Controller support and WIP recording

Author: danic85

config/controller.yml

@@ -0,0 +1,100 @@
+controller:
+  enabled: true
+  path: 'modules.controller.Controller'
+  dependencies:
+    python:
+      - inputs
+      # sudo systemctl enable xboxdrv.service
+      # 
+    unix:
+      - xboxdrv 
+  config:
+    deadzone: 500
+    button_action_map:
+      default:
+        BTN_TL:
+          - topic: ''
+            args: {}
+        BTN_TR:
+          - topic: ''
+            args: {}
+        BTN_SELECT:
+          - topic: 'record/stop'
+            args: {}
+        BTN_START:
+          - topic: 'record/start'
+            args: {}
+        KEY_RECORD: # Only on Xbox S/X remotes
+          - topic: ''
+            args: {}
+        BTN_MODE: # Xbox Logo
+          - topic: ''
+            args: {}
+        ABS_HAT0X: # DPAD X (-1, 0 or 1)
+          - topic: ''
+            args: {}
+        ABS_HAT0Y: # DPAD Y (-1, 0 or 1)
+          - topic: ''
+            args: {}
+        BTN_SOUTH: # A
+          - topic: 'tts'
+            msg: 'Test Default'
+        BTN_NORTH: # X
+          - topic: 'eye/blink'
+            args: {}
+        BTN_WEST: # Y
+          - topic: ''
+            args: {}
+        BTN_EAST: # B
+          - topic: ''
+            args: {}
+        ABS_RX:
+          - topic: 'servo:pan:mv'
+            args: {}
+            deadzone: 200
+            modifier:
+              scale: 1.0
+        ABS_RY:
+          - topic: 'servo:tilt:mv'
+            args: {}
+            modifier:
+              scale: 1.0
+        ABS_X:
+          - topic: 'eye/look'
+            args: {axis: 'x'}
+            modifier:
+              scale: 0.03
+        ABS_Y:
+          - topic: 'eye/look'
+            args: {axis: 'y'}
+            modifier:
+              scale: 0.03
+        ABS_Z: # Left trigger
+          - topic: ''
+            args: {}
+        ABS_RZ: # Right trigger
+          - topic: ''
+            args: {}
+      BTN_BL:
+        BTN_SOUTH:
+          - topic: 'tts'
+            msg: 'Left Shoulder Held'
+        ABS_X:
+          - topic: 'servo:leg_l_ankle:mv'
+            modifier:
+              scale: 1.0
+          - topic: 'servo:leg_r_ankle:mv'
+            modifier:
+              scale: -1.0
+          - topic: 'servo:leg_l_knee:mv'
+            modifier:
+              scale: 1.0
+          - topic: 'servo:leg_r_knee:mv'
+            modifier:
+              scale: -1.0
+          - topic: 'servo:leg_l_hip:mv'
+            modifier:
+              scale: 1.0
+          - topic: 'servo:leg_r_hip:mv'
+            modifier:
+              scale: -1.0

config/gpio_laser.yml

@@ -1,5 +1,5 @@
 motion:
-  enabled: true
+  enabled: false
   path: 'modules.gpio.laser.Laser'
   config:
     pin: 6

config/gpio_motion.yml

@@ -1,5 +1,5 @@
 gpio_motion:
-  enabled: true
+  enabled: false
   path: 'modules.gpio.motion.Motion'
   config:
     pin: 9

config/input_recorder.yml

@@ -0,0 +1,5 @@
+input_recorder:
+  enabled: false
+  path: modules.input_recorder.InputRecorder
+  config:
+    animations_dir: animations/recorded

config/piservo.yml

@@ -1,5 +1,5 @@
 piservo:
-  enabled: true
+  enabled: false
   path: modules.actuators.piservo.PiServo
   instances:
     - name: "ear"

config/pitemperature.yml

@@ -1,3 +1,3 @@
 pitemperature:
-  enabled: true
+  enabled: false
   path: modules.pitemperature.PiTemperature

config/servo_bus.yml

@@ -0,0 +1,70 @@
+servos:
+  enabled: false
+  path: "modules.actuators.bus_servo.servo.Servo" # Include class name here
+  instances:
+    - name: "leg_r_tilt"
+      model: 'ST3215'
+      id: 1
+      range: [978, 3343]
+      start: 3187
+      poses:
+        - stand: 1269
+        - sit: 2048
+        - centre: 2048
+    - name: "leg_r_hip"
+      model: 'ST3215'
+      id: 3
+      range: [763, 2843]
+      start: 1336
+      poses:
+        - stand: 824
+        - sit: 1269
+        - centre: 2048
+    - name: "leg_r_knee"
+      model: 'ST3215'
+      id: 2
+      range: [750, 3297]
+      start: 1345
+      poses:
+        - stand: 2111
+        - sit: 723
+        - centre: 2048
+    - name: "leg_r_ankle"
+      model: 'ST3215'
+      id: 6
+      range: [2459, 3872]
+      start: 2762
+      poses:
+        - stand: 3721
+        - sit: 3721
+        - centre: 2048
+    - name: "neck_pan"
+      model: 'SC09'
+      id: 4
+      range: [96, 716]
+      start: 511
+    - name: "neck_tilt"
+      model: 'SC09'
+      id: 5
+      range: [171, 955]
+      start: 511
+    - name: "leg_l_tilt"
+      model: 'ST3215'
+      id: 7
+      range: [812, 2076]
+      start: 1093
+    - name: "leg_l_hip"
+      model: 'ST3215'
+      id: 8
+      range: [1700, 3371]
+      start: 2688
+    - name: "leg_l_knee"
+      model: 'ST3215'
+      id: 9
+      range: [1725, 3404]
+      start: 2643
+    - name: "leg_l_ankle"
+      model: 'ST3215'
+      id: 10
+      range: [874, 2270]
+      start: 1566

config/servo_waveshare.yml

@@ -1,5 +1,5 @@
 tft_display:
-  enabled: true
+  enabled: false
   path: modules.display.tft_display_eye.TFTDisplayEye
   config:
     bus: 0 # Use `ls /dev/spi*` to identify. (/dev/spidev0.0) is bus 0, device 0
@@ -8,7 +8,7 @@ tft_display:
     dc_pin: 25
     bl_pin: 18 # Not used if no backlight pin on device
     rotation: -90.0
-    test_on_boot: true
+    test_on_boot: false
     colors:
       red: (255, 32, 32)
       blue: (0, 245, 255)

config/tft_display.yml

@@ -1,5 +1,5 @@
 vision_imx500:
-  enabled: true
+  enabled: false
   path: 'modules.vision.imx500.vision.Vision'
   config:
     preview: false