servo_board

Last Modified: 2024-03-17 07:09:29

Created On: 2023-12-10 15:58:46

Owned By: evezor

Created By: anfro

Contributors: anfro, evezor

Public: True

Executable

        
# --------------------------------------
#   servo_board
#   65f69729a2d7a68ecanv
__canvas_id__ = '65f69729a2d7a68e'
# __version__ = TODO: add this
# --------------------------------------
from floe import FP

from PWM import PWM
from NeoPixel import NeoPixel
from Variable import Variable
from DigitalOutput import DigitalOutput
from DigitalInput import DigitalInput
from HbtLed import HbtLed
from ESP32Core import ESP32Core
from CANBus import CANBus
def setup(iris):
  CANBus(name="CANBus", pid=6545, rx=16, tx=4, adr=19, bus=0, baud=250000, rx_queue=25, terminal_debug=False, debug=False, active=True, bcast=False, iris=iris)
  DigitalInput(name="a", pid=8138, pin=22, pullup='pullup', debounce=200, invert=True, initial_value=False, datatype="bool", debug=False, active=True, bcast=True, iris=iris)
  DigitalInput(name="b", pid=11853, pin=23, pullup='pullup', debounce=200, invert=True, initial_value=False, datatype="bool", debug=False, active=True, bcast=True, iris=iris)
  DigitalInput(name="down", pid=56103, pin=33, pullup='pullup', debounce=200, invert=True, initial_value=False, datatype="bool", debug=False, active=True, bcast=True, iris=iris)
  DigitalInput(name="function_button", pid=2276, pin=36, pullup='None', debounce=200, invert=True, initial_value=False, datatype="bool", debug=False, active=True, bcast=True, iris=iris)
  DigitalInput(name="up", pid=25546, pin=32, pullup='pullup', debounce=200, invert=True, initial_value=False, datatype="bool", debug=False, active=True, bcast=True, iris=iris)
  DigitalOutput(name="can_slp", pid=11397, pin=2, invert=False, initial_value=False, datatype="bool", debug=False, active=True, bcast=False, iris=iris)
  ESP32Core(name="ESP32Core", pid=6074, wifi=False, hbt_led=FP(50487), neo_status=FP(47403), function_button=FP(2276), bus=FP(6545), zorg=None, webserver=None, debug=False, active=True, bcast=False, iris=iris)
  HbtLed(name="HbtLed", pid=50487, pin=5, delay=1000, datatype="int", debug=False, active=True, bcast=False, iris=iris)
  NeoPixel(name="neo_status", pid=47403, pin=17, number_of_pixels=1, animation=0, delay=200, animations=None, datatype="rgb", debug=False, active=True, bcast=False, iris=iris)
  PWM(name="servo1_init", pid=62828, pin=14, freq=100, duty=FP(9136), duty_min=0.03, duty_max=0.18, invert_duty=False, datatype="bool", debug=False, active=True, bcast=False, iris=iris)
  PWM(name="servo2_init", pid=30475, pin=12, freq=100, duty=FP(50736), duty_min=0.03, duty_max=0.18, invert_duty=False, datatype="bool", debug=False, active=True, bcast=False, iris=iris)
  PWM(name="servo3_init", pid=58400, pin=27, freq=100, duty=FP(43620), duty_min=0.03, duty_max=0.18, invert_duty=False, datatype="bool", debug=False, active=True, bcast=False, iris=iris)
  PWM(name="servo4_init", pid=4775, pin=18, freq=100, duty=FP(37568), duty_min=0.03, duty_max=0.18, invert_duty=False, datatype="bool", debug=False, active=True, bcast=False, iris=iris)
  PWM(name="servo5_init", pid=22144, pin=26, freq=100, duty=FP(18139), duty_min=0.03, duty_max=0.18, invert_duty=False, datatype="bool", debug=False, active=True, bcast=False, iris=iris)
  PWM(name="servo6_init", pid=19196, pin=19, freq=100, duty=FP(16006), duty_min=0.03, duty_max=0.18, invert_duty=False, datatype="bool", debug=True, active=True, bcast=False, iris=iris)
  PWM(name="servo7_init", pid=11768, pin=25, freq=100, duty=FP(53772), duty_min=0.03, duty_max=0.18, invert_duty=False, datatype="bool", debug=False, active=True, bcast=False, iris=iris)
  PWM(name="servo8_init", pid=40851, pin=21, freq=100, duty=FP(11603), duty_min=0.03, duty_max=0.18, invert_duty=False, datatype="bool", debug=False, active=True, bcast=False, iris=iris)
  Variable(name="servo1", pid=9136, state=0.03, datatype="float", constant=False, debug=False, active=True, bcast=True, iris=iris)
  Variable(name="servo2", pid=50736, state=0.03, datatype="float", constant=False, debug=False, active=True, bcast=True, iris=iris)
  Variable(name="servo3", pid=43620, state=0.03, datatype="float", constant=False, debug=False, active=True, bcast=True, iris=iris)
  Variable(name="servo4", pid=37568, state=0.03, datatype="float", constant=False, debug=False, active=True, bcast=True, iris=iris)
  Variable(name="servo5", pid=18139, state=0.03, datatype="float", constant=False, debug=False, active=True, bcast=True, iris=iris)
  Variable(name="servo6", pid=16006, state=0.03, datatype="float", constant=False, debug=False, active=True, bcast=True, iris=iris)
  Variable(name="servo7", pid=53772, state=0.03, datatype="float", constant=False, debug=False, active=True, bcast=True, iris=iris)
  Variable(name="servo8", pid=11603, state=0.03, datatype="float", constant=False, debug=False, active=True, bcast=True, iris=iris)
  iris.add_hots({})


