207 lines
6.9 KiB
Python
207 lines
6.9 KiB
Python
# motion_servo.py (MicroPython for RP2040)
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from machine import Pin, PWM, UART
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import time, random
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import urandom
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from servoclass import Servo
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import sys, select, uselect
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import math
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import animation
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import coms
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from animation import servos
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mode = Pin(20, Pin.IN, Pin.PULL_UP)
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LED = Pin(25, Pin.OUT)
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yaw_target = 100
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yaw_countdown = yaw_target
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LED_oscillator = 25
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LED_countdown = LED_oscillator
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blink_time = 500
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blinking = False
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speaking_flag = False
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speaking_timer = 0
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bool_a = False
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last_toggle_a= time.ticks_ms()
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external = coms.Comms()
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# track direction for each servo (1 = going to max, -1 = going to min)
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directions = {name: 1 for name in servos.keys()}
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last_time = time.ticks_ms()
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last_switch = last_time
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# animation.servos["YAW"].set_target(90)
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on_time = time.ticks_ms()
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startup_sleep = True
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def facetrack():
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global yaw_countdown, yaw_target
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# ALWAYS read the sensor to prevent serial buffer overflows!
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offset = external.grove_read()
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# 更新 Grove 活跃状态：有数据则标记活跃，超过 3 秒无数据则标记不活跃
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now = time.ticks_ms()
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if offset:
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animation.grove_active = True
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animation.grove_last_seen = now
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elif animation.grove_active and time.ticks_diff(now, animation.grove_last_seen) > 3000:
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animation.grove_active = False
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# Only move the servos if the robot is awake
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if animation.current_state != "idle":
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eyl = animation.servos["EYL"]
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eyr = animation.servos["EYR"]
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pit = animation.servos["PIT"]
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yaw = animation.servos["YAW"]
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if offset:
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dead = external.deadzone
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static = external.staticflag
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x0, y0 = offset
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x_scale = external.x_adj_factor / 110
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y_scale = external.y_adj_factor / 110
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if not static:
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if abs(x0) > dead:
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x = eyl.target + x0 * x_scale
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eyl.set_target(x)
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eyr.set_target(x)
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if abs(y0) > dead:
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y = pit.target + y0 * y_scale
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pit.set_target(y)
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if abs(90 - eyl.target) >= 20:
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yaw_countdown -= 1
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if yaw_countdown <= 0:
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yaw.set_target(90 + ((eyl.target-90)/2))
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yaw_countdown = yaw_target
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# --- STAGGERED STARTUP SEQUENCE ---
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time.sleep(0.5) # Allow board power to stabilize after boot
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# Determine the correct initial pose based on the calibration pin
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is_calibrating = (mode.value() == 1)
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initial_pose_dict = animation.pose_calibrate if is_calibrating else animation.pose_sleep
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print("Initiating staggered servo wakeup...")
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for name, servo_obj in animation.servos.items():
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# Fetch the target angle for this specific pose (default to 90 if missing)
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start_angle = initial_pose_dict.get(name, 90)
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# Pre-set the internal tracking positions so the servo math doesn't think it's moving from 90
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servo_obj.pos = start_angle
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servo_obj.target = start_angle
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# Send the first pulse. If physically elsewhere, it will snap, but ALONE.
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servo_obj._write_pwm(start_angle)
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# Stagger the wakeups. Fast if calibrating, slow and gentle if sleeping.
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delay_ms = 50 if is_calibrating else 250
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time.sleep_ms(delay_ms)
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# Set initial states to match the startup logic
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animation.current_state = "state_calibrate" if is_calibrating else "idle"
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animation.previous_state = animation.current_state
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print("Startup complete.")
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# ----------------------------------
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# external.grove_invoke()
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FTDebug = False # setting to True isolates the face tracking code
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while True:
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# Update time
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now = time.ticks_ms()
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dt = time.ticks_diff(now, last_time) / 1000.0
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last_time = now
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if FTDebug == False:
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# Grab all pending commands from the ESP
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incoming_commands = external.esp_read()
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for data in incoming_commands:
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if data in animation.state_map:
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animation.new_state_flag = True
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animation.current_state = data
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# 2. Check if the state changed this frame
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if animation.current_state != animation.previous_state:
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if animation.current_state == "speaking":
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speaking_flag = True
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elif animation.current_state in ["neutral", "idle", "listening"]:
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if speaking_flag:
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speaking_flag = False
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# Snap the mouth closed when speech ends!
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animation.servos["MOU"].set_target(130)
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# 3. Speaking timer / animation
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if speaking_flag:
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# Set the mouth position based on the current toggle state
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if bool_a == False:
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animation.servos["MOU"].set_target(130)
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elif bool_a == True:
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animation.servos["MOU"].set_target(70)
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# Flip the boolean every 250ms to flap the mouth
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if time.ticks_diff(now, last_toggle_a) >= 250:
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bool_a = not bool_a # flip the boolean
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last_toggle_a = now
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# Blink mode enabler
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if not blinking and random.randrange(500) == 0:
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blinking = True
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blink_counter = blink_time
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# Calibration mode
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if (mode.value() == 1):
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animation.current_state = "state_calibrate"
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animation.apply_state("state_calibrate") # change this back to calibrate to keep calibration mode/base for testing
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LED_countdown -= 1
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if LED_countdown <= 0:
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LED.toggle()
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LED_countdown = LED_oscillator
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else:
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if animation.current_state == "idle":
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animation.apply_state("idle")
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animation.servos["LID"]._write_pwm(30)
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else:
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if animation.previous_state == "idle":
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animation.servos["LID"]._write_pwm(110)
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animation.servos["PIT"].set_target(10)
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# Blink mode
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if blinking and animation.current_state != "idle":
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if blink_counter > blink_time - 50:
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# closed
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animation.servos["LID"]._write_pwm(30)
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elif blink_counter > 0:
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# reopen
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animation.servos["LID"]._write_pwm(110)
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blink_counter -= 1
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if blink_counter == 0:
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blinking = False
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# Update with whatever state the ESP says
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animation.apply_state(animation.current_state)
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animation.previous_state = animation.current_state
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else:
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animation.servos["LID"]._write_pwm(110)
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animation.current_state = "neutral"
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facetrack()
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# Update all servos except eyelids
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for name, s in servos.items():
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if name == "LID":
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continue
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s.update(dt)
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