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demo_eyes_exerciser.spin2
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demo_eyes_exerciser.spin2
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'' =================================================================================================
''
'' File....... demo_eyes_exerciser.spin2
'' Purpose.... demo driver for our eyes: the PCA9685 attached suite of 6 servos
'' Authors.... Stephen M Moraco
'' -- Copyright (c) 2023 Iron Sheep Productions, LLC
'' -- see below for terms of use
'' E-mail..... stephen@ironsheep.biz
'' Started.... May 2023
'' Updated.... 26 May 2023
''
'' =================================================================================================
CON { timing }
CLK_FREQ = 270_000_000 ' system freq as a constant
_clkfreq = CLK_FREQ ' set system clock
CON { fixed io pins }
RX1 = 63 { I } ' programming / debug
TX1 = 62 { O }
SF_CS = 61 { O } ' serial flash
SF_SCK = 60 { O }
SF_SDO = 59 { O }
SF_SDI = 58 { I }
CON { application io pins }
' NOTE: pins 24 & 25 also use 26 & 27 to determine rate of rotation
QUAD_ENC_CLK = 26 { I }
QUAD_ENC_DAT = 27 { I }
QUAD_ENC_BTN = 28 { I }
' multiply the runtime-determined spin rate of the encoder knob
ENC_RATE_SCALE = 4 ' 2 = 5 turns end-to-end, 4 = 3 turns end-to-end
' TIMI-130 display pins
TIMI_RX = 16
TIMI_TX = 17
TIMI_RST = 18
TIMI_BAUD_RATE = 9600
TIMI_PAGEID_DIAL = 0
TIMI_PAGEID_METER = 1
TIMI_PAGEID_LEDMTX = 2
TIMI_PAGEID_NET_MTR = 3
' the PCA9685 with attached servos
PCA9685_OE = 8
PCA9685_SCL = 9
PCA9685_SDA = 10
MAX_SERVOS = 6
OBJ
quadEnc : "isp_quadEncWBtn_sp" ' 3-pin I/F to push button rotary encoder
timi : "isp_timi_mates" ' serial I/F to display
memstr : "isp_mem_strings" ' in-ram formatter for strings
eyes : "isp_6servo_eyes" ' eyes mechanism
DAT
servoIdx LONG 0
servoRange LONG 50
servoRangeMin LONG 0
servoRangeMax LONG 100
Title0 BYTE "Eyes Exer",0
Title1 BYTE "s1 --- ",0
rateMsg BYTE " 1500",0
typeMsg50 BYTE "-50 0 +50",0
typeMsg0 BYTE " 0 50 100",0
deltaPosition LONG 0
priorPosition LONG 0
desiredOffset LONG 0
' ------------------------------------------------------------
srvoId1 BYTE 0, "Eye L/R",0
srvoId2 BYTE 1, "Eye U/D",0
srvoId3 BYTE 2, "Lid TR",0
srvoId4 BYTE 3, "Lid BR",0
srvoId5 BYTE 4, "Lid TL",0
srvoId6 BYTE 5, "Lid BL",0
srvoIdTable ' 1st table-entry must follow immediately
WORD @srvoId1
WORD @srvoId2
WORD @srvoId3
WORD @srvoId4
WORD @srvoId5
WORD @srvoId6
srvoIdTableEnd ' last entry must be immediately above this line
' ------------------------------------------------------------
srvoIdEntCt BYTE (@srvoIdTableEnd-@srvoIdTable) >> 1 ' div by 2
' ------------------------------------------------------------
PUB main() | pageId, bDidSucceed, currPosn, currRate, tmpOffset, bIsPressed, bIsDouble, bDevicePresent, incre, bIs0To100
' start our input device
quadEnc.start(QUAD_ENC_CLK, QUAD_ENC_DAT, QUAD_ENC_BTN)
quadEnc.setScale(ENC_RATE_SCALE)
' start our display device
timi.start(TIMI_TX, TIMI_RX, TIMI_RST, TIMI_BAUD_RATE)
bDidSucceed := timi.setPage(TIMI_PAGEID_LEDMTX, timi.MATES_RESPONSE_LTIMEOUT)
if bDidSucceed
' set titles
timi.updateDotMatrixWidget(0, @Title0)
' interface prototype
' button pressess selects next servo or high/low range
' knob rotates incrementing servo offset value
' current effort is shown on the TIMI display
' connect to servos
bDevicePresent := eyes.start(PCA9685_SCL, PCA9685_SDA, PCA9685_OE)
if bDevicePresent
debug("* moving eyes")
eyes.eyesLookAhead()
eyes.lidsOpen()
'{
'waitms(1000)
'eyes.eyesLookAhead()
waitms(1000)
eyes.eyesLookLeftRight(40)
waitms(500)
eyes.eyesLookLeftRight(-40)
waitms(500)
eyes.eyesLookAhead()
'waitms(1000)
'lidsLeft(5)
'lidsRight(0)
'waitms(1000)
'eyes.lidsClose()
'}
setServoLimits(servoIdx)
updateDisplay()
repeat
bIsPressed, bIsDouble := quadEnc.isButtonPressed()
if bIsPressed
incre := (bIsDouble) ? -1 : +1
debug("* Button Pressed, isDbl=", sdec_(bIsDouble))
servoIdx += incre
if servoIdx >= MAX_SERVOS
servoIdx := 0
elseif servoIdx < 0
servoIdx := MAX_SERVOS - 1
bIs0To100 := setServoLimits(servoIdx)
deltaPosition := quadEnc.positionScaled()
if deltaPosition <> 0
tmpOffset := servoRange + deltaPosition
servoRange := servoRangeMin #> tmpOffset <# servoRangeMax
'debug("* Offset=", sdec_(servoRange), ", delta=", sdec_(deltaPosition))
'debug(" ")
updateOffsetDisplay()
eyes.moveServoByRange(servoIdx, servoRange)
debug("done... holding...")
