster->get_pin(servo)), PRINT_REPR);
|
|
mp_print_str(print, ", enabled = ");
|
|
mp_obj_print_helper(print, self->cluster->is_enabled(servo) ? mp_const_true : mp_const_false, PRINT_REPR);
|
|
mp_print_str(print, ", pulse = ");
|
|
mp_obj_print_helper(print, mp_obj_new_float(self->cluster->get_pulse(servo)), PRINT_REPR);
|
|
mp_print_str(print, ", value = ");
|
|
mp_obj_print_helper(print, mp_obj_new_float(self->cluster->get_value(servo)), PRINT_REPR);
|
|
mp_print_str(print, ", phase = ");
|
|
mp_obj_print_helper(print, mp_obj_new_float(self->cluster->get_phase(servo)), PRINT_REPR);
|
|
mp_print_str(print, "}");
|
|
if(servo < servo_count - 1)
|
|
mp_print_str(print, ", ");
|
|
}
|
|
if(servo_count > 0) {
|
|
mp_print_str(print, "\n");
|
|
}
|
|
mp_print_str(print, "}, freq = ");
|
|
mp_obj_print_helper(print, mp_obj_new_float(self->cluster->get_frequency()), PRINT_REPR);
|
|
|
|
mp_print_str(print, ")");
|
|
}
|
|
|
|
|
|
/***** Constructor *****/
|
|
mp_obj_t ServoCluster_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
|
|
_ServoCluster_obj_t *self = nullptr;
|
|
|
|
enum { ARG_pio, ARG_sm, ARG_pins, ARG_type, ARG_freq, ARG_auto_phase };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_pio, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
{ MP_QSTR_sm, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
{ MP_QSTR_pins, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_type, MP_ARG_INT, {.u_int = (uint8_t)servo::CalibrationType::ANGULAR} },
|
|
{ MP_QSTR_freq, MP_ARG_OBJ, {.u_obj = mp_const_none} },
|
|
{ MP_QSTR_auto_phase, MP_ARG_BOOL, {.u_bool = true} },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
PIO pio = args[ARG_pio].u_int == 0 ? pio0 : pio1;
|
|
int sm = args[ARG_sm].u_int;
|
|
|
|
uint pin_mask = 0;
|
|
bool mask_provided = true;
|
|
uint32_t pin_count = 0;
|
|
uint8_t* pins = nullptr;
|
|
|
|
// Determine what pins this cluster will use
|
|
const mp_obj_t object = args[ARG_pins].u_obj;
|
|
if(mp_obj_is_int(object)) {
|
|
pin_mask = (uint)mp_obj_get_int(object);
|
|
}
|
|
else if(mp_obj_is_type(object, &mp_type_list)) {
|
|
mp_obj_list_t *list = MP_OBJ_TO_PTR2(object, mp_obj_list_t);
|
|
pin_count = list->len;
|
|
if(pin_count > 0) {
|
|
// Create and populate a local array of pins
|
|
pins = new uint8_t[pin_count];
|
|
for(uint32_t i = 0; i < pin_count; i++) {
|
|
int pin = mp_obj_get_int(list->items[i]);
|
|
if(pin >= 0 && pin < (int)NUM_BANK0_GPIOS) {
|
|
pins[i] = (uint8_t)pin;
|
|
}
|
|
else {
|
|
delete[] pins;
|
|
mp_raise_ValueError("a pin in the list is out of range. Expected 0 to 29");
|
|
}
|
|
}
|
|
mask_provided = false;
|
|
}
|
|
}
|
|
else if(mp_obj_is_type(object, &mp_type_tuple)) {
|
|
mp_obj_tuple_t *tuple = MP_OBJ_TO_PTR2(object, mp_obj_tuple_t);
|
|
pin_count = tuple->len;
|
|
if(pin_count > 0) {
|
|
// Create and populate a local array of pins
|
|
pins = new uint8_t[pin_count];
|
|
for(uint i = 0; i < pin_count; i++) {
|
|
int pin = mp_obj_get_int(tuple->items[i]);
|
|
if(pin >= 0 && pin < (int)NUM_BANK0_GPIOS) {
|
|
pins[i] = (uint8_t)pin;
|
|
}
|
|
else {
|
|
delete[] pins;
|
|
mp_raise_ValueError("a pin in the tuple is out of range. Expected 0 to 29");
|
|
}
|
|
}
|
|
mask_provided = false;
|
|
}
|
|
}
|
|
else {
|
|
mp_raise_TypeError("cannot convert object to a list or tuple of pins, or a pin mask integer");
|
|
}
|
|
|
|
servo::CalibrationType calibration_type = (servo::CalibrationType)args[ARG_type].u_int;
|
|
|
|
float freq = servo::ServoState::DEFAULT_FREQUENCY;
|
|
if(args[ARG_freq].u_obj != mp_const_none) {
|
|
freq = mp_obj_get_float(args[ARG_freq].u_obj);
|
|
}
|
|
|
|
bool auto_phase = args[ARG_auto_phase].u_bool;
|
|
|
|
self = m_new_obj_with_finaliser(_ServoCluster_obj_t);
|
|
self->base.type = &ServoCluster_type;
|
|
|
|
if(mask_provided)
|
|
self->cluster = new ServoCluster(pio, sm, pin_mask, calibration_type, freq, auto_phase);
|
|
else
|
|
self->cluster = new ServoCluster(pio, sm, pins, pin_count, calibration_type, freq, auto_phase);
|
|
self->cluster->init();
|
|
|
|
// Cleanup the pins array
|
|
if(pins != nullptr)
|
|
delete[] pins;
|
|
|
|
return MP_OBJ_FROM_PTR(self);
|
|
}
|
|
|
|
|
|
/***** Destructor ******/
|
|
mp_obj_t ServoCluster___del__(mp_obj_t self_in) {
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(self_in, _ServoCluster_obj_t);
|
|
delete self->cluster;
|
|
return mp_const_none;
|
|
}
|
|
|
|
|
|
/***** Methods *****/
|
|
extern mp_obj_t ServoCluster_count(mp_obj_t self_in) {
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(self_in, _ServoCluster_obj_t);
|
|
return mp_obj_new_int(self->cluster->get_count());
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_pin(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_self, ARG_servo };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else
