From f5bd655ccb5629e647cce3cc4e75315d410924eb Mon Sep 17 00:00:00 2001
From: Marcus Grieger <marcus@grieger.xyz>
Date: Sun, 28 Jan 2024 21:16:22 +0000
Subject: [PATCH] Added hal.py and wave.py example

---
 python/hexapod/hal.py | 28 ++++++++++++++++++++++++++++
 python/wave.py        | 30 ++++++++++++++++++++++++++++++
 2 files changed, 58 insertions(+)
 create mode 100644 python/hexapod/hal.py
 create mode 100644 python/wave.py

diff --git a/python/hexapod/hal.py b/python/hexapod/hal.py
new file mode 100644
index 0000000..ba0bfb9
--- /dev/null
+++ b/python/hexapod/hal.py
@@ -0,0 +1,28 @@
+import board
+import busio
+import adafruit_pca9685
+import adafruit_motor
+
+import hexapod.servo_mapping
+
+class Hal:
+    def __init__(self):
+        self.i2c = busio.I2C(board.SCL, board.SDA)
+
+        self.pca9685 = {}
+        self.pwm = {}
+
+        for s in hexapod.servo_mapping.servo_mapping:
+            m = hexapod.servo_mapping.servo_mapping[s]
+
+            address = m['address']
+            channel = m['channel']
+    
+
+            if address not in self.pca9685:
+                self.pca9685[address] = adafruit_pca9685.PCA9685(self.i2c, address=address)
+                self.pca9685[address].frequency = 50
+
+                self.pwm[s] = self.pca9685[address].channels[channel]
+    
+        
\ No newline at end of file
diff --git a/python/wave.py b/python/wave.py
new file mode 100644
index 0000000..ff19f06
--- /dev/null
+++ b/python/wave.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 = servo.Servo(pca.channels[15], actuation_range = 180, min_pulse=round(calibration['intercept']), max_pulse=round(calibration['intercept'] + 180 * calibration['slope']))
+
+for i in range(0, 3):
+    servo.angle = 90
+    time.sleep(0.2)
+    servo.angle = 70
+    time.sleep(0.2)
+
+servo.angle = 90
+
+pca.channels[15].duty_cycle=0