diff --git a/hardware/calibration.md b/hardware/calibration.md new file mode 100644 index 000000000..1099cacad --- /dev/null +++ b/hardware/calibration.md @@ -0,0 +1,64 @@ +# Calibration + +One-time per-unit setup after assembly. Skeleton — paste actual numbers from your build into the TODOs. + +## Servo zero positions + +Each STS3215 needs a zero-offset captured for the kinematics in `lelamp/follower/` and `lelamp/leader/`. Procedure: + +1. Power up the lamp. Do not start the lelamp service yet (it grabs the bus). +2. Manually move each joint to its mechanical zero (defined per joint — TODO: photo per joint). +3. Run the calibration tool: TODO command. +4. Calibration files land in `~/.cache/huggingface/lerobot/calibration/` and are read by `lelamp/calibration/`. + +| Servo | Joint | Mechanical zero | Recorded offset | +|---|---|---|---| +| 1 | base yaw | TODO | TODO | +| 2 | shoulder | TODO | TODO | +| 3 | elbow | TODO | TODO | +| 4 | wrist | TODO | TODO | +| 5 | head tilt | TODO | TODO | + +## Microphone gain + +### Voice mic (USB) +- Initial: `amixer -c sset Mic 50%` +- Tune until utterances peak at ~−12 dBFS in your room. +- Recorded value: TODO + +### Sensing mic (onboard) +- On Raspberry Pi: a watchdog clamps wm8960 capture gain to 160 — see `project_lumi_pcm_watchdog.md`. Don't fight it. +- On OrangePi: TODO — measure ambient noise floor and pick gain. + +## Speaker volume + +- Set DAC level once, then leave it. lelamp's `set_volume` adjusts a software gain on top. +- OrangePi safe defaults (from `project_orangepi_lelamp_dac_cap.md`): + - `amixer -c 1 sset 'ADC2DAC Mixer' 0` + - `amixer -c 1 sset 'ADCL/R PGA' 10` (≈ 30 dB) + - `amixer -c 1 sset DACL/R 70%` (≈ −6.5 dB) +- Pi defaults: TODO + +## LED brightness cap + +- Maximum allowed: TODO % of max (limited by 5 V rail headroom — see [`power.md`](power.md)). +- Capped in `lelamp/service/rgb/rgb_service.py` — confirm the constant matches what the rail can deliver. + +## Camera focus + +- IMX307 USB module is fixed-focus; nothing to do. +- If image is soft, check the lens isn't loose in its mount. + +## Verification + +After calibration: +- [ ] Each joint reaches its commanded position within ±2° +- [ ] No clipping during normal-volume TTS +- [ ] LED ring at full white doesn't brown out the SBC +- [ ] No audible hum at idle volume + +## TODO + +- [ ] Capture command names for the servo calibration tool +- [ ] Joint-zero photos +- [ ] Final amixer values per board diff --git a/lelamp/calibration/calibration.md b/lelamp/calibration/calibration.md index abcf7a636..351c7f3dd 100644 --- a/lelamp/calibration/calibration.md +++ b/lelamp/calibration/calibration.md @@ -4,15 +4,19 @@ LeLamp uses 5x Feetech STS3215 servos controlled via the `lerobot` library. Each ## Calibration files -On the Pi, lerobot looks for calibration at: +lerobot looks for calibration at `~/.cache/huggingface/lerobot/calibration/` for the user running the service: ``` -/root/.cache/huggingface/lerobot/calibration/ +/.cache/huggingface/lerobot/calibration/ ├── robots/lelamp_follower/lelamp.json └── teleoperators/lelamp_leader/lelamp.json ``` -The path resolves from `~/.cache/huggingface/lerobot/calibration/` — since the service runs as **root**, it uses `/root/`. +| Device | Service user | Calibration path | +|--------|-------------|-----------------| +| lumi2 / lumi3 (RPi 5) | `root` | `/root/.cache/huggingface/lerobot/calibration/` | +| lumi4 (OrangePi 4P) | `root` | `/root/.cache/huggingface/lerobot/calibration/` | +| lumi_final (OrangePi) | `orangepi` | `/home/orangepi/.cache/huggingface/lerobot/calibration/` | Each