Adding dynamixel python driver to api

TrentonBowserFanClub · Mar 31, 2024 · 1e404c6 · 1e404c6
1 parent 28a63b2
commit 1e404c6
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Showing 53 changed files with 442 additions and 2,348 deletions.
diff --git a/MODULE.bazel.lock b/MODULE.bazel.lock
diff --git a/src/api/v1/api.py b/src/api/v1/api.py
@@ -3,6 +3,15 @@
 from websockets.exceptions import ConnectionClosed
 from fastapi.templating import Jinja2Templates
 from fastapi.middleware.cors import CORSMiddleware
+from .robot import (
+    Position2D,
+    RobotCommand,
+    RobotControl,
+    DynamixelMotor,
+    Vector2d,
+    Rotation2D,
+    DYNAMIXEL_MX_12_ADDR_CONFIG,
+)
 import asyncio
 import cv2
 
@@ -22,6 +31,12 @@
     allow_headers=["*"],  # Allow all headers
 )
 
+motors = [
+    DynamixelMotor(10, DYNAMIXEL_MX_12_ADDR_CONFIG, Position2D(0, 0, 0)),
+    DynamixelMotor(11, DYNAMIXEL_MX_12_ADDR_CONFIG, Position2D(0, 0, 0), True),
+]
+ctrl = RobotControl("/dev/ttyUSB1", 1, motors)
+
 
 # https://stackoverflow.com/a/70626324
 @app.websocket("/ws")
@@ -43,5 +58,10 @@ async def get_stream(websocket: WebSocket):
 @app.post("/command")
 async def command(request: Request):
     data = await request.json()
-    print(data)
+
+    x_val = -data.get("left", 0) + data.get("right", 0)
+    y_val = -data.get("down", 0) + data.get("up", 0)
+
+    ctrl.send_command(RobotCommand(Vector2d(x_val, y_val), Rotation2D(0.0)))
+
     return {"status": "success"}