Initial commit

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);
+
+} 
+

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]);

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]);

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);
+}

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);
+    
+}

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);
+    }
+}

calibration/c1.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 591.0714285714287,
+    "slope": 11.178571428571427
+}

calibration/c2.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 572.1428571428573,
+    "slope": 11.595238095238093
+}

calibration/c3.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 558.2142857142858,
+    "slope": 11.511904761904761
+}

calibration/c4.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 641.0714285714287,
+    "slope": 11.845238095238093
+}

calibration/c5.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 578.2142857142858,
+    "slope": 11.511904761904761
+}

calibration/c6.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 521.0714285714287,
+    "slope": 11.845238095238093
+}

calibration/f1.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 701.4285714285713,
+    "slope": 10.952380952380953
+}

calibration/f2.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 609.6428571428572,
+    "slope": 10.892857142857142
+}

calibration/f3.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 620.3571428571429,
+    "slope": 11.202380952380953
+}

calibration/f4.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 746.7857142857143,
+    "slope": 10.892857142857142
+}

calibration/f5.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 705.0000000000002,
+    "slope": 10.928571428571427
+}

calibration/f6.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 600.0,
+    "slope": 10.904761904761903
+}

calibration/t1.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 607.4999999999999,
+    "slope": 10.964285714285715
+}

calibration/t2.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 682.1428571428572,
+    "slope": 11.071428571428571
+}

calibration/t3.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 806.0714285714287,
+    "slope": 11.25
+}

calibration/t4.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 769.6428571428571,
+    "slope": 10.797619047619047
+}

calibration/t5.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 593.9285714285716,
+    "slope": 10.94047619047619
+}

calibration/t6.json

@@ -0,0 +1,5 @@
+{
+    "description": "",
+    "intercept": 740.7142857142857,
+    "slope": 11.214285714285715
+}

python/calibrate_servo.py

@@ -0,0 +1,103 @@
+import time
+import board
+import busio
+import sshkeyboard
+import sys
+import scipy.stats
+import json
+
+from adafruit_motor import servo
+from adafruit_pca9685 import PCA9685
+
+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=1000, max_pulse=2000)
+#servo.angle = 90
+
+def usec_to_duty_cycle(usec):
+    return int(usec * 0xffff / 20000)
+
+
+print("""Calibrate Servo:
+
+s - center (to 1500 usec)
+a - move CCW (100 usec)
+q - move CCW ( 10 usec)
+d - move CW  (100 usec)
+e - move CW  ( 10 usec)
+
+<enter> - 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))
+        

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")
+    

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