JSON contains per-servo values: @@ -34,26 +38,33 @@ Each JSON contains per-servo values: | 4 | `wrist_roll` | Wrist rotation | | 5 | `wrist_pitch` | Wrist tilt | -## Deploy to a new Pi (copy existing calibration) +## Deploy to a device (copy existing calibration) -If the new Pi uses the same servo hardware as an already-calibrated lamp, copy the calibration files: +If the device uses the same servo hardware as an already-calibrated lamp, copy the calibration files. +**Root-user devices (lumi2, lumi3, lumi4):** ```bash -# On the new Pi, create the directories sudo mkdir -p /root/.cache/huggingface/lerobot/calibration/robots/lelamp_follower sudo mkdir -p /root/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader - -# Copy from this repo sudo cp calibration/robots/lelamp_follower/lelamp.json \ /root/.cache/huggingface/lerobot/calibration/robots/lelamp_follower/lelamp.json - sudo cp calibration/teleoperators/lelamp_leader/lelamp.json \ /root/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader/lelamp.json ``` +**orangepi-user devices (lumi_final):** +```bash +mkdir -p /home/orangepi/.cache/huggingface/lerobot/calibration/robots/lelamp_follower +mkdir -p /home/orangepi/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader +cp calibration/robots/lelamp_follower/lelamp.json \ + /home/orangepi/.cache/huggingface/lerobot/calibration/robots/lelamp_follower/lelamp.json +cp calibration/teleoperators/lelamp_leader/lelamp.json \ + /home/orangepi/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader/lelamp.json +``` + Then restart the lelamp service. The servos will use the copied calibration values. -> **Note:** Copied calibration will be close but may not be exact — each servo has slightly different mechanical offsets. For precise movement, run a fresh calibration (see below). +> **Note:** The calibration files in this branch (`feat/lumi-final`) are tuned for **lumi_final's** servo hardware. The `wrist_pitch` recordings are scaled to ±55.8° to match lumi_final's physical range (vs ±113° on the original hardware). ## Run fresh calibration on a Pi diff --git a/lelamp/calibration/robots/lelamp_follower/lelamp.json b/lelamp/calibration/robots/lelamp_follower/lelamp.json index 50dcfa75e..e78bc638b 100644 --- a/lelamp/calibration/robots/lelamp_follower/lelamp.json +++ b/lelamp/calibration/robots/lelamp_follower/lelamp.json @@ -2,36 +2,36 @@ "base_yaw": { "id": 1, "drive_mode": 0, - "homing_offset": -962, - "range_min": 574, - "range_max": 3052 + "homing_offset": 1928, + "range_min": 828, + "range_max": 3255 }, "base_pitch": { "id": 2, "drive_mode": 0, - "homing_offset": -475, - "range_min": 1516, - "range_max": 2468 + "homing_offset": -381, + "range_min": 1608, + "range_max": 3017 }, "elbow_pitch": { "id": 3, "drive_mode": 0, - "homing_offset": -1697, - "range_min": 1184, - "range_max": 2620 + "homing_offset": 518, + "range_min": 1651, + "range_max": 3082 }, "wrist_roll": { "id": 4, "drive_mode": 0, - "homing_offset": 912, - "range_min": 897, - "range_max": 3013 + "homing_offset": 1962, + "range_min": 976, + "range_max": 3164 }, "wrist_pitch": { "id": 5, "drive_mode": 0, - "homing_offset": -587, - "range_min": 1750, - "range_max": 3310 + "homing_offset": -1837, + "range_min": 2044, + "range_max": 3132 } -} \ No newline at end of file +} diff --git a/lelamp/calibration/teleoperators/lelamp_leader/lelamp.json b/lelamp/calibration/teleoperators/lelamp_leader/lelamp.json index ecabac6af..f3b43c164 100644 --- a/lelamp/calibration/teleoperators/lelamp_leader/lelamp.json +++ b/lelamp/calibration/teleoperators/lelamp_leader/lelamp.json @@ -2,36 +2,36 @@ "base_yaw": { "id": 1, "drive_mode": 0, - "homing_offset": -1064, - "range_min": 963, - "range_max": 3177 + "homing_offset": 1909, + "range_min": 974, + "range_max": 3142 }, "base_pitch": { "id": 2, "drive_mode": 0, - "homing_offset": -586, - "range_min": 1770, - "range_max": 2596 + "homing_offset": -556, + "range_min": 1645, + "range_max": 3367 }, "elbow_pitch": { "id": 3, "drive_mode": 0, - "homing_offset": -1554, - "range_min": 673, - "range_max": 2598 + "homing_offset": 431, + "range_min": 1741, + "range_max": 3325 }, "wrist_roll": { "id": 4, "drive_mode": 0, - "homing_offset": 865, - "range_min": 1038, - "range_max": 2912 + "homing_offset": 1957, + "range_min": 924, + "range_max": 3071 }, "wrist_pitch": { "id": 5, "drive_mode": 0, - "homing_offset": -723, - "range_min": 1651, - "range_max": 3354 + "homing_offset": -1794, + "range_min": 1828, + "range_max": 3360 } -} \ No newline at end of file +} diff --git a/lelamp/presets.py b/lelamp/presets.py index 3c93eafbe..503cbfea8 100644 --- a/lelamp/presets.py +++ b/lelamp/presets.py @@ -170,10 +170,10 @@ AIM_PRESETS = { AIM_CENTER: {"base_yaw.pos": 3.0, "base_pitch.pos": -20.0, "elbow_pitch.pos": 32.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 0.0}, AIM_DESK: {"base_yaw.pos": 3.0, "base_pitch.pos": 5.0, "elbow_pitch.pos": 20.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 40.0}, - AIM_WALL: {"base_yaw.pos": 3.0, "base_pitch.pos": 5.0, "elbow_pitch.pos": -20.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -60.0}, + AIM_WALL: {"base_yaw.pos": 3.0, "base_pitch.pos": 5.0, "elbow_pitch.pos": -20.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -47.82}, AIM_LEFT: {"base_yaw.pos": -90.0, "base_pitch.pos": -30.0, "elbow_pitch.pos": 57.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 18.0}, AIM_RIGHT: {"base_yaw.pos": 90.0, "base_pitch.pos": -30.0, "elbow_pitch.pos": 57.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 18.0}, AIM_UP: {"base_yaw.pos": 3.0, "base_pitch.pos": 10.0, "elbow_pitch.pos": -15.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 25.0}, - AIM_DOWN: {"base_yaw.pos": 3.0, "base_pitch.pos": -90.0, "elbow_pitch.pos": 90.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -90.0}, + AIM_DOWN: {"base_yaw.pos": 3.0, "base_pitch.pos": -61.93, "elbow_pitch.pos": 62.9, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -47.82}, AIM_USER: 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b/lelamp/routes/servo.py index 0cb208b91..d2c6a4d3f 100644 --- a/lelamp/routes/servo.py +++ b/lelamp/routes/servo.py @@ -32,6 +32,7 @@ AIM_RIGHT, SERVO_CMD_PLAY, ) +from lelamp.service.motors.animation_service import RESUME_STARTUP_RAW, STARTUP_MOVE_DURATION, ZERO_RAW router = APIRouter(tags=["Servo"]) @@ -202,14 +203,32 @@ def resume_servos(): raise HTTPException(503, "Servo not available") state.animation_service._zero_mode = False state.animation_service._hold_mode = False - if not state.animation_service._running.is_set(): - state.animation_service._running.set() - state.animation_service._event_thread = threading.Thread( - target=state.animation_service._event_loop, daemon=True - ) - state.animation_service._event_thread.start() - state.logger.info("Animation event loop restarted via /servo/resume") + # Stop the event loop before raw bus moves to prevent bus contention + state.animation_service._running.clear() + if state.animation_service._event_thread and state.animation_service._event_thread.is_alive(): + state.animation_service._event_thread.join(timeout=3.0) + # Re-enable