repeat
PRI setServoLimits(nServo) : bIs0To100
bIs0To100 := eyes.isZeroTo100(servoIdx)
servoRange := eyes.getRange(servoIdx) ' get last known position so servo doesn't slew when we change servos
servoRangeMin := (bIs0To100) ? 0 : -50
servoRangeMax := (bIs0To100) ? 100 : 50
updateStateDisplay()
PRI updateDisplay()
updateStateDisplay()
updateOffsetDisplay()
PRI updateStateDisplay() | pStateTitle, pLimitText
pStateTitle := genServoName(servoIdx) ' FIXME: fix this method!!!
timi.updateDotMatrixWidget(1, pStateTitle)
pLimitText := genLimitText(servoIdx)
timi.updateDotMatrixWidget(3, pLimitText)
PRI updateOffsetDisplay() | pRateMsg
pRateMsg := rightAlignValue(servoRange, 9)
timi.updateDotMatrixWidget(2, pRateMsg)
PRI genServoName(nServo) : pMessage | lenBytes, pNameStr
pNameStr := strForServoIdx(nServo)
lenBytes := memstr.sFormatStr2(@Title1, @"%d %s", nServo, pNameStr)
pMessage := @Title1
PRI genLimitText(nServo) : pMessage | lenBytes, pStateMsg
if eyes.isZeroTo100(nServo)
pMessage := @typeMsg0
else
pMessage := @typeMsg50
PRI rightAlignValue(value, width) : pMessage | lenBytes, BYTE fmtStr[20]
lenBytes := memstr.sFormatStr1(@fmtStr, @"\%%dd", width)
lenBytes := memstr.sFormatStr1(@rateMsg, @fmtStr, value)
pMessage := @rateMsg
PRI rightAlignString(pStr, width) : pMessage | lenBytes, BYTE fmtStr[20]
lenBytes := memstr.sFormatStr1(@fmtStr, @"\%%ds", width)
lenBytes := memstr.sFormatStr1(@rateMsg, @fmtStr, pStr)
pMessage := @rateMsg
PRI strForServoIdx(servoIndex) : pStr | nIdx, pTblEntry, pPossIdStr, nServoIdx
' identify command requested
pStr := 0
repeat nIdx from 0 to srvoIdEntCt - 1
pTblEntry := @@WORD[@srvoIdTable][nIdx] ' get BYTE ptr from table
nServoIdx := BYTE[pTblEntry][0] ' skip enumVal get BYTE ptr to cmd zstring
pPossIdStr := @BYTE[pTblEntry][1] ' skip enumVal get BYTE ptr to cmd zstring
'debug("-? Tbl[", udec_(nIdx), "] ", uhex_long(pTblEntry), ", srvo=", udec_(nServoIdx), ", [", zstr_(pPossIdStr), "] ?-")
'debug("-? pPossIdStr(", udec_(strsize(pPossIdStr)), ")=[", zstr_(pPossIdStr), "] ?-")
if nServoIdx == servoIndex
pStr := pPossIdStr ' do match, we have our value
quit
if pStr == 0
debug("EEE strForServoIdx: Unknown servo id(", udec_(servoIndex), ")!")
CON { license }
{{
-------------------------------------------------------------------------------------------------
MIT License
Copyright (c) 2023 Iron Sheep Productions, LLC
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
=================================================================================================
}}