|
|
return mp_obj_new_int(self->cluster->get_pin((uint)servo));
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_enable(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_self, ARG_servo, ARG_load };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
{ MP_QSTR_load, MP_ARG_BOOL, { .u_bool = true }},
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else
|
|
self->cluster->enable((uint)servo, args[ARG_servo].u_bool);
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_disable(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_self, ARG_servo, ARG_load };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
{ MP_QSTR_load, MP_ARG_BOOL, { .u_bool = true }},
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else
|
|
self->cluster->disable((uint)servo);
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_is_enabled(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_self, ARG_servo };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else
|
|
return self->cluster->is_enabled((uint)servo) ? mp_const_true : mp_const_false;
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
if(n_args <= 2) {
|
|
enum { ARG_self, ARG_servo };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else
|
|
return mp_obj_new_float(self->cluster->get_pulse((uint)servo));
|
|
}
|
|
else {
|
|
enum { ARG_self, ARG_servo, ARG_pulse, ARG_load };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
{ MP_QSTR_pulse, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_load, MP_ARG_BOOL, { .u_bool = true }},
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else {
|
|
float pulse = mp_obj_get_float(args[ARG_pulse].u_obj);
|
|
self->cluster->set_pulse((uint)servo, pulse, args[ARG_servo].u_bool);
|
|
}
|
|
}
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_value(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
if(n_args <= 2) {
|
|
enum { ARG_self, ARG_servo };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else
|
|
return mp_obj_new_float(self->cluster->get_value((uint)servo));
|
|
}
|
|
else {
|
|
enum { ARG_self, ARG_servo, ARG_value, ARG_load };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
{ MP_QSTR_value, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_load, MP_ARG_BOOL, { .u_bool = true }},
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else {
|
|
float value = mp_obj_get_float(args[ARG_value].u_obj);
|
|
self->cluster->set_value((uint)servo, value, args[ARG_servo].u_bool);
|
|
}
|
|
}
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_phase(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
if(n_args <= 2) {
|
|
enum { ARG_self, ARG_servo };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else
|
|
return mp_obj_new_float(self->cluster->get_phase((uint)servo));
|
|
}
|
|
else {
|
|
enum { ARG_self, ARG_servo, ARG_phase, ARG_load };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
{ MP_QSTR_phase, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_load, MP_ARG_BOOL, { .u_bool = true }},
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else {
|
|
float phase = mp_obj_get_float(args[ARG_phase].u_obj);
|
|
self->cluster->set_phase((uint)servo, phase, args[ARG_servo].u_bool);
|
|
}
|
|
}
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_frequency(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
if(n_args <= 1) {
|
|
enum { ARG_self };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
return mp_obj_new_float(self->cluster->get_frequency());
|
|
}
|
|
else {
|
|
enum { ARG_self, ARG_freq };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_freq, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
float freq = mp_obj_get_float(args[ARG_freq].u_obj);
|
|
|
|
if(!self->cluster->set_frequency(freq))
|
|
mp_raise_ValueError("freq out of range. Expected 10Hz to 350Hz");
|
|
else
|
|
return mp_const_none;
|
|
}
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_min_value(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_self, ARG_servo };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else
|
|
return mp_obj_new_float(self->cluster->get_min_value((uint)servo));
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_mid_value(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_self, ARG_servo };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else
|
|
return mp_obj_new_float(self->cluster->get_mid_value((uint)servo));
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_max_value(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_self, ARG_servo };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else
|
|
return mp_obj_new_float(self->cluster->get_max_value((uint)servo));