      

Canvas View:

Dependencies:

["PWM", "NeoPixel", "Variable", "DigitalOutput", "DigitalInput", "HbtLed", "Parameter", "FileReceiver", "ESP32Core", "CANBus"]
    

Uppie code:

{
  "canvas_id": "65742b612617b775canv",
  "zorg": false,
  "busses": {
    "CANBus": "19"
  },
  "ports": [
    {
      "name": "up",
      "reference_id": "923a0b8c-ad84-aa34-bc52-6ad0cb5b15bf",
      "pid": 25546,
      "type": "output",
      "datatype": "bool",
      "parameter_type": "DigitalInput"
    },
    {
      "name": "down",
      "reference_id": "615d4e33-f4cd-303e-c93e-b9d8103b10bd",
      "pid": 56103,
      "type": "output",
      "datatype": "bool",
      "parameter_type": "DigitalInput"
    },
    {
      "name": "a",
      "reference_id": "b20d2b51-7126-2aad-ef2c-494f75da0129",
      "pid": 8138,
      "type": "output",
      "datatype": "bool",
      "parameter_type": "DigitalInput"
    },
    {
      "name": "b",
      "reference_id": "4dbed4bf-74ef-b403-3337-9324b59f4017",
      "pid": 11853,
      "type": "output",
      "datatype": "bool",
      "parameter_type": "DigitalInput"
    },
    {
      "name": "servo1",
      "reference_id": "c7040205-11bf-7668-86fa-ebdd3a7ceb01",
      "pid": 9136,
      "type": "both",
      "datatype": "float",
      "parameter_type": "Variable"
    },
    {
      "name": "servo2",
      "reference_id": "66d709e2-0687-b451-803c-9156f22b8aa2",
      "pid": 50736,
      "type": "both",
      "datatype": "float",
      "parameter_type": "Variable"
    },
    {
      "name": "servo3",
      "reference_id": "a34a08f8-ffcd-55e7-da8f-b299ac60098d",
      "pid": 43620,
      "type": "both",
      "datatype": "float",
      "parameter_type": "Variable"
    },
    {
      "name": "servo4",
      "reference_id": "adbec007-88a4-4e94-d350-61cb3950e5a2",
      "pid": 37568,
      "type": "both",
      "datatype": "float",
      "parameter_type": "Variable"
    },
    {
      "name": "servo5",
      "reference_id": "4aaa18fd-214f-dcc2-88e2-62ba77a974e7",
      "pid": 18139,
      "type": "both",
      "datatype": "float",
      "parameter_type": "Variable"
    },
    {
      "name": "servo6",
      "reference_id": "8ec54005-d7d8-3e05-729a-128b8d685195",
      "pid": 16006,
      "type": "both",
      "datatype": "float",
      "parameter_type": "Variable"
    },
    {
      "name": "servo7",
      "reference_id": "0aad1eb3-ec69-5e8c-f684-12f7f670374b",
      "pid": 53772,
      "type": "both",
      "datatype": "float",
      "parameter_type": "Variable"
    },
    {
      "name": "servo8",
      "reference_id": "211b291c-9d71-65ec-64e9-fe8126b14c9f",
      "pid": 11603,
      "type": "both",
      "datatype": "float",
      "parameter_type": "Variable"
    }
  ]
}
    

