2025-09-11 20:29:20 +02:00
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from i2c_handler import I2CSlaveHandler, Packet
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from servo import Servo
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2025-09-12 02:19:15 +02:00
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s1 = Servo(29)
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2025-09-11 20:29:20 +02:00
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s1.middle()
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def servo_Map(x, in_min, in_max, out_min, out_max):
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return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
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def servo_Angle(angle, servo):
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if angle < 0:
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angle = 0
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if angle > 180:
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angle = 180
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servo.goto(round(servo_Map(angle,0,180,0,1024))) # Convert range value to angle value
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def move_body_parts(angle, servo):
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for i in range(90, 90 + angle, 5):
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servo_Angle(i, servo)
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utime.sleep(0.05)
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for i in range(90 + angle, 90 - angle, -5):
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servo_Angle(i, servo)
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utime.sleep(0.05)
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for i in range(90 - angle, 90, 5):
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servo_Angle(i, servo)
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utime.sleep(0.05)
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class ServoHandler(I2CSlaveHandler):
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def process_packet(self, packet: Packet):
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"""
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Example: Override process_packet to perform actions based on packet command/type.
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"""
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if packet[0] == 0x01:
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if packet[2] == 0x00:
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s1.middle()
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if packet[2] == 0x01:
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s1.move_body_parts(15, s1)
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else:
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print('Unknown command')
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# Usage example
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def main():
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handler = ServoHandler(i2c_id=0, sda=0, scl=1, slave_addr=0x41)
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print("ServoHandler I2C slave started")
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try:
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handler.handle()
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except KeyboardInterrupt:
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handler.deinit()
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print("I2C slave stopped")
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if __name__ == "__main__":
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main()
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