From 4cbc8ce01450f54bf6d27dc2a36b9b81b4b3e60e Mon Sep 17 00:00:00 2001 From: Marcus Grieger Date: Sat, 27 Jan 2024 01:00:50 +0100 Subject: [PATCH] Initial commit --- cad/battery_holding_frame.scad | 48 +++++++++++++++ cad/calibrator_hs225.scad | 24 ++++++++ cad/calibrator_hs645.scad | 24 ++++++++ cad/calibrator_pointer.scad | 13 +++++ cad/pca9685_holding_frame.scad | 37 ++++++++++++ cad/rpi_holding_frame.scad | 30 ++++++++++ calibration/c1.json | 5 ++ calibration/c2.json | 5 ++ calibration/c3.json | 5 ++ calibration/c4.json | 5 ++ calibration/c5.json | 5 ++ calibration/c6.json | 5 ++ calibration/f1.json | 5 ++ calibration/f2.json | 5 ++ calibration/f3.json | 5 ++ calibration/f4.json | 5 ++ calibration/f5.json | 5 ++ calibration/f6.json | 5 ++ calibration/t1.json | 5 ++ calibration/t2.json | 5 ++ calibration/t3.json | 5 ++ calibration/t4.json | 5 ++ calibration/t5.json | 5 ++ calibration/t6.json | 5 ++ docs/HS-225MG.pdf | Bin 0 -> 93037 bytes docs/HS-645MG.pdf | Bin 0 -> 90945 bytes python/calibrate_servo.py | 103 +++++++++++++++++++++++++++++++++ python/test_serial.py | 42 ++++++++++++++ python/test_servo.py | 30 ++++++++++ 29 files changed, 441 insertions(+) create mode 100644 cad/battery_holding_frame.scad create mode 100644 cad/calibrator_hs225.scad create mode 100644 cad/calibrator_hs645.scad create mode 100644 cad/calibrator_pointer.scad create mode 100644 cad/pca9685_holding_frame.scad create mode 100644 cad/rpi_holding_frame.scad create mode 100644 calibration/c1.json create mode 100644 calibration/c2.json create mode 100644 calibration/c3.json create mode 100644 calibration/c4.json create mode 100644 calibration/c5.json create mode 100644 calibration/c6.json create mode 100644 calibration/f1.json create mode 100644 calibration/f2.json create mode 100644 calibration/f3.json create mode 100644 calibration/f4.json create mode 100644 calibration/f5.json create mode 100644 calibration/f6.json create mode 100644 calibration/t1.json create mode 100644 calibration/t2.json create mode 100644 calibration/t3.json create mode 100644 calibration/t4.json create mode 100644 calibration/t5.json create mode 100644 calibration/t6.json create mode 100644 docs/HS-225MG.pdf create mode 100644 docs/HS-645MG.pdf create mode 100644 python/calibrate_servo.py create mode 100644 python/test_serial.py create mode 100644 python/test_servo.py diff --git a/cad/battery_holding_frame.scad b/cad/battery_holding_frame.scad new file mode 100644 index 0000000..bf8b56b --- /dev/null +++ b/cad/battery_holding_frame.scad @@ -0,0 +1,48 @@ +$fn=64; +baseplate_hole_distance = 56; + +battery_x = 105; +battery_y = 35; +battery_z = 25; + +frame_x = 10; +frame_y = 62; +frame_z = 3; + +bec_x = 35; +bec_y = 40; +bec_z = 4; + +cage_x = bec_x; +cage_y = bec_y; +cage_z = battery_z + bec_z + 3; + + +module cube_centered(x,y,z) { + translate([-x/2, -y/2, 0]) cube([x, y, z]); +} + +module cube_round_corners(x,y,z) { + hull() { + translate([-x/2, -y/2, 0]) cylinder(d=3, h=z); + translate([ x/2, -y/2, 0]) cylinder(d=3, h=z); + translate([-x/2, y/2, 0]) cylinder(d=3, h=z); + translate([ x/2, y/2, 0]) cylinder(d=3, h=z); + } +} + +difference() { + union() { + cube_round_corners(frame_x, frame_y, frame_z); + cube_round_corners(cage_x, cage_y, cage_z); + translate([0, 0, cage_z]) cube_round_corners(bec_x, bec_y, bec_z); + } + cube_centered(battery_x, battery_y, battery_z); + translate([0, -baseplate_hole_distance/2, 0]) cylinder(d=3, h=3); + translate([0, baseplate_hole_distance/2, 0]) cylinder(d=3, h=3); + + translate([0, 0, battery_z+3]) cube_centered(bec_x, bec_y, 100); + translate([0, 