Uppie subs:

{}
    

Canvas code:

[
  {
    "type": "CanvasID",
    "id": "65f69729a2d7a68ecanv",
    "x": 26.786299999999983,
    "y": 24.64382824707031,
    "selectable": false,
    "draggable": true,
    "text": "CanvasID: 65f69729a2d7a68ecanv",
    "canvas_type": "core"
  },
  {
    "type": "Parameter",
    "name": "ESP32Core",
    "id": "9e65d461-88ea-d923-2508-c70738045031",
    "ParameterType": "ESP32Core",
    "datatype": null,
    "pid": "6074",
    "x": 2417.9577,
    "y": 272.2713,
    "width": 95,
    "height": 164,
    "constants": {
      "wifi": false
    },
    "up_data": {
      "can_go_up": false,
      "up": false
    },
    "debug": false,
    "active": true,
    "broadcast": false
  },
  {
    "type": "Parameter",
    "name": "function_button",
    "id": "755f08c5-a527-574e-94c4-ec22787d7c83",
    "ParameterType": "DigitalInput",
    "datatype": "bool",
    "pid": 2276,
    "x": 2130.9577,
    "y": 257.61289999999997,
    "width": 95,
    "height": 51,
    "constants": {
      "pin": "36",
      "pullup": "None",
      "debounce": 200
    },
    "up_data": {
      "can_go_up": true,
      "type": "output",
      "order": 999,
      "up": false
    },
    "debug": false,
    "active": true,
    "broadcast": true
  },
  {
    "type": "Parameter",
    "name": "neo_status",
    "id": "c02b1b9a-83a0-4dc8-6c78-b233f6794e97",
    "ParameterType": "NeoPixel",
    "datatype": "rgb",
    "pid": 47403,
    "x": 2107.9577,
    "y": 190.61289999999997,
    "width": 73,
    "height": 40,
    "constants": {
      "pin": "17",
      "number_of_pixels": 1
    },
    "up_data": {
      "can_go_up": true,
      "type": "input",
      "order": 999,
      "up": false
    },
    "debug": false,
    "active": true,
    "broadcast": false
  },
  {
    "type": "Parameter",
    "name": "CANBus",
    "id": "094dfcb9-7772-56e1-d37f-10f852b3fd3e",
    "ParameterType": "CANBus",
    "datatype": null,
    "pid": 6545,
    "x": 2159.9577,
    "y": 359.8641,
    "width": 79,
    "height": 43,
    "constants": {
      "rx": "16",
      "tx": "4",
      "adr": "19",
      "bus": "0",
      "baud": 250000,
      "rx_queue": 25
    },
    "up_data": {
      "can_go_up": false,
      "up": false
    },
    "debug": false,
    "active": true,
    "broadcast": false
  },
  {
    "type": "NotePad",
    "id": "d62904e5-41be-2090-31f2-f67f776f676e",
    "x": 2367.4577,
    "y": 187.3641,
    "width": 218,
    "height": 25,
    "ports": [],
    "text": "Core Components"
  },
  {
    "type": "Parameter",
    "name": "servo1_init",
    "id": "11edbf70-19d1-3467-143c-97574ed66d1b",
    "ParameterType": "PWM",
    "datatype": "bool",
    "pid": 62828,
    "x": 314.6097874298097,
    "y": 519.3333129882812,
    "width": 58,
    "height": 90,
    "constants": {
      "pin": "14"
    },
    "up_data": {
      "can_go_up": true,
      "type": "input",
      "order": 999,
      "up": false
    },
    "debug": false,
    "active": true,
    "broadcast": false
  },
  {
    "type": "Parameter",
    "name": "HbtLed",
    "id": "7906fc95-7e4b-9ed1-dab9-abd07d17d0c2",
    "ParameterType": "HbtLed",
    "datatype": "int",
    "pid": 50487,
    "x": 2095.9577,
    "y": 106.33331298828125,
    "width": 74,
    "height": 40,
    "constants": {
      "pin": "5"
    },
    "up_data": {
      "can_go_up": false,
      "up": false
    },
    "debug": false,
    "active": true,
    "broadcast": false
  },
  {
    "type": "Parameter",
    "name": "can_slp",
    "id": "3a429d50-899d-cb28-be24-195f5663a9ee",
