Hi Alexinator

I would gladly assist anyone who want assistance, be with the integrated movement service or any thing that I have some knowledge.

To do what you want with your advanced head, you could use a structure similar to what I have done with integrated movement service (or I think it sould be fairly easy to add it the the integrated movement service.

• Have a service that define and keep track of the position of your part
• the services runs threads that constantly computes the position of the part and adjust their position.

So to be more specific with your case, you could have a service that define and keep track of the position and current limits of your 'eyes' servo and a thread that compute the position and limits of the servo based on what your service know. ie if servo A is in position x, set the limits of servo B to x/y then move it to be inside those limits. 

I hope I'm somewhat clear the the strategy I describe. Personnaly, I like this because it could easily create behaviour instead of scripted gestures

Hello,

Because you mention in the shoutbox not having played with codes yet, here is a script you could use to run some tests on your 27 servo head. This is not relevant with integrated movement service, but there is servo syncing for the eyelids.

It also can be usefull before the refactor of the servoOrchestrator is fully working.

#########################################
# Servo test by Gael For Alexinator40.py
# more info @: http://myrobotlab.org/service/Servo
#########################################
# uncomment for virtual hardware
# virtual = True

eyeXPin = 22
eyeYPin = 24
eyeLidRightPin = 12
eyeLidLeftPin = 13

# port = "/dev/ttyUSB0"
port = "COM15"

# start optional virtual arduino service, used for test
if ('virtual' in globals() and virtual):
    virtualArduino = Runtime.start("virtualArduino", "VirtualArduino")
    virtualArduino.connect(port)

# create a servo controller and a servo
arduino = Runtime.start("arduino","Arduino")
eyeX = Runtime.start("eyeX","Servo")
eyeY = Runtime.start("eyeY","Servo")
eyeLidRight = Runtime.start("eyeLidRight","Servo")
eyeLidLeft = Runtime.start("eyeLidLeft","Servo")

# initialize arduino
# linux or macos -> arduino.connect("/dev/ttyUSB0")
print("connecting arduino to serial port")
arduino.connect(port)

# servo01.setMinMax(0, 180)
eyeX.map(0, 180, 0, 180)
eyeY.map(0, 180, 0, 180)
eyeLidRight.map(0, 180, 0, 180)
eyeLidLeft.map(0, 180, 0, 180)

# set rest position
eyeX.setRest(90)
eyeY.setRest(90)
eyeLidRight.setRest(90)
eyeLidLeft.setRest(90)

# attach servo
print("attaching servo with pins to controller")
eyeX.attach(arduino.getName(), eyeXPin)
eyeY.attach(arduino.getName(), eyeYPin)
eyeLidRight.attach(arduino.getName(), eyeLidRightPin)
eyeLidLeft.attach(arduino.getName(), eyeLidLeftPin)

# auto disable - this enables (starts pwm) before a movement
# and disables (stops pwm) after a movement
eyeX.setAutoDisable(True)
eyeX.disableDelayIfVelocity=1000 # grace period for autoDisable
eyeY.setAutoDisable(True)
eyeY.disableDelayIfVelocity=1000
eyeLidRight.setAutoDisable(True)
eyeLidRight.disableDelayIfVelocity=1000
eyeLidLeft.setAutoDisable(True)
eyeLidLeft.disableDelayIfVelocity=1000

# speed changes
print("speed changes")
eyeX.setVelocity(80) ## Low velocity
eyeY.setVelocity(80)
eyeLidRight.setVelocity(80)
eyeLidLeft.setVelocity(80)

eyeX.moveTo(0) # we cannot use moveToBlocking if servo velocity is set to -1 ( max ) !!
eyeY.moveTo(180)
sleep(2)

# sync eyeLidRight with eyeLidLeft
# now eyeLidRight will be a slave to eyeLidLeft
print("syncing eyeLidRight with eyeLidLeft")
eyeLidRight.sync(eyeLidLeft)

eyeLidLeft.moveTo(10)
sleep(0.5)

eyeLidLeft.moveTo(179)
sleep(0.5)

eyeLidLeft.moveTo(10)
sleep(0.5)

# moving to rest position
print("eyeLidLeft rest")
eyeLidLeft.rest()
sleep(2)