mahenzon/README.md

## README.md

      
    Raw
  

              README.md
            
          
    Установка зависимостей

Зависимости для взаимодействия с GPIO
sudo apt install -y libgpiod2 python3-libgpiod
Создание и активация виртуального окружения (в примере использован python3.9, установлен отдельно)
python3.9 -m venv venv
source venv/bin/activate
# установка библиотеки для работы с gpio (необходима)
pip install gpiod
# установка библиотек от Adafruit
pip install adafruit-circuitpython-servokit
Список зависимостей в табличном виде и в формате requirements.txt:
repka@Repka-Pi:~/projects/repka-pi-py-gpio$ source venv/bin/activate
(venv) repka@Repka-Pi:~/projects/repka-pi-py-gpio$ pip list
Package                          Version
-------------------------------- -------
Adafruit-Blinka                  8.31.0 
adafruit-circuitpython-busdevice 5.2.6  
adafruit-circuitpython-motor     3.4.13 
adafruit-circuitpython-pca9685   3.4.14 
adafruit-circuitpython-register  1.9.18 
adafruit-circuitpython-requests  2.0.4  
adafruit-circuitpython-servokit  1.3.17 
adafruit-circuitpython-typing    1.9.6  
Adafruit-PlatformDetect          3.59.0 
Adafruit-PureIO                  1.1.11 
gpiod                            2.1.3  
pip                              20.0.2 
pkg-resources                    0.0.0  
pyftdi                           0.55.0 
pyserial                         3.5    
pyusb                            1.2.1  
setuptools                       44.0.0 
typing-extensions                4.9.0  

(venv) repka@Repka-Pi:~/projects/repka-pi-py-gpio$ pip freeze
Adafruit-Blinka==8.31.0
adafruit-circuitpython-busdevice==5.2.6
adafruit-circuitpython-motor==3.4.13
adafruit-circuitpython-pca9685==3.4.14
adafruit-circuitpython-register==1.9.18
adafruit-circuitpython-requests==2.0.4
adafruit-circuitpython-servokit==1.3.17
adafruit-circuitpython-typing==1.9.6
Adafruit-PlatformDetect==3.59.0
Adafruit-PureIO==1.1.11
gpiod==2.1.3
pyftdi==0.55.0
pyserial==3.5
pyusb==1.2.1
typing-extensions==4.9.0

После этого можно запускать скрипт, но только от root пользователя, так как нужен доступ к GPIO.
Запуск без root доступа пока на этапе исследования. Предложения приветствуются.

  
## main.py
"""
Repka-Pi 3 H5 LED and Servo example using PCA9685 board and Adafruit CircuitPython libs (RoboIntellect RM001 M02)

Adafruit libraries usage example
Hardware:
- Repka-Pi (any other i2c microcontroller is suitable: Raspberry, Orange, Banana, ODROID, ESP8266, etc.)
- PCA9685
- RGB LED
- Servos (in this example 4 servos are used on the RoboIntellect RM001 M02

Dependencies:
adafruit-circuitpython-servokit

Heavily depends on these changes:
- https://github.com/adafruit/Adafruit_Python_PlatformDetect/pull/336
- https://github.com/adafruit/Adafruit_Blinka/pull/772
"""

from time import sleep

import board
import busio

from adafruit_motor.servo import Servo
from Adafruit_PureIO import smbus
from adafruit_servokit import ServoKit
from adafruit_pca9685 import PCA9685

SDA = board.SDA
SCL = board.SCL


def set_angle_smooth(servo: Servo, angle: int, step: int = 1, wait: float = 0.003) -> None:
    """
    Set angle step by step.

    :param servo:
    :param angle:
    :param step:
    :param wait:
    :return:
    """
    if servo.angle is None:
        servo.angle = angle
        return
    current = int(servo.angle)
    if current > angle:
        step = -step
    for i in range(current, angle, step):
        servo.angle = i
        sleep(wait)


def demo_write_raw_bytes(i2c_bus: busio.I2C) -> None:
    """
    Sometimes you need to write raw bytes.