    "ParameterType": "DigitalOutput",
    "datatype": "bool",
    "pid": 11397,
    "x": 2417.9577,
    "y": 90.36410000000001,
    "width": 95,
    "height": 50,
    "constants": {
      "pin": "2"
    },
    "up_data": {
      "can_go_up": true,
      "type": "input",
      "order": 999,
      "up": false
    },
    "debug": false,
    "active": true,
    "broadcast": false
  },
  {
    "type": "Parameter",
    "name": "servo2_init",
    "id": "e10fd98e-027d-dcfb-724d-11016efa1d71",
    "ParameterType": "PWM",
    "datatype": "bool",
    "pid": 30475,
    "x": 533.3069874298097,
    "y": 516.3333129882812,
    "width": 58,
    "height": 97,
    "constants": {
      "pin": "12"
    },
    "up_data": {
      "can_go_up": true,
      "type": "input",
      "order": 999,
      "up": false
    },
    "debug": false,
    "active": true,
    "broadcast": false
  },
  {
    "type": "Constant",
    "id": "945bf171-034a-0148-bbb4-99adc6b0bb99",
    "datatype": "Float",
    "state": ".03",
    "x": 66.77789999999995,
    "y": 691.0169129882812,
    "width": 45,
    "height": 29
  },
  {
    "type": "Constant",
    "id": "b27a501b-3b1e-2ae3-b3e8-b25e0132eb56",
    "datatype": "Float",
    "state": ".18",
    "x": 65.77789999999995,
    "y": 762.8669129882812,
    "width": 47,
    "height": 31
  },
  {
    "type": "Parameter",
    "name": "servo3_init",
    "id": "f3dd1e0c-b709-641e-c8ff-a70c77ffaca2",
    "ParameterType": "PWM",
    "datatype": "bool",
    "pid": 58400,
    "x": 776,
    "y": 519.3333129882812,
    "width": 48,
    "height": 93,
    "constants": {
      "pin": "27"
    },
    "up_data": {
      "can_go_up": true,
      "type": "input",
      "order": 999,
      "up": false
    },
    "debug": false,
    "active": true,
    "broadcast": false
  },
  {
    "type": "Parameter",
    "name": "servo4_init",
    "id": "32f4c50c-6aa0-b82e-0386-0c8a88a5266c",
    "ParameterType": "PWM",
    "datatype": "bool",
    "pid": 4775,
    "x": 1009.0115210174563,
    "y": 520.8333129882812,
    "width": 52,
    "height": 88,
    "constants": {
      "pin": "18"
    },
    "up_data": {
      "can_go_up": true,
      "type": "input",
      "order": 999,
      "up": false
    },
    "debug": false,
    "active": true,
    "broadcast": false
  },
  {
    "type": "Parameter",
    "name": "servo5_init",
    "id": "ded18e87-ba55-ff84-6677-b05bf9beaf86",
    "ParameterType": "PWM",
    "datatype": "bool",
    "pid": 22144,
    "x": 1212.9014,
    "y": 518.8333129882812,
    "width": 59,
    "height": 92,
    "constants": {
      "pin": "26"
    },
    "up_data": {
      "can_go_up": true,
      "type": "input",
      "order": 999,
      "up": false
    },
    "debug": false,
    "active": true,
    "broadcast": false
  },
  {
    "type": "Parameter",
    "name": "servo6_init",
    "id": "58cdec7c-707b-cfee-90ce-144edc1eb0bb",
    "ParameterType": "PWM",
    "datatype": "bool",
    "pid": 19196,
    "x": 1401,
    "y": 518.8333129882812,
    "width": 58,
    "height": 91,
    "constants": {
      "pin": "19"
    },
    "up_data": {
      "can_go_up": true,
      "type": "input",
      "order": 999,
      "up": false
    },
    "debug": true,
    "active": true,
    "broadcast": false
  },
  {
    "type": "Parameter",
    "name": "servo7_init",
    "id": "bf6e0c57-10a7-55f0-3f72-488ced238bb9",
    "ParameterType": "PWM",
    "datatype": "bool",
    "pid": 11768,
    "x": 1589.0884,
    "y": 521.8333129882812,
    "width": 55,
    "height": 86,
    "constants": {
      "pin": "25"
    },