0, battery_z]) cube_centered(bec_x-9, bec_y-12, 100); + +} + diff --git a/cad/calibrator_hs225.scad b/cad/calibrator_hs225.scad new file mode 100644 index 0000000..64b4faa --- /dev/null +++ b/cad/calibrator_hs225.scad @@ -0,0 +1,24 @@ +servo_holes_x_left = 26.9; +servo_holes_x_right = 12.1; + +servo_holes_x = servo_holes_x_left + servo_holes_x_right; + +servo_axis_x_offset = servo_holes_x / 2 - servo_holes_x_right; + +servo_body_x = 32.4; +servo_body_y = 16.8; + +servo_body_border = 20; + +difference() { + translate([-servo_body_x/2 - servo_body_border, -servo_body_x/2 - servo_body_border, 0]) cube([servo_body_x + servo_body_border * 2, servo_body_x + servo_body_border * 2, 2]); + translate([-servo_body_x/2 - servo_axis_x_offset, -servo_body_y/2, ]) cube([servo_body_x, servo_body_y, 2]); +} + +translate([15, -0.5, 2]) cube([servo_body_border, 1, 1]); +rotate([0, 0, 30]) translate([15, -0.5, 2]) cube([servo_body_border, 1, 1]); +rotate([0, 0, 60]) translate([15, -0.5, 2]) cube([servo_body_border, 1, 1]); +rotate([0, 0, 90]) translate([15, -0.5, 2]) cube([servo_body_border, 1, 1]); +rotate([0, 0, -30]) translate([15, -0.5, 2]) cube([servo_body_border, 1, 1]); +rotate([0, 0, -60]) translate([15, -0.5, 2]) cube([servo_body_border, 1, 1]); +rotate([0, 0, -90]) translate([15, -0.5, 2]) cube([servo_body_border, 1, 1]); diff --git a/cad/calibrator_hs645.scad b/cad/calibrator_hs645.scad new file mode 100644 index 0000000..fbade00 --- /dev/null +++ b/cad/calibrator_hs645.scad @@ -0,0 +1,24 @@ +servo_holes_x_left = 34.2; +servo_holes_x_right = 14.2; + +servo_holes_x = servo_holes_x_left + servo_holes_x_right; + +servo_axis_x_offset = servo_holes_x / 2 - servo_holes_x_right; + +servo_body_x = 40.6; +servo_body_y = 19.8; + +servo_body_border = 20; + +difference() { + translate([-servo_body_x/2 - servo_body_border, -servo_body_x/2 - servo_body_border, 0]) cube([servo_body_x + servo_body_border * 2, servo_body_x + servo_body_border * 2, 2]); + translate([-servo_body_x/2 - servo_axis_x_offset, -servo_body_y/2, ]) cube([servo_body_x, servo_body_y, 2]); +} + +translate([15, -0.5, 2]) cube([servo_body_border, 1, 1]); +rotate([0, 0, 30]) translate([15, -0.5, 2]) cube([servo_body_border, 1, 1]); +rotate([0, 0, 60]) translate([15, -0.5, 2]) cube([servo_body_border, 1, 1]); +rotate([0, 0, 90]) translate([15, -0.5, 2]) cube([servo_body_border, 1, 1]); +rotate([0, 0, -30]) translate([15, -0.5, 2]) cube([servo_body_border, 1, 1]); +rotate([0, 0, -60]) translate([15, -0.5, 2]) cube([servo_body_border, 1, 1]); +rotate([0, 0, -90]) translate([15, -0.5, 2]) cube([servo_body_border, 1, 1]); diff --git a/cad/calibrator_pointer.scad b/cad/calibrator_pointer.scad new file mode 100644 index 0000000..bb94c56 --- /dev/null +++ b/cad/calibrator_pointer.scad @@ -0,0 +1,13 @@ +$fn=64; + +difference() { + hull() { + translate([ 0, 3, 0]) cylinder(d=1, h=1.2); + translate([ 0, -3, 0]) cylinder(d=1, h=1.2); + translate([ 20, 3, 0]) cylinder(d=1, h=1.2); + translate([ 20, -3, 0]) cylinder(d=1, h=1.2); + translate([ 50, 0, 0]) cylinder(d=0.1, h=1.2); + } + translate([ 5, 0, 0]) cylinder(d=2.5, h=2); + translate([20, 0, 0]) cylinder(d=2.5, h=2); +} diff --git a/cad/pca9685_holding_frame.scad b/cad/pca9685_holding_frame.scad new file mode 100644 index 0000000..e7ad055 --- /dev/null +++ b/cad/pca9685_holding_frame.scad @@ -0,0 +1,37 @@ +$fn=64; + +hex_hole_x = 69; +hex_hole_y = 51; + +pca9685_hole_x = 56; +pca9685_hole_y = 19; + +pca9685_width = 28; + +module corner_holes(x, y, diameter, height) { + translate([ x/2, y/2, 0]) cylinder(d=diameter, h=height); + translate([-x/2, y/2, 