torque and reconfigure servos (release left torque disabled) + try: + state.animation_service._configure_servos_raw() + except Exception as e: + state.logger.warning("resume: raw configure failed: %s", e) + # Move to wake position before entering idle (arm lifts from release pose) + try: + state.animation_service.move_to_raw(RESUME_STARTUP_RAW, duration=STARTUP_MOVE_DURATION) + state.logger.info("Servo moved to resume startup position") + except Exception as e: + state.logger.warning("resume: startup move failed: %s", e) + # Sync state from hardware now that arm is at a known position + state.animation_service._sync_state_from_hardware() + # Normal interpolation duration (arm arrives from a controlled position) + state.animation_service._resume_duration = state.animation_service.duration + # Restart event loop + state.animation_service._running.set() state.animation_service.dispatch(SERVO_CMD_PLAY, state.animation_service.idle_recording) + state.animation_service._event_thread = threading.Thread( + target=state.animation_service._event_loop, daemon=True + ) + state.animation_service._event_thread.start() state.logger.info("Servo resumed from zero-hold mode") return {"status": "ok"} @@ -283,13 +302,15 @@ def zero_servos(): state.animation_service._running.clear() if state.animation_service._event_thread and state.animation_service._event_thread.is_alive(): state.animation_service._event_thread.join(timeout=3.0) - zero_pos = {f"{m}.pos": 0.0 for m in state.animation_service.robot.bus.motors} - zero_pos["elbow_pitch.pos"] = 0.0 try: - state.animation_service.move_to(zero_pos, duration=2.0) + state.animation_service._configure_servos_raw() + except Exception as e: + state.logger.warning("zero: raw configure failed: %s", e) + try: + state.animation_service.move_to_raw(ZERO_RAW, duration=2.0) except Exception as e: state.logger.warning(f"Could not move to zero: {e}") - state.animation_service._current_state = {k: 0.0 for k in zero_pos} + state.animation_service._sync_state_from_hardware() return {"status": "ok"} @@ -303,44 +324,42 @@ def release_servos(): state.animation_service._running.clear() if state.animation_service._event_thread and state.animation_service._event_thread.is_alive(): state.animation_service._event_thread.join(timeout=3.0) - # Fully folded pose (elbow at max 90°) so the body is already at the - # mechanical floor when torque is cut — no remaining gap to drop. - rest_pos = { - "base_yaw.pos": 0.0, - "base_pitch.pos": -90.0, - "elbow_pitch.pos": 90.0, - "wrist_roll.pos": 0.0, - "wrist_pitch.pos": 0.0, + # Gravity-rest pose for lumi_final in raw encoder units. + # Pre-computed from calibration JSON: raw = round(deg * 4095/360 + mid) + # where mid = (range_min + range_max) / 2. + # base_pitch/elbow_pitch/wrist_pitch exceed calibrated range_min so we + # use move_to_raw (direct STS3215 writes) to bypass lerobot's software clamp. + rest_raw = { + "base_yaw": 2075, # 3.00° — mid=2041.5 + "base_pitch": 1456, # -75.26° — mid=2312.5 + "elbow_pitch": 1626, # -65.02° — mid=2366.5 + "wrist_roll": 2070, # 0.00° — mid=2070.0 + "wrist_pitch": 2108, # -42.16° — mid=2588.0 } try: - # move_to commands the ramp but does not verify the servo physically - # arrived. Under load the motor lags the command, so poll - # Present_Position until every joint is within tolerance of rest_pos - # before cutting torque — otherwise the body drops the remaining gap. - state.animation_service.move_to(rest_pos, duration=4.0) - from lelamp.service.motors.animation_service import ( - _motor_positions_from_bus, - ) - - tol_deg = 2.0 - deadline = time.perf_counter() + 3.0 - while time.perf_counter() < deadline: - with state.animation_service.bus_lock: - actual = _motor_positions_from_bus( - state.animation_service.robot - ) - if all( - abs(actual.get(k, 0.0) - v) <= tol_deg - for k, v in rest_pos.items() - ): - break - time.sleep(0.05) - else: - state.logger.warning( - "rest_pos not reached within 3s; releasing anyway" - ) + state.animation_service.move_to_raw(rest_raw, duration=4.0) except Exception as e: state.logger.warning(f"Could not move to rest before release: {e}") + # Poll PRESENT_POSITION until all joints physically reach rest_raw before cutting torque. + # move_to_raw only writes GOAL_POSITION — under load the servo lags the command. + _PRESENT_REG = 56 + _tol_raw = 23 # ~2 degrees (4095/360 * 2) + _bus = state.animation_service.robot.bus + _deadline = time.perf_counter() + 3.0 + while time.perf_counter() < _deadline: + with state.animation_service.bus_lock: + actual = {} + for _name, _motor in _bus.motors.items(): + _data, _result, _ = _bus.packet_handler.read2ByteTxRx( + _bus.port_handler, _motor.id, _PRESENT_REG + ) + if _result == 0: + actual[_name] = _data + if all(abs(actual.get(k, 0) - v) <= _tol_raw for k, v in rest_raw.items()): + break + time.sleep(0.05) + else: + state.logger.warning("rest_raw not reached within 3s; releasing torque anyway") bus = state.animation_service.robot.bus errors = {} with state.animation_service.bus_lock: diff --git a/lelamp/service/motors/animation_service.py b/lelamp/service/motors/animation_service.py index 0a9e146b5..2c722e9da 100644 --- a/lelamp/service/motors/animation_service.py +++ b/lelamp/service/motors/animation_service.py @@ -12,14 +12,28 @@ # Default interpolation duration for move_to (seconds) DEFAULT_MOVE_DURATION = 2.0 -# Startup position for base_pitch and elbow_pitch only. -# Other servos (base_yaw, wrist_roll, wrist_pitch) are left released. -STARTUP_POSITION = { - "base_pitch.pos": -30.0, - "elbow_pitch.pos": 57.0, +# Zero/hold position in raw encoder units — the physical resting pose after release. +# wrist_pitch (-59.18°, raw 1914) exceeds calibrated range_min=2044, so move_to_raw is used. +ZERO_RAW = { + "base_yaw": 2100, # 5.22° — mid=2041.5 + "base_pitch": 2082, # -20.25° — mid=2312.5 + "elbow_pitch": 2019, # -30.54° — mid=2366.5 + "wrist_roll": 2070, # 0.00° — mid=2070.0 + "wrist_pitch": 1914, # -59.18° — mid=2588.0 } -# Duration for the startup move (seconds) +# Wake/resume position in raw encoder units — all 5 joints. +# Pre-computed from calibration JSON: raw = int(deg * 4095/360 + mid), mid=(range_min+range_max)/2. +# wrist_pitch (-68.48°, raw 1809) exceeds calibrated range_min=2044, so move_to_raw is used. +RESUME_STARTUP_RAW = { + "base_yaw": 2109, # 5.96° — mid=2041.5 + "base_pitch": 2105, # -18.20° — mid=2312.5 + "elbow_pitch": 2233, # -11.68° — mid=2366.5 + "wrist_roll": 2070, # 0.00° — mid=2070.0 + "wrist_pitch": 1809, # -68.48° — mid=2588.0 +} + +# Duration for the startup/resume move (seconds) STARTUP_MOVE_DURATION = 5.0 # Recordings that hold final pose instead of returning to idle @@ -62,6 +76,7 @@ def __init__(self, port: str, lamp_id: str, fps: int = 30, duration: float = 5.0 self._current_frame_index: int = 0 self._current_actions: List[Dict[str, float]] = [] self._interpolation_frames: int = 0 + self._interpolation_total_frames: int = 0 # denominator for progress; must match _interpolation_frames initial value self._interpolation_target: Optional[Dict[str, float]] = None # Music groove: loop while music is playing @@ -77,6 +92,10 @@ def __init__(self, port: