From 30811d4041ec7d5de0d45847b4746cd21d9d388e Mon Sep 17 00:00:00 2001
From: Denys Bezmenov <me@hatomist.pw>
Date: Sat, 2 Nov 2024 18:17:35 -0700
Subject: [PATCH] adjustable current for start_calibration

---
 openlch/cli.py | 18 +++++++++++++++---
 openlch/hal.py | 10 ++++++++--
 2 files changed, 23 insertions(+), 5 deletions(-)

diff --git a/openlch/cli.py b/openlch/cli.py
index 9c0555c..1b61ba5 100644
--- a/openlch/cli.py
+++ b/openlch/cli.py
@@ -143,14 +143,26 @@ def change_servo_id(old_id: int, new_id: int, ip: str) -> None:
 
 @cli.command()
 @click.argument("servo_id", type=int)
+@click.option("--speed", "-s", type=int, default=300, 
+              help="Calibration speed in degrees per second. Default: 300")
+@click.option("--current", "-c", type=float, default=600.0,
+              help="Current threshold in mA to detect end stops. Default: 600.0")
 @click.argument("ip", default=DEFAULT_IP)
-def start_calibration(servo_id: int, ip: str) -> None:
-    """Start calibration for a specific servo."""
+def start_calibration(servo_id: int, speed: int, current: float, ip: str) -> None:
+    """Start calibration for a specific servo.
+    
+    The calibration process will move the servo until it detects end stops based on current draw.
+    Use --speed to adjust movement speed and --current to adjust sensitivity."""
     hal = HAL(ip)
     try:
-        success = hal.servo.start_calibration(servo_id)
+        success = hal.servo.start_calibration(
+            servo_id,
+            calibration_speed=speed,
+            current_threshold=current
+        )
         if success:
             click.echo(f"Calibration started for servo {servo_id}")
+            click.echo(f"Speed: {speed} deg/s, Current threshold: {current} mA")
         else:
             click.echo(f"Failed to start calibration for servo {servo_id}")
     except Exception as e:
diff --git a/openlch/hal.py b/openlch/hal.py
index f2c0164..c9a6ea6 100644
--- a/openlch/hal.py
+++ b/openlch/hal.py
@@ -138,12 +138,14 @@ def change_id(self, old_id: int, new_id: int) -> bool:
             else:
                 raise Exception(f"Error: {response.error.message} (Code: {response.error.code})")
 
-        def start_calibration(self, servo_id: int) -> bool:
+        def start_calibration(self, servo_id: int, calibration_speed: int = 300, current_threshold: float = 600.0) -> bool:
             """
             Start calibration for a specific servo.
 
             Args:
                 servo_id (int): The ID of the servo to calibrate.
+                calibration_speed (int, optional): Speed of calibration movement in degrees per second. Defaults to 300.
+                current_threshold (float, optional): Current threshold in mA to detect end stops. Defaults to 600.0.
 
             Returns:
                 bool: True if calibration started successfully, False otherwise.
@@ -151,7 +153,11 @@ def start_calibration(self, servo_id: int) -> bool:
             Raises:
                 Exception: If there's an error starting the calibration.
             """
-            request = hal_pb_pb2.ServoId(id=servo_id)
+            request = hal_pb_pb2.CalibrationRequest(
+                servo_id=servo_id,
+                calibration_speed=calibration_speed,
+                current_threshold=current_threshold
+            )
             response = self.__stub.StartCalibration(request)
             if response.HasField('success'):
                 return response.success