    :param i2c_bus:
    :return:
    """
    bus: smbus.SMBus = i2c_bus._i2c._i2c_bus
    addr = 64  # you have to know the address
    buf = b"\x00"  # you have to know bytes
    bus.write_bytes(addr, buf)


def main():
    # it's just a constant
    max_duty_cycle = 0xffff
    # Create the I2C bus interface.
    # you can pass other pins if you need to.
    i2c_bus = busio.I2C(SCL, SDA)

    # if you want to control PCA9685 directly:
    # Create a simple PCA9685 class instance.
    pca = PCA9685(i2c_bus)

    # Set the PWM frequency to 60hz. (or any other frequency_
    pca.frequency = 60

    # I have LED connected to the last three pins on the PCA9685 board
    RED = pca.channels[len(pca.channels) - 1]
    GREEN = pca.channels[len(pca.channels) - 2]
    BLUE = pca.channels[len(pca.channels) - 3]

    # reset
    for idx in range(len(pca.channels)):
        pca.channels[idx].duty_cycle = 0

    print("Set some color")
    # set some color (full red + half green)
    RED.duty_cycle = max_duty_cycle  # full
    GREEN.duty_cycle = 0x7FFF  # middle
    BLUE.duty_cycle = 0  # off

    # wait so human eye can see the change
    sleep(1)
    print("Set LED to 50%")
    # Set the PWM duty cycle for channel zero to 50%. duty_cycle is 16 bits to match other PWM objects
    # but the PCA9685 will only actually give 12 bits of resolution.
    for idx in range(len(pca.channels) - 3, len(pca.channels)):
        pca.channels[idx].duty_cycle = 0x7FFF


    # wait so human eye can see the change
    sleep(1)

    print("Smooth on and off LED two times")
    times = 2
    max_brightness = max_duty_cycle
    step = 100
    for _ in range(times):
        # Increase brightness:
        for i in range(0, max_brightness - 1, step):
            for idx in range(len(pca.channels) - 3, len(pca.channels)):
                pca.channels[idx].duty_cycle = i

        # Decrease brightness:
        for i in range(max_brightness, 0, -step):
            for idx in range(len(pca.channels) - 3, len(pca.channels)):
                pca.channels[idx].duty_cycle = i

    sleep(1)

    print("Set LED to Blue")
    RED.duty_cycle = 0
    GREEN.duty_cycle = 0
    BLUE.duty_cycle = max_duty_cycle
    sleep(1)

    print("Start moving servos. Make sure you have external power connected to the PCA9685 board")

    # idk if you need to change the frequency
    pca.frequency = 50
    # i2c should be automatically detected!
    kit = ServoKit(channels=16)
    # if not, you can set the bus by yourself:
    # kit = ServoKit(channels=16, i2c=i2c_bus)

    # you can change servos rules (actuation_range, PWM range)
    # servos = 4
    # for idx in range(servos):
    #     servo = kit.servo[idx]
    #     set_angle_smooth()
    #     # servo.actuation_range = 180
    #     # servo.set_pulse_width_range(1000, 2000)


    # Example for RoboIntellect RM001 M02 https://t.me/RepkaPitalk/24150
    servo_base = kit.servo[0]
    servo_claw = kit.servo[1]
    servo_pull = kit.servo[2]
    servo_raise = kit.servo[3]

    # open claw
    set_angle_smooth(servo_claw, 180, wait=0.05, step=1)
    sleep(0.2)

    # raise high
    set_angle_smooth(servo_raise, 0, wait=0.05, step=1)
    sleep(0.2)

    # center
    set_angle_smooth(servo_base, 60, wait=0.05, step=1)
    sleep(0.2)

    # pull to self
    set_angle_smooth(servo_pull, 170, wait=0.01, step=2)
    sleep(0.2)


    # set LED to RED
    RED.duty_cycle = max_duty_cycle
    GREEN.duty_cycle = 0
    BLUE.duty_cycle = 0
    sleep(1)

    # action!!
    # pos
    # set_angle_smooth(servo_raise, 5)
    set_angle_smooth(servo_pull, 90)
    set_angle_smooth(servo_base, 0)

