Aufgeräumt

2026-05-26 08:10:59 +02:00
parent 92c51b81ce
commit cb33bbf06c
202 changed files with 10 additions and 8758 deletions
@@ -0,0 +1,147 @@
+import Adafruit_PCA9685
+import yaml
+import time
+import os
+
+config_filename = '../config/exomy.yaml'
+
+
+def get_steering_motor_pins():
+    steering_motor_pins = {}
+    with open(config_filename, 'r') as file:
+        param_dict = yaml.load(file)
+
+    for param_key, param_value in param_dict.items():
+        if('pin_steer_' in str(param_key)):
+            steering_motor_pins[param_key] = param_value
+    return steering_motor_pins
+
+def get_steering_pwm_neutral_values():
+    steering_pwm_neutral_values = {}
+    with open(config_filename, 'r') as file:
+        param_dict = yaml.load(file)
+
+    for param_key, param_value in param_dict.items():
+        if('steer_pwm_neutral_' in str(param_key)):
+            steering_pwm_neutral_values[param_key] = param_value
+    return steering_pwm_neutral_values
+
+
+def get_position_name(name):
+    position_name = ''
+    if('_fl' in name):
+        position_name = 'Front Left'
+    elif('_fr' in name):
+        position_name = 'Front Right'
+    elif('_cl' in name):
+        position_name = 'Center Left'
+    elif('_cr' in name):
+        position_name = 'Center Right'
+    elif('_rl' in name):
+        position_name = 'Rear Left'
+    elif('_rr' in name):
+        position_name = 'Rear Right'
+
+    return position_name
+
+
+def update_config_file(steering_pwm_neutral_dict):
+    output = ''
+    with open(config_filename, 'rt') as file:
+        for line in file:
+            for key, value in steering_pwm_neutral_dict.items():
+                if(key in line):
+                    line = line.replace(line.split(': ', 1)[
+                                        1], str(value) + '\n')
+
+                    break
+            output += line
+
+    with open(config_filename, 'w') as file:
+        file.write(output)
+
+
+if __name__ == "__main__":
+    print(
+        '''
+$$$$$$$$\                     $$\      $$\           
+$$  _____|                    $$$\    $$$ |          
+$$ |      $$\   $$\  $$$$$$\  $$$$\  $$$$ |$$\   $$\ 
+$$$$$\    \$$\ $$  |$$  __$$\ $$\$$\$$ $$ |$$ |  $$ |
+$$  __|    \$$$$  / $$ /  $$ |$$ \$$$  $$ |$$ |  $$ |
+$$ |       $$  $$<  $$ |  $$ |$$ |\$  /$$ |$$ |  $$ |
+$$$$$$$$\ $$  /\$$\ \$$$$$$  |$$ | \_/ $$ |\$$$$$$$ |
+\________|\__/  \__| \______/ \__|     \__| \____$$ |
+                                           $$\   $$ |
+                                           \$$$$$$  |
+                                            \______/ 
+        '''
+    )
+    print(
+        '''
+This script helps you to set the neutral pwm values for the steering motors.
+You will iterate over all steering motors and set them to a neutral position.
+The determined value is written to the config file.
+
+Commands:
+a - Decrease value for current pin
+d - Increase value for current pin
+q - Finish setting value for current pin
+
+[Every of these commands must be confirmed with the enter key]
+
+ctrl+c - Exit script
+------------------------------------------------------------------------------
+        '''
+    )
+
+    if not os.path.exists(config_filename):
+        print("exomy.yaml does not exist. Finish config_motor_pins.py to generate it.")
+        exit()
+
+    pwm = Adafruit_PCA9685.PCA9685()
+    # For most motors a pwm frequency of 50Hz is normal
+    pwm_frequency = 50.0  # Hz
+    pwm.set_pwm_freq(pwm_frequency)
+
+    # The cycle is the inverted frequency converted to milliseconds
+    cycle = 1.0/pwm_frequency * 1000.0  # ms
+
+    # The time the pwm signal is set to on during the duty cycle
+    on_time = 1.5  # ms
+
+    # Duty cycle is the percentage of a cycle the signal is on
+    duty_cycle = on_time/cycle
+
+    # The PCA 9685 board requests a 12 bit number for the duty_cycle
+    initial_value = int(duty_cycle*4096.0)
+
+    # Get all steering pins
+    steering_motor_pins = get_steering_motor_pins()
+    pwm_neutral_dict = get_steering_pwm_neutral_values()
+    # Iterating over all motors and fine tune the zero value
+    for pin_name, pin_value in steering_motor_pins.items():
+        pwm_neutral_name = pin_name.replace('pin_steer_', 'steer_pwm_neutral_')
+        pwm_neutral_value = pwm_neutral_dict[pwm_neutral_name] 
+
+        print('Set ' + get_position_name(pin_name) + ' steering motor: \n')
+        while(1):
+            # Set motor
+            pwm.set_pwm(pin_value, 0, pwm_neutral_value)
+            time.sleep(0.1)
+            print('Current value: ' + str(pwm_neutral_value) + '\n')
+            input = raw_input(
+                'q-set / a-decrease pwm neutral value/ d-increase pwm neutral value\n')
+            if(input is 'q'):
+                print('PWM neutral value for ' + get_position_name(pin_name) +
+                      ' has been set.\n')
+                break
+            elif(input is 'a'):
+                print('Decreased pwm neutral value')
+                pwm_neutral_value-= 5
+            elif(input is 'd'):
+                print('Increased pwm neutral value')
+                pwm_neutral_value += 5
+        pwm_neutral_dict[pwm_neutral_name] = pwm_neutral_value
+    update_config_file(pwm_neutral_dict)
+    print("Finished configuration!!!")