First commit of servo_motor_rotate() API

Author: JeongJun-Lee

neopia/neosoco.py

@@ -229,10 +229,29 @@ class Neosoco(Robot):
         '0': 0
     }
 
+    _SERVO_MOTOR_PERCENT_CVT = { 
+        '100': 100,
+        '90': 90,
+        '80': 80,
+        '70': 70,
+        '60': 60,
+        '50': 50,
+        '40': 40,
+        '30': 30,
+        '20': 20,
+        '10': 10,
+        '0': 0
+    }
+
     _MOTOR_DIR = { 
         'forward': 16,
         'backward': 32
     }
+
+    _SERVO_MOTOR_DIR = { 
+        'forward': 192,
+        'backward': 208
+    }
 
     _robots = {}
 
@@ -446,7 +465,14 @@ def motor_move(self, direction='forward'):
             raise TypeError
         Runner.wait(100) # Since broadcast from controller is per 100ms
 
-    def _convert_input_port_scale(self, port, limit_val):
+    def _convert_sacle_within_100(self, value, cvt_max_val):
+        # Map to 0~limited_val from 0~100(max), it's same as Entry
+        value = max(value, 0)
+        value = min(value, 100)
+        value = math.ceil(value / 100 * cvt_max_val)
+        return value
+
+    def _convert_scale_from_input_port(self, port, cvt_max_val):
         if port.lower() =='in1':
             value = self.read(Neosoco.INPUT_1)
         elif port.lower() =='in2':
@@ -457,16 +483,13 @@ def _convert_input_port_scale(self, port, limit_val):
             raise ValueError('Wrong value of port')
 
         if value:
-            value = max(value, 0)
-            value = min(value, 100)
-            value = math.ceil(value / 100 * limit_val)
-            return value
+            value = self._convert_sacle_within_100(value, cvt_max_val)
+        return value
 
     def motor_rotate(self, motor='both', direction='forward', speed='100'):
         if isinstance(motor, str) and isinstance(direction, str) and isinstance(speed, str):
             if speed == 'in1' or speed == 'in2' or speed == 'in3' :
-                # Map to 0~15 from 0~100(max), it's same as Entry
-                speed = self._convert_input_port_scale(speed, 15)
+                speed = self._convert_scale_from_input_port(speed, 15)
             elif speed in self._MOTOR_PERCENT_CVT.keys():
                 speed = self._MOTOR_PERCENT_CVT[speed]
             else:
@@ -499,6 +522,44 @@ def motor_rotate(self, motor='both', direction='forward', speed='100'):
         else:
             raise TypeError
 
+    def servo_motor_rotate(self, port='out1', direction='forward', speed='100'):
+        if isinstance(port, str) and isinstance(direction, str) and isinstance(speed, str):
+            if speed == 'in1' or speed == 'in2' or speed == 'in3' :
+                speed = self._convert_scale_from_input_port(speed, 10)
+            elif speed in self._SERVO_MOTOR_PERCENT_CVT.keys():
+                speed = self._SERVO_MOTOR_PERCENT_CVT[speed]
+                speed = self._convert_sacle_within_100(speed, 10)
+            else:
+                raise ValueError('Wrong value of speed')
+
+            if direction.lower() =='forward':
+                direction = self._SERVO_MOTOR_DIR['forward']
+            elif direction.lower() =='backward':
+                direction = self._SERVO_MOTOR_DIR['backward']
+            else:
+                raise ValueError('Wrong value of direction')
+
+            outValue = direction + speed
+            if outValue == direction:
+                outValue = 254
+            else:
+                outValue = outValue - 1
+            
+            if port.lower() == 'out1':
+                self.write(Neosoco.OUTPUT_1, outValue)
+            elif port.lower() == 'out2':
+                self.write(Neosoco.OUTPUT_2, outValue)
+            elif port.lower() == 'out3':
+                self.write(Neosoco.OUTPUT_3, outValue)
+            elif port.lower() == 'all':
+                self.write(Neosoco.OUTPUT_1, outValue)
+                self.write(Neosoco.OUTPUT_2, outValue)
+                self.write(Neosoco.OUTPUT_3, outValue)
+            else:
+                raise ValueError('Wrong value of out port')
+        else:
+            raise TypeError
+
     def buzzer(self, pitch='3', note='c', beats='4'):
         self.write(Neosoco.NOTE, 0) # init
         if not isinstance(pitch, str) or not (int(pitch) >= 1 and int(pitch) <= 6):
@@ -535,7 +596,7 @@ def buzzer(self, pitch='3', note='c', beats='4'):
     def buzzer_by_port(self, port='in1'):
         if isinstance(port, str):
             # Map to 0~65 from 0~100(max), it's same as Entry
-            value = self._convert_input_port_scale(port, 65)
+            value = self._convert_scale_from_input_port(port, 65)
             self.write(Neosoco.NOTE, value)
         else:
             raise TypeError

test.py

@@ -20,14 +20,14 @@
 #     n.led_off('out1')
 
 ## Motors
-# case4-1) Move forth and back during 1s and stop
+# case4) Move forth and back during 1s and stop
 # n.motor_move('forward')
 # wait(500)
 # n.motor_move('backward')
 # wait(500)
 # n.motor_move('stop')
 
-# case4-2) Moving control by direction keys on the keyboard
+# case5) Moving control by direction keys on the keyboard
 # while True:
 #   key = Keyboard.read()
 
@@ -42,15 +42,15 @@
 #   elif key == ' ':
 #     n.motor_move('stop')
 
-# case5) Move forth and back with speed 30% during 1s and stop
+# case6) Move forth and back with speed 30% during 1s and stop
 # n.motor_rotate('both', 'forward', '30')
 # wait(500)
 # n.motor_rotate('both', 'backward', '30')
 # wait(500)
 # n.motor_move('stop')
 
 ## Buzzer
-# case6) Play same note by pitch, sharp and flat, and a length of note
+# case7) Play same note by pitch, sharp and flat, and a length of note
 # n.buzzer('3', n.NOTE_NAME_C)
 # n.buzzer('3', 'c')
 
@@ -60,19 +60,30 @@
 # n.buzzer('5', n.NOTE_NAME_D_FLAT, '16')
 # n.buzzer('5', 'db', '16')
 
-# case7) Play a sound by value from input port
+# case8) Play a sound by value from input port
 # while True:
 #   n.buzzer_by_port('in1')
 
 ## Color LED, distance sensor
-# case8) Color LED on with variable color by input port
+# case9) Color LED on with variable color by input port
 # r = g = b = n.convert_scale('in1', 0, 255, 85, 170) # Limit to middle brightness
 # color_led_on('out1', r, g, b)
 
 ## LED, Angle sensor
-# case9) # Turn on LED when a degree of the angle sensor is under 90 degrees
-while True:
-  if n.get_angle('in1') < 90:
-    n.led_on('out1', '100')
-  else:
-    n.led_off('out1')
+# case10) # Turn on LED when a degree of the angle sensor is under 90 degrees
+# while True:
+#   if n.get_angle('in1') < 90:
+#     n.led_on('out1', '100')
+#   else:
+#     n.led_off('out1')
+
+# Servo Motor
+# case 11) Rotate servo motor forth and back with speed 50% during 5s and stop
+n.servo_motor_rotate('out2', 'forward', '50')
+wait(2000)
+n.servo_motor_rotate('out2', 'forward', '0')
+wait(1000)
+n.servo_motor_rotate('out2', 'backward', '50')
+wait(2000)
+n.servo_motor_rotate('out2', 'forward', '0')
+wait(1000)