    # open claw
    set_angle_smooth(servo_claw, 180)

    # lower
    set_angle_smooth(servo_raise, 50)
    sleep(0.5)
     # claw
    set_angle_smooth(servo_claw, 100, wait=0.005, step=1)
    sleep(0.5)

    # raise high
    set_angle_smooth(servo_raise, 0, wait=0.005, step=1)
    sleep(0.2)

    # rotate
    set_angle_smooth(servo_base, 170)
    sleep(0.2)

    # lower
    set_angle_smooth(servo_raise, 50, wait=0.01)

    # open claw
    set_angle_smooth(servo_claw, 180)
    sleep(0.1)

    # raise high
    set_angle_smooth(servo_raise, 0)
    sleep(0.2)

    # center
    set_angle_smooth(servo_base, 60, wait=0.001, step=1)
    sleep(0.2)

    # pull to self
    set_angle_smooth(servo_pull, 170, wait=0.001, step=2)
    sleep(0.2)


    # Set LED to green
    RED.duty_cycle = 0
    GREEN.duty_cycle = max_duty_cycle
    BLUE.duty_cycle = 0
    print("done :)")


if __name__ == "__main__":
    main()
	"""
	Repka-Pi 3 H5 LED and Servo example using PCA9685 board and Adafruit CircuitPython libs (RoboIntellect RM001 M02)

	Adafruit libraries usage example
	Hardware:
	- Repka-Pi (any other i2c microcontroller is suitable: Raspberry, Orange, Banana, ODROID, ESP8266, etc.)
	- PCA9685
	- RGB LED
	- Servos (in this example 4 servos are used on the RoboIntellect RM001 M02

	Dependencies:
	adafruit-circuitpython-servokit

	Heavily depends on these changes:
	- https://github.com/adafruit/Adafruit_Python_PlatformDetect/pull/336
	- https://github.com/adafruit/Adafruit_Blinka/pull/772
	"""

	from time import sleep

	import board
	import busio

	from adafruit_motor.servo import Servo
	from Adafruit_PureIO import smbus
	from adafruit_servokit import ServoKit
	from adafruit_pca9685 import PCA9685

	SDA = board.SDA
	SCL = board.SCL


	def set_angle_smooth(servo: Servo, angle: int, step: int = 1, wait: float = 0.003) -> None:
	"""
	Set angle step by step.

	:param servo:
	:param angle:
	:param step:
	:param wait:
	:return:
	"""
	if servo.angle is None:
	servo.angle = angle
	return
	current = int(servo.angle)
	if current > angle:
	step = -step
	for i in range(current, angle, step):
	servo.angle = i
	sleep(wait)


	def demo_write_raw_bytes(i2c_bus: busio.I2C) -> None:
	"""
	Sometimes you need to write raw bytes.

	:param i2c_bus:
	:return:
	"""
	bus: smbus.SMBus = i2c_bus._i2c._i2c_bus
	addr = 64 # you have to know the address
	buf = b"\x00" # you have to know bytes
	bus.write_bytes(addr, buf)


	def main():
	# it's just a constant
	max_duty_cycle = 0xffff
	# Create the I2C bus interface.
	# you can pass other pins if you need to.
	i2c_bus = busio.I2C(SCL, SDA)

	# if you want to control PCA9685 directly:
	# Create a simple PCA9685 class instance.
	pca = PCA9685(i2c_bus)

	# Set the PWM frequency to 60hz. (or any other frequency_
	pca.frequency = 60

	# I have LED connected to the last three pins on the PCA9685 board
	RED = pca.channels[len(pca.channels) - 1]
	GREEN = pca.channels[len(pca.channels) - 2]
	BLUE = pca.channels[len(pca.channels) - 3]

	# reset
	for idx in range(len(pca.channels)):
	pca.channels[idx].duty_cycle = 0

	print("Set some color")
	# set some color (full red + half green)
	RED.duty_cycle = max_duty_cycle # full
	GREEN.duty_cycle = 0x7FFF # middle
	BLUE.duty_cycle = 0 # off