0]) cylinder(d=diameter, h=height); + translate([ x/2, -y/2, 0]) cylinder(d=diameter, h=height); + translate([-x/2, -y/2, 0]) cylinder(d=diameter, h=height); +} + +difference() { + union() { + hull() { + corner_holes(hex_hole_x, hex_hole_y, 6,3); + } + translate([0, pca9685_width/2, 0]) corner_holes(pca9685_hole_x, pca9685_hole_y, 6, 6); + translate([0, -pca9685_width/2, 0]) corner_holes(pca9685_hole_x, pca9685_hole_y, 6, 6); + } + + translate([0, pca9685_width/2, 0]) corner_holes(pca9685_hole_x, pca9685_hole_y, 3, 6); + translate([0, -pca9685_width/2, 0]) corner_holes(pca9685_hole_x, pca9685_hole_y, 3, 6); + + hull() { + translate([0, pca9685_width/2, 0]) corner_holes(pca9685_hole_x-9, pca9685_hole_y-9, 3, 3); + translate([0, -pca9685_width/2, 0]) corner_holes(pca9685_hole_x-9, pca9685_hole_y-9, 3, 3); + } + + corner_holes(hex_hole_x, hex_hole_y, 3,6); + +} \ No newline at end of file diff --git a/cad/rpi_holding_frame.scad b/cad/rpi_holding_frame.scad new file mode 100644 index 0000000..8a6798c --- /dev/null +++ b/cad/rpi_holding_frame.scad @@ -0,0 +1,30 @@ +$fn=64; + +rpi_hole_x = 58; +rpi_hole_y = 49; + +hex_hole_x = 69; +hex_hole_y = 51; + +module corner_holes(x, y, diameter, height) { + translate([ x/2, y/2, 0]) cylinder(d=diameter, h=height); + translate([-x/2, y/2, 0]) cylinder(d=diameter, h=height); + translate([ x/2, -y/2, 0]) cylinder(d=diameter, h=height); + translate([-x/2, -y/2, 0]) cylinder(d=diameter, h=height); +} + +difference() { + union() { + hull() { + corner_holes(hex_hole_x, hex_hole_y, 6,3); + } + corner_holes(rpi_hole_x, rpi_hole_y, 5,6); + } + + corner_holes(hex_hole_x, hex_hole_y, 3,6); + corner_holes(rpi_hole_x, rpi_hole_y, 2.3,6); + + hull() { + corner_holes(hex_hole_x - 9, rpi_hole_y - 9, 3, 6); + } +} \ No newline at end of file diff --git a/calibration/c1.json b/calibration/c1.json new file mode 100644 index 0000000..0e35ca5 --- /dev/null +++ b/calibration/c1.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 591.0714285714287, + "slope": 11.178571428571427 +} \ No newline at end of file diff --git a/calibration/c2.json b/calibration/c2.json new file mode 100644 index 0000000..81263b8 --- /dev/null +++ b/calibration/c2.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 572.1428571428573, + "slope": 11.595238095238093 +} \ No newline at end of file diff --git a/calibration/c3.json b/calibration/c3.json new file mode 100644 index 0000000..025b711 --- /dev/null +++ b/calibration/c3.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 558.2142857142858, + "slope": 11.511904761904761 +} \ No newline at end of file diff --git a/calibration/c4.json b/calibration/c4.json new file mode 100644 index 0000000..c4016b9 --- /dev/null +++ b/calibration/c4.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 641.0714285714287, + "slope": 11.845238095238093 +} \ No newline at end of file diff --git a/calibration/c5.json b/calibration/c5.json new file mode 100644 index 0000000..6ce4809 --- /dev/null +++ b/calibration/c5.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 578.2142857142858, + "slope": 11.511904761904761 +} \ No newline at end of file diff --git a/calibration/c6.json b/calibration/c6.json new file mode 100644 index 0000000..e332925 --- /dev/null +++ b/calibration/c6.