├── .github └── workflows │ └── ci.yml ├── .gitignore ├── .pylintrc ├── .vscode └── settings.json ├── LICENSE ├── README.md ├── addon ├── __init__.py ├── blender_manifest.toml ├── ops │ ├── __init__.py │ ├── arduino_export.py │ ├── base_export.py │ ├── binary_export.py │ ├── calibrate_servo.py │ ├── json_export.py │ ├── start_live_mode.py │ └── stop_live_mode.py ├── props │ ├── __init__.py │ ├── bone_property_group.py │ └── wm_property_group.py ├── ui │ ├── __init__.py │ ├── bone_panel.py │ └── menu_panel.py ├── utils │ ├── __init__.py │ ├── converter.py │ ├── live_mode.py │ └── servo_settings.py └── wheels │ ├── pyserial-3.5-py2.py3-none-any.whl │ └── websocket_client-1.5.1-py3-none-any.whl ├── examples ├── IK │ ├── ik.bin │ ├── ik.blend │ ├── ik.h │ └── ik.json ├── Scenes │ ├── scene-a.bin │ ├── scene-a.h │ ├── scene-a.json │ ├── scene-b.bin │ ├── scene-b.h │ ├── scene-b.json │ └── scenes.blend └── Simple │ ├── simple.bin │ ├── simple.blend │ ├── simple.h │ └── simple.json ├── images ├── calibrate_servo_button.png ├── calibrate_servo_dialog.png ├── export_menu.png ├── servo_settings.png └── timeline_menu.png ├── requirements-dev.txt ├── scripts ├── build.sh ├── install.sh ├── prepare.sh └── test.sh └── tests ├── integration ├── test.blend ├── test_export.py ├── test_serial_live_mode.py ├── test_servo_calibration.py └── test_socket_live_mode.py ├── prepare.py └── test.py /.github/workflows/ci.yml: -------------------------------------------------------------------------------- 1 | name: Continuous Integration 2 | 3 | on: [push] 4 | 5 | jobs: 6 | build: 7 | name: "Build" 8 | runs-on: ubuntu-latest 9 | container: linuxserver/blender:latest 10 | steps: 11 | - uses: actions/checkout@v4 12 | - name: Build add-on 13 | run: | 14 | cp -R addon servo_animation 15 | cp README.md LICENSE servo_animation 16 | ./scripts/build.sh 17 | - name: Archive add-on ZIP 18 | uses: actions/upload-artifact@v4 19 | with: 20 | name: blender_servo_animation_addon.zip 21 | path: | 22 | blender_servo_animation_addon.zip 23 | lint: 24 | name: "Lint" 25 | runs-on: ubuntu-latest 26 | steps: 27 | - uses: actions/checkout@v4 28 | - name: Set up Python 3.10 29 | uses: actions/setup-python@v5 30 | with: 31 | python-version: "3.10" 32 | - name: Install dependencies 33 | run: | 34 | python -m pip install --upgrade pip 35 | pip install pylint 36 | - name: Analysing the code with pylint 37 | run: | 38 | pylint addon 39 | pylint -d duplicate-code tests 40 | test: 41 | name: "Test" 42 | needs: build 43 | strategy: 44 | fail-fast: false 45 | matrix: 46 | version: 47 | - "4.2.0" 48 | - "4.3.0" 49 | - "4.3.2" 50 | runs-on: ubuntu-latest 51 | container: linuxserver/blender:${{ matrix.version }} 52 | steps: 53 | - uses: actions/checkout@v4 54 | - name: Download add-on 55 | uses: actions/download-artifact@v4 56 | with: 57 | name: blender_servo_animation_addon.zip 58 | - name: Install add-on 59 | run: | 60 | ./scripts/install.sh 61 | - name: Install test dependencies inside Blender 62 | run: | 63 | ./scripts/prepare.sh 64 | - name: Run tests inside Blender 65 | run: | 66 | ./scripts/test.sh 67 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__ 2 | .vscode/* 3 | !.vscode/settings.json 4 | *.blend1 5 | tests/results.txt 6 | *.zip -------------------------------------------------------------------------------- /.pylintrc: -------------------------------------------------------------------------------- 1 | [MASTER] 2 | 3 | # A comma-separated list of package or module names from where C extensions may 4 | # be loaded. Extensions are loading into the active Python interpreter and may 5 | # run arbitrary code. 6 | extension-pkg-whitelist= 7 | 8 | # Specify a score threshold to be exceeded before program exits with error. 9 | fail-under=10.0 10 | 11 | # Add files or directories to the blacklist. They should be base names, not 12 | # paths. 13 | ignore=CVS 14 | 15 | # Add files or directories matching the regex patterns to the blacklist. The 16 | # regex matches against base names, not paths. 17 | ignore-patterns= 18 | 19 | # Python code to execute, usually for sys.path manipulation such as 20 | # pygtk.require(). 21 | #init-hook= 22 | 23 | # Use multiple processes to speed up Pylint. Specifying 0 will auto-detect the 24 | # number of processors available to use. 25 | jobs=1 26 | 27 | # Control the amount of potential inferred values when inferring a single 28 | # object. This can help the performance when dealing with large functions or 29 | # complex, nested conditions. 30 | limit-inference-results=100 31 | 32 | # List of plugins (as comma separated values of python module names) to load, 33 | # usually to register additional checkers. 34 | load-plugins= 35 | 36 | # Pickle collected data for later comparisons. 37 | persistent=yes 38 | 39 | # When enabled, pylint would attempt to guess common misconfiguration and emit 40 | # user-friendly hints instead of false-positive error messages. 