zh ~dZddlmZddlmZddlmZddlmZeGddZ Gdd Z d S) zServo motor control utilities.) annotations) dataclass)Optional)LOGGERcZeZdZUdZded<ded<ded<ded<dZded<dd Zdd ZdS)Servoa1Representation of a single PWM controlled servo. Parameters ---------- channel: int PWM channel on PCA9685 controller. min_angle: int Minimum pulse width allowed. max_angle: int Maximum pulse width allowed. idle: int Idle position pulse width. intchannel min_angle max_angleidlerpositionreturnNonecv|j|_tjd|j|j|j|jdS)Nz:Servo initialised on channel %s with min=%s max=%s idle=%s)r rrdebugr r r selfs /opt/SkullPi/motors.py __post_init__zServo.__post_init__!s@   H L N N I      pulsect|jt|j|}||_t jd|j||S)a Set servo to a given pulse width respecting soft limits. Parameters ---------- pulse: int Desired pulse width. Returns ------- int Actual pulse width sent to the servo after clamping. zServo %s set to %s)maxr minr rrrr )rrclampeds r set_positionzServo.set_position+sDdnc$.%&@&@AA  )4<AAArNrr)rr rr )__name__ __module__ __qualname____doc____annotations__rrrrrrr s  LLLNNNNNN IIIH    rrc*eZdZdZddZdd Zdd ZdS)MotorControllerzHigh level motor controller for multiple servos. This is a minimal stub compatible with the PCA9685 board. Hardware communication is intentionally left out so that the module can be executed on systems without the hardware attached. rrc<i|_tjddS)Nz(Motor controller initialised (stub mode))servosrinfors r__init__zMotorController.__init__Fs (*  >?????rnamestrservorcF||j|<tjd||dS)z-Register a servo under a human readable name.zRegistered servo %s -> %sN)r(rr)rr+r-s rregister_servozMotorController.register_servoJs)! D 0$>>>>>rrr Optional[int]c|j|}|stjd|dS||S)a&Move a registered servo. Parameters ---------- name: str Servo identifier. pulse: int Desired pulse width. Returns ------- Optional[int] The clamped pulse width if servo exists else ``None``. zUnknown servo %sN)r(getrerrorr)rr+rr-s rmovezMotorController.moveOsK %%  L+T 2 2 24!!%(((rNr)r+r,r-rrr)r+r,rr rr0)rr r!r"r*r/r4r$rrr&r&>s^@@@@???? ))))))rr&N) r" __future__r dataclassesrtypingrloggerrrr&r$rrr9s$$""""""!!!!!! /////// /d$)$)$)$)$)$)$)$)$)$)r