Easyservo V1.0.1

Here is the stable version of Easyservo.
Some improvements:
- Fine movements
- AutoHoming function
- Axis inversion
- Minor fixes

EasyServo/__init__.py

@@ -1,5 +1,6 @@
 # coding=utf-8
 from __future__ import absolute_import
+import time
 
 import octoprint.plugin
 import pigpio
@@ -11,15 +12,19 @@ class EasyservoPlugin(octoprint.plugin.SettingsPlugin,
                       octoprint.plugin.ShutdownPlugin):
 
 	def __init__(self):
-		self.current_angle_x = 90
-		self.current_angle_y = 90
 		self.pi = None
 
 	##~~ SettingsPlugin mixin
 	def get_settings_defaults(self):
 		return dict(
-			GPIOX="12",
-			GPIOY="13"
+			GPIOX=12,
+			GPIOY=13,
+			xAutoAngle=90,
+			yAutoAngle=90,
+			xInvert=False,
+			yInvert=False,
+			saved_angle_x=90,
+			saved_angle_y=90
 		)
 
 	def on_settings_save(self, data):
@@ -32,17 +37,15 @@ def on_settings_save(self, data):
 		newGPIOY = self._settings.get_int(["GPIOY"])
 
 		if oldGPIOX != newGPIOX:
-			self._logger.info("GPIO x changed, initilizing.")
-			self.current_angle_x = 90
+			self._logger.info("GPIO x changed, initializing.")
 			self.pi.set_servo_pulsewidth(newGPIOX, 0)
-			self._logger.info("moving GPIO %d to %d degrees" % (newGPIOX,self.current_angle_x))
-			self.pi.set_servo_pulsewidth(newGPIOX, self.angle_to_width(self.current_angle_x, "X"))
+			self._logger.info("moving GPIO %d to %d degrees" % (newGPIOX, self.current_angle_x))
+			self.current_angle_x = self.move_servo_by(GPIOX, self.current_angle_x)
 		if oldGPIOY != newGPIOY:
-			self._logger.info("GPIO y changed, initilizing.")
-			self.current_angle_y = 90
+			self._logger.info("GPIO y changed, initiliazing.")
 			self.pi.set_servo_pulsewidth(newGPIOY, 0)
-			self._logger.info("moving GPIO %d to %d degrees" % (newGPIOY,self.current_angle_y))
-			self.pi.set_servo_pulsewidth(newGPIOY, self.angle_to_width(self.current_angle_y, "Y"))
+			self._logger.info("moving GPIO %d to %d degrees" % (newGPIOY, self.current_angle_y))
+			self.current_angle_y = self.move_servo_by(GPIOY, self.current_angle_y)
 
 
 	##~~ AssetPlugin mixin
@@ -67,14 +70,35 @@ def on_after_startup(self):
 
 		GPIOX = self._settings.get_int(["GPIOX"])
 		GPIOY = self._settings.get_int(["GPIOY"])
+		xAutoAngle = self._settings.get_int(["xAutoAngle"])
+		yAutoAngle = self._settings.get_int(["yAutoAngle"])
+		saved_angle_x = xAutoAngle
+		saved_angle_y = yAutoAngle
+		#self._logger.info("xAutoAngle {} yAutoAngle {}.".format(xAutoAngle, yAutoAngle))
+
+
 		# initialize x axis
+		saved_angle_x = self._settings.get_int(["saved_angle_x"])
 		self.pi.set_servo_pulsewidth(GPIOX, 0)
-		self._logger.info("moving GPIO %d to %d degrees" % (GPIOX,self.current_angle_x))
-		self.pi.set_servo_pulsewidth(GPIOX, self.angle_to_width(self.current_angle_x, "X"))
+		if self._settings.get_boolean(["xInvert"])==True:
+			self._settings.set(["xInvert"], False)
+			self._settings.save()
+			self.current_angle_x = self.move_servo_to_ang(GPIOX, saved_angle_x, xAutoAngle)
+			self._settings.set(["xInvert"], True)
+			self._settings.save()
+		else:
+			self.current_angle_x = self.move_servo_to_ang(GPIOX, saved_angle_x, xAutoAngle)
 		# initialize y axis
+		saved_angle_y = self._settings.get_int(["saved_angle_y"])
 		self.pi.set_servo_pulsewidth(GPIOY, 0)
-		self._logger.info("moving GPIO %d to %d degrees" % (GPIOY,self.current_angle_y))
-		self.pi.set_servo_pulsewidth(GPIOY, self.angle_to_width(self.current_angle_y, "X"))
+		if self._settings.get_boolean(["yInvert"])==True:
+			self._settings.set(["yInvert"], False)
+			self._settings.save()
+			self.current_angle_y = self.move_servo_to_ang(GPIOY, saved_angle_y, yAutoAngle)
+			self._settings.set(["yInvert"], True)
+			self._settings.save()
+		else:
+			self.current_angle_y = self.move_servo_to_ang(GPIOY, saved_angle_y, yAutoAngle)
 
