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opyapeus/dance.py

Created January 29, 2018 18:18
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puppet dance
Raw
dance.py
import pigpio
import csv
import operator
from time import sleep
PIN_WEST = 5
PIN_RIGHT = 6
PIN_LEFT = 13
PIN_HEAD = 19
MID_PW = 1500
MAX_PW_DIFF = 900
MAX_ANGLE_DIFF = 90
def angle_to_pulse_width(angle):
if angle < -MAX_ANGLE_DIFF:
print("rounded angle.")
return MID_PW - MAX_PW_DIFF
elif angle > MAX_ANGLE_DIFF:
print("rounded angle.")
return MID_PW + MAX_PW_DIFF
else:
dw = MAX_PW_DIFF * (float(angle) / MAX_ANGLE_DIFF)
return MID_PW + dw
def pulse_width_to_angle(width):
if width < MID_PW - MAX_PW_DIFF:
print("rounded width.")
return -MAX_ANGLE_DIFF
elif width > MID_PW + MAX_PW_DIFF:
print("rounded width.")
return MAX_ANGLE_DIFF
else:
angle = MAX_ANGLE_DIFF * float(width - MID_PW) / MAX_PW_DIFF
return angle
def rotate(pin, target_angle):
target_width = angle_to_pulse_width(target_angle)
pi.set_servo_pulsewidth(pin, target_width)
def rotate_all(row):
rotate(PIN_WEST, row[0])
rotate(PIN_RIGHT, row[1])
rotate(PIN_LEFT, row[2])
rotate(PIN_HEAD, row[3])
pi = pigpio.pi()
initial_angles = [pulse_width_to_angle(MID_PW)] * 4
rotate_all(initial_angles)
sleep(0.5)
with open('motion.csv', 'r') as f:
reader = csv.reader(f)
fr = next(reader)
pr = map(lambda s:float(s), fr) # TODO: string -> float
print pr
pt = pr[0] # initial time
pa = pr[1:] # initial angle list
rotate_all(pa)
sleep(0.5)
for row in reader:
r = map(lambda s:float(s), row) # TODO: string -> float
print r
t = r[0] # time
a = r[1:] # angle list
rotate_all(a)
dt = t - pt
sleep(dt)
pt = t
pi.stop()
Raw
motion.csv
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