26 lines
924 B
Python
Executable File
26 lines
924 B
Python
Executable File
#! /usr/bin/env python3
|
|
import serial
|
|
import argparse
|
|
|
|
if __name__ == "__main__":
|
|
parser = argparse.ArgumentParser(description="Set the position of the PWM driver.")
|
|
parser.add_argument("x", type=float, help="X coordinate [0 - 1]")
|
|
parser.add_argument("y", type=float, help="Y coordinate [0 - 1]")
|
|
parser.add_argument("pen", type=int, help="pen down (True) or pen up (False)")
|
|
parser.add_argument("-p", "--port", type=str, required=True, help="Serial port")
|
|
args = parser.parse_args()
|
|
|
|
# Open the serial port
|
|
ser = serial.Serial(args.port, 115200)
|
|
|
|
# Saturate values to [0, 1]
|
|
args.x = int(max(0, min(1, args.x)) * 0xFFFF)
|
|
args.y = int(max(0, min(1, args.y)) * 0xFFFF)
|
|
args.z = int(max(0, min(1, args.pen)))
|
|
|
|
# Send the position
|
|
print(f"{args.x},{args.y},{args.z}\n")
|
|
ser.write(f"{args.x},{args.y},{args.z}\n".encode())
|
|
|
|
# Close the serial port
|
|
ser.close() |