 
 	##~~ ShutdownPlugin mixin
@@ -116,41 +140,84 @@ def get_update_information(self):
 
 	##~~ Utility functions
 
-	def angle_to_width (self, ang, axis): #Easier conversion for the angle
+	def angle_to_width(self, ang): #Easier conversion for the angle
 		if ang > 180:
-			if axis == "X":
-				self.current_angle_x = 180
-			if axis == "Y":
-				self.current_angle_y = 180
 			ang = 180
 		elif ang < 0:
-			if axis == "X":
-				self.current_angle_x = 0
-			if axis == "Y":
-				self.current_angle_y = 0
 			ang = 0
 
 		ratio = (2500 - 500)/180 #Calcul ratio from angle to percent
 
 		angle_as_width = ang * ratio
 		return int(500 + angle_as_width)
 
+	def width_to_angle(self, width):
+		ratio = (180.0)/(2500.0-500.0)
+
+		width_as_angle = float(width) * ratio
+		return float(width_as_angle - 45.0)
+
+	def move_servo_to_ang(self, pin, start_angle, destination_angle):
+		angle_difference = destination_angle - start_angle
+		move_results = self.move_servo_by(pin, angle_difference)
+		return move_results
+
+	def move_servo_by(self, pin, angle_difference):
+		if angle_difference < 0:
+			direction = -1
+		else:
+			direction = 1
+
+		if self._settings.get_int(["GPIOX"]) == int(pin):
+			angle_start = self._settings.get_int(["saved_angle_x"])
+			width_start = self.pi.get_servo_pulsewidth(int(pin))
+		if self._settings.get_int(["GPIOY"]) == int(pin):
+			angle_start = self._settings.get_int(["saved_angle_y"])
+			width_start = self.pi.get_servo_pulsewidth(int(pin))
+
+		angle_end = angle_start + angle_difference
+		width_end = self.angle_to_width(angle_end)
+		angle_current = angle_start
+		width_current = width_start
+		if self._settings.get_boolean(["xInvert"])==True and self._settings.get_int(["GPIOX"]) == int(pin):
+			direction = direction*-1
+			angle_end = -angle_end
+			angle_start = -angle_start
+		if self._settings.get_boolean(["yInvert"])==True and self._settings.get_int(["GPIOY"]) == int(pin):
+			direction = direction*-1
+			angle_end = -angle_end
+			angle_start = -angle_start
+		#self._logger.info("pin {} angle_start {} angle_end {} direction {} angle_difference {} width_start {} width_end {}.".format(pin, angle_start, angle_end, direction, angle_difference, width_start, width_end))
+		if width_start != width_end:
+			for x in range(0, int(((angle_end - angle_start) * direction) * 10)):
+				angle_current = angle_current + (0.1 * direction)
+				width_current = self.angle_to_width(angle_current)
+				self.pi.set_servo_pulsewidth(int(pin), width_current)
+				#self._logger.info("Moved GPIO {} to width: {} angle: {}.".format(pin, width_current, angle_current))
+				time.sleep(0.01)
+				if width_current > 2478 or width_current < 501: #Noticed that the angle was 180.0° for 2479us and 500 was giving strange values .......
+					break
+			if self._settings.get_int(["GPIOX"]) == int(pin):
+				self._settings.set(["saved_angle_x"], round((angle_current), 1))
+			if self._settings.get_int(["GPIOY"]) == int(pin):
+				self._settings.set(["saved_angle_y"], round((angle_current), 1))
+			self._settings.save()
+		return angle_current
+
 	##~~ atcommand hook
 
 	def processAtCommand(self, comm_instance, phase, command, parameters, tags=None, *args, **kwargs):
 		if command == 'EASYSERVO':
 			#get GPIO and angle from parameters
-			GPIO,ang = parameters.split(' ')
+			GPIO,ang= parameters.split(' ')
 			if int(GPIO) == self._settings.get_int(["GPIOX"]):
-				self._logger.info("moving GPIO %d to %d degrees" % (int(GPIO),self.current_angle_x))
-				self.current_angle_x = self.current_angle_x + int(ang)
-				self.pi.set_servo_pulsewidth(int(GPIO), self.angle_to_width(self.current_angle_x, "X"))
+				self.current_angle_x = self.move_servo_by(int(GPIO), int(ang))
 			elif int(GPIO) == self._settings.get_int(["GPIOY"]):
-				self._logger.info("moving GPIO %d to %d degrees" % (int(GPIO),self.current_angle_y))
-				self.current_angle_y = self.current_angle_y + int(ang)
-				self.pi.set_servo_pulsewidth(int(GPIO), self.angle_to_width(self.current_angle_y, "Y"))
+				self.current_angle_y = self.move_servo_by(int(GPIO), int(ang))
 			else:
 				self._logger.info("unknown GPIO %d" % int(GPIO))
+		if command == 'EASYSERVOAUTOHOME':
+			self.on_after_startup()
 