	# wait so human eye can see the change
	sleep(1)
	print("Set LED to 50%")
	# Set the PWM duty cycle for channel zero to 50%. duty_cycle is 16 bits to match other PWM objects
	# but the PCA9685 will only actually give 12 bits of resolution.
	for idx in range(len(pca.channels) - 3, len(pca.channels)):
	pca.channels[idx].duty_cycle = 0x7FFF


	# wait so human eye can see the change
	sleep(1)

	print("Smooth on and off LED two times")
	times = 2
	max_brightness = max_duty_cycle
	step = 100
	for _ in range(times):
	# Increase brightness:
	for i in range(0, max_brightness - 1, step):
	for idx in range(len(pca.channels) - 3, len(pca.channels)):
	pca.channels[idx].duty_cycle = i

	# Decrease brightness:
	for i in range(max_brightness, 0, -step):
	for idx in range(len(pca.channels) - 3, len(pca.channels)):
	pca.channels[idx].duty_cycle = i

	sleep(1)

	print("Set LED to Blue")
	RED.duty_cycle = 0
	GREEN.duty_cycle = 0
	BLUE.duty_cycle = max_duty_cycle
	sleep(1)

	print("Start moving servos. Make sure you have external power connected to the PCA9685 board")

	# idk if you need to change the frequency
	pca.frequency = 50
	# i2c should be automatically detected!
	kit = ServoKit(channels=16)
	# if not, you can set the bus by yourself:
	# kit = ServoKit(channels=16, i2c=i2c_bus)

	# you can change servos rules (actuation_range, PWM range)
	# servos = 4
	# for idx in range(servos):
	# servo = kit.servo[idx]
	# set_angle_smooth()
	# # servo.actuation_range = 180
	# # servo.set_pulse_width_range(1000, 2000)


	# Example for RoboIntellect RM001 M02 https://t.me/RepkaPitalk/24150
	servo_base = kit.servo[0]
	servo_claw = kit.servo[1]
	servo_pull = kit.servo[2]
	servo_raise = kit.servo[3]

	# open claw
	set_angle_smooth(servo_claw, 180, wait=0.05, step=1)
	sleep(0.2)

	# raise high
	set_angle_smooth(servo_raise, 0, wait=0.05, step=1)
	sleep(0.2)

	# center
	set_angle_smooth(servo_base, 60, wait=0.05, step=1)
	sleep(0.2)

	# pull to self
	set_angle_smooth(servo_pull, 170, wait=0.01, step=2)
	sleep(0.2)


	# set LED to RED
	RED.duty_cycle = max_duty_cycle
	GREEN.duty_cycle = 0
	BLUE.duty_cycle = 0
	sleep(1)

	# action!!
	# pos
	# set_angle_smooth(servo_raise, 5)
	set_angle_smooth(servo_pull, 90)
	set_angle_smooth(servo_base, 0)

	# open claw
	set_angle_smooth(servo_claw, 180)

	# lower
	set_angle_smooth(servo_raise, 50)
	sleep(0.5)
	# claw
	set_angle_smooth(servo_claw, 100, wait=0.005, step=1)
	sleep(0.5)

	# raise high
	set_angle_smooth(servo_raise, 0, wait=0.005, step=1)
	sleep(0.2)

	# rotate
	set_angle_smooth(servo_base, 170)
	sleep(0.2)

	# lower
	set_angle_smooth(servo_raise, 50, wait=0.01)

	# open claw
	set_angle_smooth(servo_claw, 180)
	sleep(0.1)

	# raise high
	set_angle_smooth(servo_raise, 0)
	sleep(0.2)

	# center
	set_angle_smooth(servo_base, 60, wait=0.001, step=1)
	sleep(0.2)

	# pull to self
	set_angle_smooth(servo_pull, 170, wait=0.001, step=2)
	sleep(0.2)


	# Set LED to green
	RED.duty_cycle = 0
	GREEN.duty_cycle = max_duty_cycle
	BLUE.duty_cycle = 0
	print("done :)")



	if __name__ == "__main__":
	main()