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_to_min(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_self, ARG_servo, ARG_load };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
{ MP_QSTR_load, MP_ARG_BOOL, { .u_bool = true }},
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else
|
|
self->cluster->to_min((uint)servo, args[ARG_servo].u_bool);
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_to_mid(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_self, ARG_servo, ARG_load };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
{ MP_QSTR_load, MP_ARG_BOOL, { .u_bool = true }},
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else
|
|
self->cluster->to_mid((uint)servo, args[ARG_servo].u_bool);
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_to_max(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_self, ARG_servo, ARG_load };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
{ MP_QSTR_load, MP_ARG_BOOL, { .u_bool = true }},
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else
|
|
self->cluster->to_max((uint)servo, args[ARG_servo].u_bool);
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_to_percent(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
if(n_args <= 4) {
|
|
enum { ARG_self, ARG_servo, ARG_in, ARG_load };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
{ MP_QSTR_in, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_load, MP_ARG_BOOL, { .u_bool = true }},
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else {
|
|
float in = mp_obj_get_float(args[ARG_in].u_obj);
|
|
self->cluster->to_percent((uint)servo, in, args[ARG_servo].u_bool);
|
|
}
|
|
}
|
|
else if(n_args <= 6) {
|
|
enum { ARG_self, ARG_servo, ARG_in, ARG_in_min, ARG_in_max, ARG_load };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
{ MP_QSTR_in, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_in_min, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_in_max, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_load, MP_ARG_BOOL, { .u_bool = true }},
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else {
|
|
float in = mp_obj_get_float(args[ARG_in].u_obj);
|
|
float in_min = mp_obj_get_float(args[ARG_in_min].u_obj);
|
|
float in_max = mp_obj_get_float(args[ARG_in_max].u_obj);
|
|
self->cluster->to_percent((uint)servo, in, in_min, in_max, args[ARG_servo].u_bool);
|
|
}
|
|
}
|
|
else {
|
|
enum { ARG_self, ARG_servo, ARG_in, ARG_in_min, ARG_in_max, ARG_value_min, ARG_value_max, ARG_load };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
{ MP_QSTR_in, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_in_min, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_in_max, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_value_min, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_value_max, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_load, MP_ARG_BOOL, { .u_bool = true }},
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else {
|
|
float in = mp_obj_get_float(args[ARG_in].u_obj);
|
|
float in_min = mp_obj_get_float(args[ARG_in_min].u_obj);
|
|
float in_max = mp_obj_get_float(args[ARG_in_max].u_obj);
|
|
float value_min = mp_obj_get_float(args[ARG_value_min].u_obj);
|
|
float value_max = mp_obj_get_float(args[ARG_value_max].u_obj);
|
|
self->cluster->to_percent((uint)servo, in, in_min, in_max, value_min, value_max, args[ARG_servo].u_bool);
|
|
}
|
|
}
|
|
return mp_const_none;
|
|
}
|
|
|
|
extern mp_obj_t ServoCluster_calibration(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
|
|
enum { ARG_self, ARG_servo };
|
|
static const mp_arg_t allowed_args[] = {
|
|
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
|
|
{ MP_QSTR_servo, MP_ARG_REQUIRED | MP_ARG_INT },
|
|
};
|
|
|
|
// Parse args.
|
|
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
|
|
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
|
|
|
|
_ServoCluster_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _ServoCluster_obj_t);
|
|
|
|
int servo = args[ARG_servo].u_int;
|
|
int servo_count = (int)self->cluster->get_count();
|
|
if(servo_count == 0)
|
|
mp_raise_ValueError("this cluster does not have any servos");
|
|
else if(servo < 0 || servo >= servo_count)
|
|
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
|
|
else {
|
|
// NOTE This seems to work, in that it give MP access to the calibration object
|
|
// Could very easily mess up in weird ways once object deletion is considered
|
|
_Calibration_obj_t *calib = m_new_obj_with_finaliser(_Calibration_obj_t);
|
|
calib->base.type = &Calibration_type;
|
|
|
|
calib->calibration = self->cluster->calibration((uint)servo);
|
|
calib->owner = false;
|
|
|
|
return MP_OBJ_FROM_PTR(calib);
|
|
}
|
|
|
|
return mp_const_none;
|
|
}
|
|
}
|