fixed and tested arm blocks

Author: explosivose

camera.py

@@ -332,6 +332,6 @@ def find_color(self, s_color):
     return [dist, angle]
 
   def sleep(self, elapse):
-    logging.debug("sleep: " + elapse)
+    logging.debug("sleep: " + str(elapse))
     time.sleep(elapse)
 

coderbot.py

@@ -8,11 +8,11 @@
 PIN_RIGHT_FORWARD = 4
 PIN_RIGHT_BACKWARD = 17 # NOT USED FOR SERVOS
 PIN_PUSHBUTTON = 18
-PIN_SERVO_3 = 9
+PIN_SERVO_3 = 9 # ARM PIN
 PIN_SERVO_4 = 10
 
-PWM_FREQUENCY = 500 #Hz
-PWM_RANGE = 100 #0-100
+PWM_FREQUENCY = 50 #Hz
+PWM_RANGE = 2000 #100-200 duty cycle operating range for servos
 
 def coderbot_callback(gpio, level, tick):
   return CoderBot.get_instance().callback(gpio, level, tick)
@@ -112,15 +112,20 @@ def _servo_motor(self, speed_left=100, speed_right=100, elapse=-1):
 
   def _servo_motor_control(self, pin, speed):
     self._is_moving = True
-    #speed = ((speed + 100) * 50 / 200) + 52
-    speed = 50 + speed/2
+
+    # transform speed value from -100 to +100 range
+    # to servo duty cycle range: 100 to 200
+    speed = 150 + speed/2
     print "duty cycle: ", speed
     self.pi.set_PWM_range(pin, PWM_RANGE)
     self.pi.set_PWM_frequency(pin, PWM_FREQUENCY)
     self.pi.set_PWM_dutycycle(pin, speed)
 
   def _servo_control(self, pin, angle):
-    duty = ((angle + 90) * 100 / 180) + 25
+
+    # assuming angle range is 0 to 120
+    # transform from angle range to servo duty cycle range (100 to 200)
+    duty = angle + 90 # (90-210)
     self.pi.set_PWM_range(pin, PWM_RANGE)
     self.pi.set_PWM_frequency(pin, PWM_FREQUENCY)
     self.pi.set_PWM_dutycycle(pin, duty)

data/program_arm_test.data

@@ -0,0 +1 @@
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_repeat_ext\" id=\"97\" inline=\"true\" x=\"75\" y=\"76\"><value name=\"TIMES\"><block type=\"math_number\" id=\"98\"><field name=\"NUM\">4</field></block></value><statement name=\"DO\"><block type=\"coderbot_armRaise\" id=\"3\"><next><block type=\"coderbot_sleep\" id=\"22\" inline=\"false\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"23\"><field name=\"NUM\">1.0</field></block></value><next><block type=\"coderbot_armLower\" id=\"44\"><next><block type=\"coderbot_sleep\" id=\"66\" inline=\"false\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"67\"><field name=\"NUM\">1.0</field></block></value></block></next></block></next></block></next></block></statement></block></xml>", "code": "for count in range(4):\n  get_prog_eng().check_end()\n  get_bot().servo3(60)\n  get_cam().sleep(1)\n  get_bot().servo3(120)\n  get_cam().sleep(1)\n", "name": "arm_test"}

static/js/blockly/blocks.js

@@ -783,12 +783,12 @@ Blockly.Blocks['coderbot_armRaise'] = {
 
 Blockly.JavaScript['coderbot_armRaise'] = function(block) {
   // Generate JavaScript for raising the arm
-  return 'get_bot()..servo3(' + CODERBOT_ARM_ANGLE_RAISED + ');\n';
+  return 'get_bot().servo3(' + CODERBOT_ARM_ANGLE_RAISED + ');\n';
 };
 
 Blockly.Python['coderbot_armRaise'] = function(block) {
   // Generate Python code for raising the arm
-  return 'get_bot()..servo3(' + CODERBOT_ARM_ANGLE_RAISED + ')\n';
+  return 'get_bot().servo3(' + CODERBOT_ARM_ANGLE_RAISED + ')\n';
 };
 
 Blockly.Blocks['coderbot_armLower'] = {