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 521.0714285714287, + "slope": 11.845238095238093 +} \ No newline at end of file diff --git a/calibration/f1.json b/calibration/f1.json new file mode 100644 index 0000000..b1492d2 --- /dev/null +++ b/calibration/f1.json @@ -0,0 +1,5 @@ +{ + "description": "", + "intercept": 701.4285714285713, + "slope": 10.952380952380953 +} \ No newline at end of file diff --git a/calibration/f2.json 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zP|^QHE|3MJuV2bC0sgc8G67haL8j6lJP}o^!)7jLw!JIAjqBg*ED+C zU)u)+amxOh59D}C|K~Iy$d3JEeM|txXQcZNa+w%e7=9f$X8J$tl$qhr`eUYNX8CnI zm_dH4zsh9>0D-^GduAZxpY->vf - store value + +Move Servo to 0 degrees now.""") + +usec = 1500 + +angle = 0 +angle_values = [] +usec_values = [] + +servo_pwm.duty_cycle = usec_to_duty_cycle(usec) + +def press(key): + global usec + global angle + global angle_values + global usec_values + + if key == 'a': + usec -= 100 + if key == 'd': + usec += 100 + + if key == 's': + usec = 1500 + + if key == 'q': + usec -= 10 + if key == 'e': + usec += 10 + + if key == 'enter': + print(f"Angle: {angle} degrees") + print(f"Pulse length: {usec} usec") + angle_values.append(angle) + usec_values.append(usec) + angle += 30 + if angle > 180: + sshkeyboard.stop_listening() + return + print(f"Move Servo to {angle} degress now.") + + print(usec) + servo_pwm.duty_cycle = usec_to_duty_cycle(usec) + +sshkeyboard.listen_keyboard( on_press = press ) + + +result = scipy.stats.linregress(angle_values, usec_values) + +print(f"0 degree value: {round(result.intercept)}") +print(f"180 degree value: {round(result.intercept + 180 * result.slope)}") + +filename = input("Save as: ") + +if filename != "": + description = input("Description: ") + + if not filename.endswith(".json"): + filename += ".json" + + calibration = { + 'description': description, + 'intercept': result.intercept, + 'slope': result.slope + } + + with open(filename, "w") as out: + out.write(json.dumps(calibration, indent = 4)) + \ No newline at end of file diff --git a/python/test_serial.py b/python/test_serial.py new file mode 100644 index 0000000..794bb05 --- /dev/null +++ b/python/test_serial.py @@ -0,0 +1,42 @@ +import serial +import datetime +import bitarray +import bitarray.util + +s = serial.Serial("/dev/ttyAMA0", baudrate=100000, parity=serial.PARITY_ODD, stopbits = serial.STOPBITS_TWO, bytesize=serial.EIGHTBITS) + +counter = 0 + +synchronized = False +last_t = datetime.datetime.now() +while not synchronized: + rx = s.read(1) + t = datetime.datetime.now() + delta_t = (t-last_t).microseconds + last_t = t + + if delta_t > 1000 and rx == b'\x0f': + counter += 1 + if counter > 2: + synchronized = True + s.read(24) + +print("Synchronized!\n\n") + +while True: + rx=s.read(25) + + if rx[0] != 15 or rx[24] != 0: + print("Invalid frame!") + + flags = int(rx[23]) + + ba = bitarray.bitarray(endian='little') + ba.frombytes(rx[1:22]) + + channel = [] + for i in range(0, 15): + channel.append(bitarray.util.ba2int(ba[i*11:i*11 + 11])) + + print(" ".join([str(x) for x in channel]), " " * 20, end="\r") + \ No newline at end of file diff --git a/python/test_servo.py b/python/test_servo.py new file mode 100644 index 0000000..3fe9695 --- /dev/null +++ b/python/test_servo.py @@ -0,0 +1,30 @@ +import sys +import time +import board +import busio +import json + +from adafruit_motor import servo +from adafruit_pca9685 import PCA9685 + +filename = sys.argv[1] +with open(filename, "r") as f: + calibration = json.load(f) + +print(calibration) + +i2c = busio.I2C(board.SCL, board.SDA) +pca = PCA9685(i2c) + +pca.frequency = 50 +servo_pwm = pca.channels[0] + +servo = servo.Servo(pca.channels[0], actuation_range = 180, min_pulse=round(calibration['intercept']), max_pulse=round(calibration['intercept'] + 180 * calibration['slope'])) + +servo.angle = 90 +time.sleep(2) +servo.angle = 0 +time.sleep(2) +servo.angle = 180 +time.sleep(2) +servo.angle = 90 \ No newline at end of file