CSV2Move¶

Robot Arm Controller

Overview¶

csv2move.py is a precision controller for continuous rotation servo-based robot arms using CSV input files. It handles PWM signal generation via I2C PCA9685 controllers with exact 20ms frame timing.

Key Features¶

Dry-run Mode: Simulate movements without hardware
Calibration Support: Per-servo duty cycle configuration
CSV Validation: Auto-skip malformed frames
Emergency Stop: Instant halt via keyboard interrupt
Frame Timing: Precise 50Hz (20ms) execution

Installation¶

pip install adafruit-circuitpython-pca9685 board

Usage¶

python csv2move.py [OPTIONS] CSV_FILE

Command Options¶

Option	Description	Default
`--calibration`	Calibration JSON file	Built-in
`--dry-run`	Simulation mode (no hardware)	False
`--verbose`	Show detailed frame info	False
`--safe-delay`	Startup safety delay (seconds)	2.0

CSV Format Requirements¶

servo1,servo2,servo3,servo4,servo5,servo6
-100.00,50.00,0.00,75.30,-20.50,100.00
0.00,0.00,0.00,0.00,0.00,0.00

Header row (optional but recommended)
6 comma-separated values per line
Values range: -100.00 to 100.00
One frame = 20ms movement

Calibration Configuration¶

[
  {
    "min_duty": 1792,    // -100% speed (0x0700)
    "max_duty": 8448,    // +100% speed (0x2100) 
    "stop_duty": 5120     // Stop (0x1400)
  },
  // ... Repeat for servos 1-5
]

Execution Flow¶

CSG Generator -> CSV File -> csv2move.py -> PCA9685
     (traj2csv/speed2csv)         |            |
                               Dry-run Mode  Hardware Control

Example Session¶

# Run with safety checks
python csv2move.py movement.csv --safe-delay 3.0

# Dry-run verification
python csv2move.py complex.csv --dry-run --verbose

# Emergency stop during execution
[Ctrl+C] -> "EMERGENCY STOP TRIGGERED!"

Error Handling¶

Error Type	Response
CSV Read Error	Skip frame, continue
Value Range Exceeded	Clamp to (-100, 100)
Missing Servo Calibration	Use built-in defaults
Hardware Failure	Automatic PCA9685 shutdown

Safety Features¶

Startup Delay: Allows system stabilization
Duty Cycle Clamping: Never exceed min/max values
Signal Validation: Reject non-numeric values
Power Monitoring: (Future implementation)

Troubleshooting¶

Symptom	Solution
Jerky movements	Check CSV frame timing
Servo not responding	Verify calibration values
I2C errors	Run with `--dry-run`
Unexpected stop	Check for missing CSV frames

Note: Always test new CSVs with --dry-run before hardware execution. Maintain emergency stop access during operation.