    "up_data": {
      "can_go_up": true,
      "type": "input",
      "order": 999,
      "up": false
    },
    "debug": false,
    "active": true,
    "broadcast": false
  },
  {
    "type": "Parameter",
    "name": "servo8_init",
    "id": "5effa33e-1de7-7ca1-538a-8db6a305e112",
    "ParameterType": "PWM",
    "datatype": "bool",
    "pid": 40851,
    "x": 1784.2116,
    "y": 523.3333129882812,
    "width": 55,
    "height": 82,
    "constants": {
      "pin": "21"
    },
    "up_data": {
      "can_go_up": true,
      "type": "input",
      "order": 999,
      "up": false
    },
    "debug": false,
    "active": true,
    "broadcast": false
  },
  {
    "type": "Parameter",
    "name": "up",
    "id": "923a0b8c-ad84-aa34-bc52-6ad0cb5b15bf",
    "ParameterType": "DigitalInput",
    "datatype": "bool",
    "pid": 25546,
    "x": 302.74999999999994,
    "y": 1093.8333129882812,
    "width": 90,
    "height": 45,
    "constants": {
      "pin": "32",
      "pullup": "pullup",
      "debounce": 200
    },
    "up_data": {
      "can_go_up": true,
      "type": "output",
      "order": 999,
      "up": true
    },
    "debug": false,
    "active": true,
    "broadcast": true
  },
  {
    "type": "Parameter",
    "name": "down",
    "id": "615d4e33-f4cd-303e-c93e-b9d8103b10bd",
    "ParameterType": "DigitalInput",
    "datatype": "bool",
    "pid": 56103,
    "x": 302.74999999999994,
    "y": 1206.8333129882812,
    "width": 90,
    "height": 45,
    "constants": {
      "pin": "33",
      "pullup": "pullup",
      "debounce": 200
    },
    "up_data": {
      "can_go_up": true,
      "type": "output",
      "order": 999,
      "up": true
    },
    "debug": false,
    "active": true,
    "broadcast": true
  },
  {
    "type": "Parameter",
    "name": "a",
    "id": "b20d2b51-7126-2aad-ef2c-494f75da0129",
    "ParameterType": "DigitalInput",
    "datatype": "bool",
    "pid": 8138,
    "x": 586.3069874298097,
    "y": 1093.8333129882812,
    "width": 90,
    "height": 45,
    "constants": {
      "pin": "22",
      "pullup": "pullup",
      "debounce": 200
    },
    "up_data": {
      "can_go_up": true,
      "type": "output",
      "order": 999,
      "up": true
    },
    "debug": false,
    "active": true,
    "broadcast": true
  },
  {
    "type": "Parameter",
    "name": "b",
    "id": "4dbed4bf-74ef-b403-3337-9324b59f4017",
    "ParameterType": "DigitalInput",
    "datatype": "bool",
    "pid": 11853,
    "x": 586.3069874298097,
    "y": 1206.8333129882812,
    "width": 90,
    "height": 45,
    "constants": {
      "pin": "23",
      "pullup": "pullup",
      "debounce": 200
    },
    "up_data": {
      "can_go_up": true,
      "type": "output",
      "order": 999,
      "up": true
    },
    "debug": false,
    "active": true,
    "broadcast": true
  },
  {
    "type": "NotePad",
    "id": "48bb6233-2db2-5b00-9377-60a98f365d89",
    "x": 480.1969,
    "y": 252.9113282470703,
    "width": 218,
    "height": 25,
    "ports": [],
    "text": "Servos"
  },
  {
    "type": "NotePad",
    "id": "de20fa9a-fac7-21f6-bc8b-f88d65e31781",
    "x": 452.07645460510275,
    "y": 1018.8333129882812,
    "width": 218,
    "height": 25,
    "ports": [],
    "text": "buttons"
  },
  {
    "type": "Variable",
    "id": "c7040205-11bf-7668-86fa-ebdd3a7ceb01",
    "name": "servo1",
    "class": "Float",
    "datatype": "float",
    "state": ".03",
    "pid": 9136,
    "up_data": {
      "type": "both",
      "order": 999,
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