Adding Dynamixel hardware abstraction layer and binding to API

.gitignore

@@ -416,4 +416,57 @@ cython_debug/
 !crates/ruff_python_resolver/resources/test/airflow/venv/
 !crates/ruff_python_resolver/resources/test/airflow/venv/lib
 !crates/ruff_python_resolver/resources/test/airflow/venv/lib/python3.11/site-packages/_watchdog_fsevents.cpython-311-darwin.so
-!crates/ruff_python_resolver/resources/test/airflow/venv/lib/python3.11/site-packages/orjson/orjson.cpython-311-darwin.so
+!crates/ruff_python_resolver/resources/test/airflow/venv/lib/python3.11/site-packages/orjson/orjson.cpython-311-darwin.so
+
+# ROS gitignore
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE

src/api/v1/api.py

@@ -1,8 +1,13 @@
-from typing import Union
 from fastapi import FastAPI, Request, WebSocket, WebSocketDisconnect
 from websockets.exceptions import ConnectionClosed
 from fastapi.templating import Jinja2Templates
 from fastapi.middleware.cors import CORSMiddleware
+from robot import (
+    Position2D,
+    RobotControl,
+    DynamixelMotor,
+    DYNAMIXEL_MX_12_ADDR_CONFIG,
+)
 import asyncio
 import cv2
 
@@ -22,6 +27,13 @@
     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/ttyUSB0", 1, motors)
+ctrl.init(1000000)
+
 
 # https://stackoverflow.com/a/70626324
 @app.websocket("/ws")
@@ -43,5 +55,10 @@ 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.set_velocity(Position2D(x_val, y_val, 0))
+
     return {"status": "success"}