 
 __plugin_name__ = "Easy Servo"

EasyServo/static/js/EasyServo.js

@@ -20,13 +20,15 @@ $(function() {
 			self.controlViewModel.left = ko.observable('@EASYSERVO ' + self.settingsViewModel.settings.plugins.EasyServo.GPIOX() + ' 10');
 			self.controlViewModel.up = ko.observable('@EASYSERVO ' + self.settingsViewModel.settings.plugins.EasyServo.GPIOY() + ' -10');
 			self.controlViewModel.down = ko.observable('@EASYSERVO ' + self.settingsViewModel.settings.plugins.EasyServo.GPIOY() + ' 10');
+			self.controlViewModel.autoHome = ko.observable('@EASYSERVOAUTOHOME ');
 		}
 
 		self.onEventSettingsUpdated = function (payload) {            
 			self.controlViewModel.right('@EASYSERVO ' + self.settingsViewModel.settings.plugins.EasyServo.GPIOX() + ' -10');
 			self.controlViewModel.left('@EASYSERVO ' + self.settingsViewModel.settings.plugins.EasyServo.GPIOX() + ' 10');
 			self.controlViewModel.up('@EASYSERVO ' + self.settingsViewModel.settings.plugins.EasyServo.GPIOY() + ' -10');
 			self.controlViewModel.down('@EASYSERVO ' + self.settingsViewModel.settings.plugins.EasyServo.GPIOY() + ' 10');
+			self.controlViewModel.autoHome('@EASYSERVOAUTOHOME ');
 		};
 	}
 

EasyServo/templates/EasyServo.jinja2

@@ -5,7 +5,7 @@
 	</div>
 	<div>
 		<button id="control-xdec-servo" class="btn box pull-left" data-bind="enable: isOperational(), click: function() { OctoPrint.control.sendGcode(left()); }"><i class="fa fa-arrow-left"></i></button>
-		<button id="control-xyhome-servo" class="btn box pull-left disabled" disabled><i class="fa fa-arrows"></i></button>
+		<button id="control-xyhome-servo" class="btn box pull-left" data-bind="enable: isOperational(), click: function() { OctoPrint.control.sendGcode(autoHome());}"><i class="fa fa-home"></i></button>
 		<button id="control-xinc-servo" class="btn box pull-left" data-bind="enable: isOperational(), click: function() { OctoPrint.control.sendGcode(right()); }"><i class="fa fa-arrow-right"></i></button>
 	</div>
 	<div>

EasyServo/templates/EasyServo_settings.jinja2

@@ -1,4 +1,5 @@
 <h4>Easy Servo Settings<div class="label label-info pull-right"><small style="color:white;">Please make sure that all prerequsites are met as descibed <a style="color:white;" href="https://github.com/jneilliii/OctoPrint-EasyServo#pre-installation-requirements">here</a>.</small></div></h4>
+
 <form class="form" id="settings_plugin_EasyServo_form">
 	<div class="control-group">
 		<label class="control-label">{{ _('X Axis GPIO Number') }}</label>
@@ -12,4 +13,28 @@
 			<input type="number" class="input-mini" data-bind="value: settings.plugins.EasyServo.GPIOY">
 		</div>
 	</div>
+	<div class="control-group">
+		<label class="control-label">{{ _('X AutoHome Angle') }}</label>
+		<div class="controls">
+			<input type="number" class="input-mini" data-bind="value: settings.plugins.EasyServo.xAutoAngle">
+		</div>
+	</div>
+	<div class="control-group">
+		<label class="control-label">{{ _('Y AutoHome Angle') }}</label>
+		<div class="controls">
+			<input type="number" class="input-mini" data-bind="value: settings.plugins.EasyServo.yAutoAngle">
+		</div>
+	</div>
+	<div class="control-group">
+		<label class="control-label">{{ _('X Axis Inversion') }}</label>
+		<div class="control">
+			<input type="checkbox" class="input-block-level" data-bind="checked: settings.plugins.EasyServo.xInvert">
+		</div>
+	</div>
+	<div class="control-group">
+		<label class="control-label">{{ _('Y Axis Inversion') }}</label>
+		<div class="control">
+			<input type="checkbox" class="input-block-level" data-bind="checked: settings.plugins.EasyServo.yInvert">
+		</div>
+	</div>
 </form>

setup.py

@@ -14,11 +14,11 @@
 plugin_name = "Easy Servo"
 
 # The plugin's version. Can be overwritten within OctoPrint's internal data via __plugin_version__ in the plugin module
-plugin_version = "0.1.0"
+plugin_version = "0.1.1"
 
 # The plugin's description. Can be overwritten within OctoPrint's internal data via __plugin_description__ in the plugin
 # module
-plugin_description = "Petit plugin pour controler des servo moteurs"
+plugin_description = "Here is a small plugin so you can control some Servo motors using the octoprint interface"
 
 # The plugin's author. Can be overwritten within OctoPrint's internal data via __plugin_author__ in the plugin module
 plugin_author = "iFrostizz"