added enable/disable continuous movement & individual servo command

Author: hatomist

openlch/__init__.py

@@ -1,3 +1,3 @@
-__version__ = "0.8.3"
+__version__ = "0.9.0"
 
 from .hal import HAL

openlch/cli.py

@@ -64,13 +64,14 @@ def get_positions(ip: str) -> None:
 @cli.command()
 @click.argument("id", type=int)
 @click.argument("position", type=float)
+@click.option("--speed", "-s", type=float, default=0, help="Movement speed in degrees per second (0 = max speed)")
 @click.argument("ip", default=DEFAULT_IP)
-def set_position(id: int, position: float, ip: str) -> None:
+def set_position(id: int, position: float, speed: float, ip: str) -> None:
     """Set position for a specific servo."""
     hal = HAL(ip)
     try:
-        hal.servo.set_positions([(id, position)])
-        click.echo(f"Position set for servo {id} to {position}")
+        hal.servo.set_position(id, position, speed)
+        click.echo(f"Position set for servo {id} to {position}° at speed {speed if speed > 0 else 'max'} deg/s")
     except Exception as e:
         click.echo(f"An error occurred: {str(e)}")
     finally:
@@ -281,7 +282,7 @@ def get_imu_data(ip: str) -> None:
         click.echo(f"  X: {imu_data['gyro']['x']:.2f}")
         click.echo(f"  Y: {imu_data['gyro']['y']:.2f}")
         click.echo(f"  Z: {imu_data['gyro']['z']:.2f}")
-        click.echo("\nAccelerometer (g):")
+        click.echo("\nAccelerometer (m/s^2):")
         click.echo(f"  X: {imu_data['accel']['x']:.2f}")
         click.echo(f"  Y: {imu_data['accel']['y']:.2f}")
         click.echo(f"  Z: {imu_data['accel']['z']:.2f}")
@@ -290,5 +291,31 @@ def get_imu_data(ip: str) -> None:
     finally:
         hal.close()
 
+@cli.command()
+@click.argument("ip", default=DEFAULT_IP)
+def enable_movement(ip: str) -> None:
+    """Enable movement for all servos."""
+    hal = HAL(ip)
+    try:
+        hal.servo.enable_movement()
+        click.echo("Movement enabled for all servos")
+    except Exception as e:
+        click.echo(f"An error occurred: {str(e)}")
+    finally:
+        hal.close()
+
+@cli.command()
+@click.argument("ip", default=DEFAULT_IP)
+def disable_movement(ip: str) -> None:
+    """Disable movement for all servos."""
+    hal = HAL(ip)
+    try:
+        hal.servo.disable_movement()
+        click.echo("Movement disabled for all servos")
+    except Exception as e:
+        click.echo(f"An error occurred: {str(e)}")
+    finally:
+        hal.close()
+
 if __name__ == "__main__":
     cli()

openlch/hal.py

@@ -222,6 +222,26 @@ def set_torque_enable(self, enable_settings: List[Tuple[int, bool]]) -> None:
             request = hal_pb_pb2.TorqueEnableSettings(settings=settings)
             self.__stub.SetTorqueEnable(request)
 
+        def enable_movement(self) -> None:
+            """Enable continuous movement writes for all servos."""
+            self.__stub.EnableMovement(hal_pb_pb2.Empty())
+
+        def disable_movement(self) -> None:
+            """Disable continuous movement writes for all servos."""
+            self.__stub.DisableMovement(hal_pb_pb2.Empty())
+
+        def set_position(self, servo_id: int, position: float, speed: float = 0) -> None:
+            """
+            Set position for a single servo.
+
+            Args:
+                servo_id (int): The ID of the servo to control
+                position (float): Target position in degrees
+                speed (float, optional): Movement speed in degrees per second. Defaults to 0 (maximum speed).
+            """
+            request = hal_pb_pb2.JointPosition(id=servo_id, position=position, speed=speed)
+            self.__stub.SetPosition(request)
+
     class System:
         """Class for system-related operations."""