Rebuilt the extender for more range

Kind of -- running into binding issues due to weight distribution.
EAGrahamJr · Nov 12, 2023 · 3872bfa · 3872bfa
1 parent e5417a0
commit 3872bfa
Show file tree

Hide file tree

Showing 6 changed files with 46 additions and 67 deletions.
diff --git a/armthing/src/main/kotlin/crackers/kobots/app/Thingie.kt b/armthing/src/main/kotlin/crackers/kobots/app/Thingie.kt
@@ -16,6 +16,7 @@
 
 package crackers.kobots.app
 
+import crackers.kobots.app.AppCommon.REMOTE_PI
 import crackers.kobots.app.AppCommon.executor
 import crackers.kobots.app.arm.ArmMonitor
 import crackers.kobots.app.arm.ManualController
@@ -39,8 +40,6 @@ var manualMode: Boolean
 
 private val logger = LoggerFactory.getLogger("BRAINZ")
 
-const val REMOTE_PI = "diozero.remote.hostname"
-
 /**
  * Run this.
  */
@@ -60,9 +59,6 @@ fun main(args: Array<String>? = null) {
         DieAufseherin.start()
         RosetteStatus.start()
 
-        // start alive-check
-        AppCommon.mqttClient.startAliveCheck()
-
         AppCommon.awaitTermination()
         logger.warn("Exiting")
         // always "home" the Arm

diff --git a/armthing/src/main/kotlin/crackers/kobots/app/arm/TheArm.kt b/armthing/src/main/kotlin/crackers/kobots/app/arm/TheArm.kt
@@ -16,13 +16,13 @@
 
 package crackers.kobots.app.arm
 
-import com.diozero.api.ServoTrim
 import crackers.kobots.app.AppCommon
 import crackers.kobots.app.AppCommon.SLEEP_TOPIC
 import crackers.kobots.app.AppCommon.runFlag
 import crackers.kobots.app.crickitHat
 import crackers.kobots.app.execution.armSleep
 import crackers.kobots.app.execution.homeSequence
+import crackers.kobots.devices.MG90S_TRIM
 import crackers.kobots.devices.at
 import crackers.kobots.parts.app.KobotsAction
 import crackers.kobots.parts.app.KobotsSubscriber
@@ -68,7 +68,7 @@ object TheArm : SequenceExecutor("TheArm", AppCommon.mqttClient) {
         val _OPEN = 0f
         val _CLOSE = 65f
 
-        val servo = crickitHat.servo(3, ServoTrim.TOWERPRO_SG90).apply {
+        val servo = crickitHat.servo(3, MG90S_TRIM).apply {
             this at _CLOSE
         }
 
@@ -77,16 +77,16 @@ object TheArm : SequenceExecutor("TheArm", AppCommon.mqttClient) {
     }
 
     val extender by lazy {
-        val _IN = 180f
-        val _OUT = 0f
-        val servo = crickitHat.servo(1, ServoTrim.TOWERPRO_SG90).apply {
+        val _IN = 0f
+        val _OUT = 90f
+        val servo = crickitHat.servo(1, MG90S_TRIM).apply {
             this at _IN
         }
         ServoLinearActuator(servo, _IN, _OUT)
     }
 
     val elbow by lazy {
-        val servo2 = crickitHat.servo(2, ServoTrim.TOWERPRO_SG90).apply {
+        val servo2 = crickitHat.servo(2, MG90S_TRIM).apply {
             this at 0
         }
         val physicalRange = IntRange(ELBOW_DOWN, ELBOW_UP)
@@ -95,13 +95,10 @@ object TheArm : SequenceExecutor("TheArm", AppCommon.mqttClient) {
     }
 
     val waist by lazy {
-        val _HOME = 0
-        val _MAX = 180
-
-        val servoRange = IntRange(_HOME, _MAX)
-        val physicalRange = IntRange(0, 140) // MG90S servo trim
-        val servo = crickitHat.servo(4, ServoTrim(1500, 1100)).apply {
-            this at _HOME
+        val servoRange = IntRange(0, 180)
+        val physicalRange = IntRange(0, 140)
+        val servo = crickitHat.servo(4, MG90S_TRIM).apply {
+            this at 0
         }
         ServoRotator(servo, physicalRange, servoRange)
     }

diff --git a/armthing/src/main/kotlin/crackers/kobots/app/enviro/DieAufseherin.kt b/armthing/src/main/kotlin/crackers/kobots/app/enviro/DieAufseherin.kt
@@ -24,7 +24,6 @@ import crackers.kobots.app.execution.PickUpAndMoveStuff.moveEyeDropsToDropZone
 import crackers.kobots.app.execution.excuseMe
 import crackers.kobots.app.execution.homeSequence
 import crackers.kobots.app.execution.sayHi
-import crackers.kobots.devices.sensors.VCNL4040
 import crackers.kobots.mqtt.KobotsMQTT.Companion.KOBOTS_EVENTS
 import crackers.kobots.parts.app.publishToTopic
 import crackers.kobots.parts.enumValue
@@ -57,33 +56,8 @@ object DieAufseherin {
 //        AppCommon.executor.scheduleAtFixedRate(5.seconds, 100.milliseconds, ::youHaveOneJob)
     }
 
