From c644a9f6e1be50888b5973e561c8fdce63fd2604 Mon Sep 17 00:00:00 2001
From: Shantur Rathore <i@shantur.com>
Date: Sun, 15 Aug 2021 08:15:53 +0100
Subject: Implement servo angles (#58)

/etc/kvmd/override.yaml
```
kvmd:
    gpio:
        drivers:
            servo1:
                type: servo
                chip: 0                  # PWM Chip Number
                period: 20000000         # Servo Motor SG90 Period in nano-seconds
                duty_cycle_min: 350000   # Servo Motor SG90 duty_cycle for -90 degrees
                duty_cycle_max: 2350000  # Servo Motor SG90 duty_cycle for +90 degrees
                angle_max: 90            # Servo Motor SG90 angle at duty_cycle_max
                angle_min: -90           # Servo Motor SG90 angle at duty_cycle_min
                angle_push: 45           # Servo Motor SG90 angle to push button
                angle_release: 20        # Servo Motor SG90 angle to release button
        scheme:
            short_press:
                driver: servo1
                pin: 0                       # Pin number is the PWM channel number on the PWM Chip
                mode: output
                switch: false
                pulse:
                    delay: 0.5
                    max_delay: 2
            long_press:
                driver: servo1
                pin: 0                       # Pin number is the PWM channel number on the PWM Chip
                mode: output
                switch: false
                pulse:
                    delay: 2
                    max_delay: 2
            extra_long_press:
                driver: servo1
                pin: 0                       # Pin number is the PWM channel number on the PWM Chip
                mode: output
                switch: false
                pulse:
                    delay: 10
                    max_delay: 20
        view:
            header:
                title: Controls
            table:
                - ["#Servo - Short Press", "short_press|Press"]
                - ["#Servo - Long Press", "long_press|Press"]
                - ["#Servo - Extra Long Press", "extra_long_press|Press"]
```
---
 kvmd/plugins/ugpio/servo.py | 26 ++++++++++++++++----------
 1 file changed, 16 insertions(+), 10 deletions(-)

(limited to 'kvmd')

diff --git a/kvmd/plugins/ugpio/servo.py b/kvmd/plugins/ugpio/servo.py
index 5a3c9a20..daa29293 100644
--- a/kvmd/plugins/ugpio/servo.py
+++ b/kvmd/plugins/ugpio/servo.py
@@ -50,8 +50,14 @@ class Plugin(PwmPlugin):
         angle_release: int,
     ) -> None:
 
-        duty_cycle_push = 0  # FIXME
-        duty_cycle_release = 0  # FIXME
+        #FIXME - Should we implement check for angles to be between the rangle ranges
+        #FIXME - Same for duty_cycle_push and release to be in ranges (maybe in pwm.py)
+
+
+        duty_cycle_per_degree = (duty_cycle_max - duty_cycle_min) / (angle_max - angle_min)
+
+        duty_cycle_push = int(duty_cycle_per_degree * (angle_push - angle_min) + duty_cycle_min)
+        duty_cycle_release = int(duty_cycle_per_degree * (angle_release - angle_min) + duty_cycle_min)
 
         super().__init__(
             instance_name=instance_name,
@@ -65,19 +71,19 @@ class Plugin(PwmPlugin):
 
     @classmethod
     def get_plugin_options(cls) -> Dict:
-        valid_angle = (lambda arg: valid_number(arg, min=0, max=360))
+        valid_angle = (lambda arg: valid_number(arg, min=-360, max=360, type=float))
         return {
             "chip":           Option(0,        type=valid_int_f0),
             "period":         Option(20000000, type=valid_int_f0),
-            "duty_cycle_min": Option(0, type=valid_int_f0),  # FIXME
-            "duty_cycle_max": Option(0, type=valid_int_f0),  # FIXME
-            "angle_min":      Option(0, type=valid_angle),   # FIXME
-            "angle_max":      Option(0, type=valid_angle),   # FIXME
-            "angle_push":     Option(0, type=valid_angle),   # FIXME
-            "angle_release":  Option(0, type=valid_angle),   # FIXME
+            "duty_cycle_min": Option(1000000, type=valid_int_f0),
+            "duty_cycle_max": Option(2000000, type=valid_int_f0),
+            "angle_min":      Option(0, type=valid_angle),
+            "angle_max":      Option(180, type=valid_angle),
+            "angle_push":     Option(100, type=valid_angle),
+            "angle_release":  Option(120, type=valid_angle),
         }
 
     def __str__(self) -> str:
         return f"Servo({self._instance_name})"
 
-    __repr__ = __str__
+    __repr__ = __str__
\ No newline at end of file
-- 
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