str, lamp_id: str, fps: int = 30, duration: float = 5.0 # Serial bus lock — all bus access (read/write/ping) must hold this lock self.bus_lock = threading.RLock() + # One-shot duration override for the next _handle_play interpolation (resume slow-start). + # Set before dispatch; consumed and cleared inside _handle_play. + self._resume_duration: Optional[float] = None + # Freeze flag — when set, _continue_playback() skips servo writes so camera can capture a stable frame self._frozen = threading.Event() @@ -141,10 +160,10 @@ def start(self): logger.info(f"Animation service connected to {self.port}") - # Move base_pitch and elbow_pitch to startup position + # Move all joints to wake/startup position (includes wrist_pitch outside calib range) try: - self.move_to(STARTUP_POSITION, duration=STARTUP_MOVE_DURATION) - logger.info("Servos 2,3 moved to startup position") + self.move_to_raw(RESUME_STARTUP_RAW, duration=STARTUP_MOVE_DURATION) + logger.info("Servos moved to startup position") except Exception as e: logger.warning(f"Failed to move to startup position: {e}") @@ -274,9 +293,14 @@ def _handle_play(self, recording_name: str): self._current_actions = actions self._current_frame_index = 0 - # If we have a current state, set up interpolation to the first frame + # If we have a current state, set up interpolation to the first frame. + # _resume_duration overrides self.duration once (set by resume endpoint for slow-start). if self._current_state is not None: - self._interpolation_frames = int(self.duration * self.fps) + effective_duration = self._resume_duration if self._resume_duration is not None else self.duration + self._resume_duration = None + total = int(effective_duration * self.fps) + self._interpolation_frames = total + self._interpolation_total_frames = total self._interpolation_target = actions[0] else: self._interpolation_frames = 0 @@ -316,8 +340,10 @@ def _continue_playback(self): try: # Handle interpolation to first frame if self._interpolation_frames > 0 and self._interpolation_target is not None: - # Calculate interpolation progress - progress = 1.0 - (self._interpolation_frames / (self.duration * self.fps)) + # Calculate interpolation progress — use stored total so the denominator + # matches the initial _interpolation_frames value, not always self.duration. + denom = self._interpolation_total_frames if self._interpolation_total_frames > 0 else int(self.duration * self.fps) + progress = 1.0 - (self._interpolation_frames / denom) progress = max(0.0, min(1.0, progress)) # Interpolate between current state and target @@ -388,7 +414,9 @@ def _continue_playback(self): self._current_actions = next_actions self._current_frame_index = 0 if self._current_state is not None: - self._interpolation_frames = int(self.duration * self.fps) + total = int(self.duration * self.fps) + self._interpolation_frames = total + self._interpolation_total_frames = total self._interpolation_target = next_actions[0] elif self._hold_mode: # Hold mode active while idle finished — hold pose, reduce FPS @@ -521,4 +549,65 @@ def move_to(self, target_positions: Dict[str, float], duration: float = DEFAULT_ except Exception as e: logger.warning(f"move_to: could not read full state after move: {e}") self._current_state = target_positions.copy() - \ No newline at end of file + + def move_to_raw(self, target_raw: Dict[str, int], duration: float = DEFAULT_MOVE_DURATION): + """Smoothly move servos to raw encoder positions via direct STS3215 register writes. + + Bypasses lerobot calibration range limits entirely. Use for release/collapse + positions that exceed the calibrated range_min/max. Caller pre-computes raw + encoder targets so no bus.calibration access is needed here. + + Args: + target_raw: motor_name → raw encoder value (0-4095), e.g. {"base_pitch": 1456} + duration: seconds to reach the target + """ + if not self.robot: + raise RuntimeError("Robot not connected") + + GOAL_POSITION_REG = 42 # STS3215: Goal_Position (2 bytes, LSB first) + PRESENT_POSITION_REG = 56 # STS3215: Present_Position (2 bytes) + + ph = self.robot.bus.port_handler + pk = self.robot.bus.packet_handler + + # Read current raw positions directly (bypasses normalization) + current_raw: Dict[str, int] = {} + with self.bus_lock: + for motor_name, motor_obj in self.robot.bus.motors.items(): + data, result, _ = pk.read2ByteTxRx(ph, motor_obj.id, PRESENT_POSITION_REG) + # result==0 means COMM_SUCCESS in scservo_sdk + current_raw[motor_name] = data if result == 0 else target_raw.get(motor_name, 2048) + + total_frames = max(1, int(duration * self.fps)) + + for frame in range(1, total_frames + 1): + t0 = time.perf_counter() + progress = frame / total_frames + + with self.bus_lock: + for motor_name, target in target_raw.items(): + cur = current_raw.get(motor_name, target) + raw = max(0, min(4095, int(cur + (target - cur) * progress))) + motor_obj = self.robot.bus.motors.get(motor_name) + if motor_obj: + pk.write2ByteTxRx(ph, motor_obj.id, GOAL_POSITION_REG, raw) + + dt = time.perf_counter() - t0 + sleep_time = (1.0 / self.fps) - dt + if sleep_time > 0: + time.sleep(sleep_time) + + # Final exact write + with self.bus_lock: + for motor_name, raw in target_raw.items(): + motor_obj = self.robot.bus.motors.get(motor_name) + if motor_obj: + pk.write2ByteTxRx(ph, motor_obj.id, GOAL_POSITION_REG, raw) + + try: + with self.bus_lock: + pos = _motor_positions_from_bus(self.robot) + if pos: + self._current_state = pos + except Exception as e: + logger.warning("move_to_raw: could not read state after move: %s", e) diff --git a/lelamp/test_ttp223_probe.py b/lelamp/test_ttp223_probe.py new file mode 100644 index 000000000..476f7b80c --- /dev/null +++ b/lelamp/test_ttp223_probe.py @@ -0,0 +1,37 @@ +#!/usr/bin/env python3 +"""Probe each TTP223 line independently. Touch one pad at a time; you should see +the corresponding line print HIGH then LOW. Ctrl+C to exit. + +Wiring (OrangePi 4 Pro, A733 / sun60iw2): + S1 -> header pin 29 / PD0 / gpiochip0 line 96 (left-most pad) + S2 -> header pin 31 / PD1 / gpiochip0 line 97 + S3 -> header pin 33 / PD2 / gpiochip0 line 98 + S4 -> header pin 35 / PD3 / gpiochip0 line 99 (right-most pad) + VCC -> 3.3V (header pin 17) [NOT 5V] + GND -> GND (header pin 25 or 39) + +Requires libgpiod >= 2.0 (PyPI `gpiod>=2.0`). The user running this needs to be +in the `gpio` group so /dev/gpiochip0 is openable without sudo. +""" +import time +import gpiod +from gpiod.line import Bias, Direction, Value + +CHIP = "/dev/gpiochip0" +LINES = [96, 97, 98, 99] +NAMES = {96: "S1", 97: "S2", 98: "S3", 99: "S4"} + +settings = gpiod.LineSettings(direction=Direction.INPUT, bias=Bias.PULL_DOWN) +config = {l: settings for l in LINES} + +with gpiod.request_lines(CHIP, consumer="ttp223-probe", config=config) as req: + print("Probing", LINES, "(PULL_DOWN). Touch each pad. Ctrl+C to exit.") + last = {l: None for l in LINES} + while True: + vals = req.get_values(LINES) + for line, v in zip(LINES, vals): + high = (v == Value.ACTIVE) + if last[line] != high: + print(f"{time.strftime('%H:%M:%S')} {NAMES[line]} (line {line}) = {'HIGH' if high else 'LOW'}") + last[line] = high + time.sleep(0.02)