-    const val CLOSE_ENOUGH = 15 // this is **approximately**  25mm
-    const val PROXIMITY_TOPIC = "Prox.TooClose"
-
-    private val sensor by lazy {
-        VCNL4040().apply {
-            proximityEnabled = true
-            ambientLightEnabled = true
-        }
-    }
-    private var wasTriggered = false
-    private fun youHaveOneJob() {
-        try {
-            val prox = sensor.proximity
-            wasTriggered = if (prox > CLOSE_ENOUGH) {
-                if (!wasTriggered) {
-                    logger.info("Proximity sensor triggered: $prox")
-//                    publishToTopic(PROXIMITY_TOPIC, prox)
-                }
-                true
-            } else false
-
-        } catch (e: Exception) {
-            logger.error("Proximity sensor error: ${e.message}")
-        }
-    }
-
     private fun mqttStuff() = with(AppCommon.mqttClient) {
+        startAliveCheck()
         allowEmergencyStop()
 
         subscribeJSON("homebody/bedroom/casey") { payload ->

diff --git a/armthing/src/main/kotlin/crackers/kobots/app/enviro/Segmenter.kt b/armthing/src/main/kotlin/crackers/kobots/app/enviro/Segmenter.kt
@@ -19,7 +19,12 @@ package crackers.kobots.app.enviro
 import crackers.kobots.app.AppCommon
 import crackers.kobots.app.AppCommon.SLEEP_TOPIC
 import crackers.kobots.app.AppCommon.whileRunning
-import crackers.kobots.app.execution.*
+import crackers.kobots.app.execution.MoveStuffAround.Companion.ROTO_PICKUP
+import crackers.kobots.app.execution.MoveStuffAround.Companion.ROTO_RETURN
+import crackers.kobots.app.execution.armSleep
+import crackers.kobots.app.execution.excuseMe
+import crackers.kobots.app.execution.homeSequence
+import crackers.kobots.app.execution.sayHi
 import crackers.kobots.devices.display.HT16K33
 import crackers.kobots.devices.display.QwiicAlphanumericDisplay
 import crackers.kobots.parts.app.KobotSleep

diff --git a/...obots/app/execution/PickUpAndMoveStuff.kt → ...s/kobots/app/execution/MoveStuffAround.kt b/...obots/app/execution/PickUpAndMoveStuff.kt → ...s/kobots/app/execution/MoveStuffAround.kt
@@ -25,27 +25,8 @@ import crackers.kobots.app.arm.TheArm.waist
 import crackers.kobots.parts.movement.sequence
 
 /**
- * Picks up stuff from the places and returns it.
+ * Defines how to pick something up from a place and put it somewhere else, with the reverse also available.
  */
-object PickUpAndMoveStuff {
-    private val dropMover = MoveStuffAround(
-        closeOnItem = 93,
-        extenderToPickupTarget = 85,
-        elbowForPickupTarget = 15,
-        dropOffElbow = 10,
-        dropOffExtender = 15
-    )
-    val moveEyeDropsToDropZone = dropMover.moveObjectToTarget()
-    val returnDropsToStorage = dropMover.pickupAndReturn()
-}
-
-/**
- * Magic things for transporting stuff.
- */
-const val MAGIC_EXTENDER = 15
-const val ROTO_PICKUP = "LocationPickup"
-const val ROTO_RETURN = "ReturnPickup"
-
 class MoveStuffAround(
     val closeOnItem: Int = 90, // how much to close the gripper to grab the item - this stresses the technic a bit
 
@@ -130,4 +111,10 @@ class MoveStuffAround(
         }
         this += returnToPickupLocation
     }
+
+    companion object {
+        const val MAGIC_EXTENDER = 15
+        const val ROTO_PICKUP = "LocationPickup"
+        const val ROTO_RETURN = "ReturnPickup"
+    }
 }
diff --git a/armthing/src/main/kotlin/crackers/kobots/app/execution/QuickRun.kt b/armthing/src/main/kotlin/crackers/kobots/app/execution/QuickRun.kt
@@ -32,8 +32,19 @@ import crackers.kobots.parts.movement.ActionSpeed
 import crackers.kobots.parts.movement.sequence
 
 /**
- * Home the arm.
+ * Picks up stuff from the places and returns it.
  */
+object PickUpAndMoveStuff {
+    val dropMover = MoveStuffAround(
+        closeOnItem = 93,
+        extenderToPickupTarget = 80,
+        elbowForPickupTarget = 10,
+        dropOffElbow = 0,
+        dropOffExtender = 15
+    )
+    val moveEyeDropsToDropZone = dropMover.moveObjectToTarget()
+    val returnDropsToStorage = dropMover.pickupAndReturn()
+}
 
 /**
  * Wave hello kinda.
@@ -61,6 +72,9 @@ val sayHi by lazy {
     }
 }
 
+/**
+ * Get attention
+ */
 val excuseMe by lazy {
     sequence {
         name = "Excuse Me"
@@ -83,6 +97,9 @@ val excuseMe by lazy {
     }
 }
 
+/**
+ * Kinda sorta sleepy
+ */
 val armSleep by lazy {
     sequence {
         name = "Go To Sleep"
@@ -99,6 +116,9 @@ val armSleep by lazy {
     }
 }
 
+/**
+ * Send it home
+ */
 val homeSequence by lazy {
     sequence {
         name = "Home"