41 | suggestion-mode=yes 42 | 43 | # Allow loading of arbitrary C extensions. Extensions are imported into the 44 | # active Python interpreter and may run arbitrary code. 45 | unsafe-load-any-extension=no 46 | 47 | 48 | [MESSAGES CONTROL] 49 | 50 | # Only show warnings with the listed confidence levels. Leave empty to show 51 | # all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED. 52 | confidence= 53 | 54 | # Disable the message, report, category or checker with the given id(s). You 55 | # can either give multiple identifiers separated by comma (,) or put this 56 | # option multiple times (only on the command line, not in the configuration 57 | # file where it should appear only once). You can also use "--disable=all" to 58 | # disable everything first and then reenable specific checks. For example, if 59 | # you want to run only the similarities checker, you can use "--disable=all 60 | # --enable=similarities". If you want to run only the classes checker, but have 61 | # no Warning level messages displayed, use "--disable=all --enable=classes 62 | # --disable=W". 63 | disable=raw-checker-failed, 64 | bad-inline-option, 65 | locally-disabled, 66 | file-ignored, 67 | suppressed-message, 68 | useless-suppression, 69 | deprecated-pragma, 70 | use-symbolic-message-instead, 71 | import-error, 72 | relative-beyond-top-level, 73 | assignment-from-no-return, 74 | missing-module-docstring, 75 | missing-function-docstring, 76 | missing-class-docstring, 77 | unsupported-assignment-operation, 78 | no-member, 79 | too-few-public-methods 80 | 81 | # Enable the message, report, category or checker with the given id(s). You can 82 | # either give multiple identifier separated by comma (,) or put this option 83 | # multiple time (only on the command line, not in the configuration file where 84 | # it should appear only once). See also the "--disable" option for examples. 85 | enable=c-extension-no-member 86 | 87 | 88 | [REPORTS] 89 | 90 | # Python expression which should return a score less than or equal to 10. You 91 | # have access to the variables 'error', 'warning', 'refactor', and 'convention' 92 | # which contain the number of messages in each category, as well as 'statement' 93 | # which is the total number of statements analyzed. This score is used by the 94 | # global evaluation report (RP0004). 95 | evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) 96 | 97 | # Template used to display messages. This is a python new-style format string 98 | # used to format the message information. See doc for all details. 99 | #msg-template= 100 | 101 | # Set the output format. Available formats are text, parseable, colorized, json 102 | # and msvs (visual studio). You can also give a reporter class, e.g. 103 | # mypackage.mymodule.MyReporterClass. 104 | output-format=text 105 | 106 | # Tells whether to display a full report or only the messages. 107 | reports=no 108 | 109 | # Activate the evaluation score. 110 | score=yes 111 | 112 | 113 | [REFACTORING] 114 | 115 | # Maximum number of nested blocks for function / method body 116 | max-nested-blocks=5 117 | 118 | # Complete name of functions that never returns. When checking for 119 | # inconsistent-return-statements if a never returning function is called then 120 | # it will be considered as an explicit return statement and no message will be 121 | # printed. 122 | never-returning-functions=sys.exit 123 | 124 | 125 | [MISCELLANEOUS] 126 | 127 | # List of note tags to take in consideration, separated by a comma. 128 | notes=FIXME, 129 | XXX, 130 | TODO 131 | 132 | # Regular expression of note tags to take in consideration. 133 | #notes-rgx= 134 | 135 | 136 | [TYPECHECK] 137 | 138 | # List of decorators that produce context managers, such as 139 | # contextlib.contextmanager. Add to this list to register other decorators that 140 | # produce valid context managers. 141 | contextmanager-decorators=contextlib.contextmanager 142 | 143 | # List of members which are set dynamically and missed by pylint inference 144 | # system, and so shouldn't trigger E1101 when accessed. Python regular 145 | # expressions are accepted. 146 | generated-members= 147 | 148 | # Tells whether missing members accessed in mixin class should be ignored. A 149 | # mixin class is detected if its name ends with "mixin" (case insensitive). 150 | ignore-mixin-members=yes 151 | 152 | # Tells whether to warn about missing members when the owner of the attribute 153 | # is inferred to be None. 154 | ignore-none=yes 155 | 156 | # This flag controls whether pylint should warn about no-member and similar 157 | # checks whenever an opaque object is returned when inferring. The inference 158 | # can return multiple potential results while evaluating a Python object, but 159 | # some branches might not be evaluated, which results in partial inference. In 160 | # that case, it might be useful to still emit no-member and other checks for 161 | # the rest of the inferred objects. 162 | ignore-on-opaque-inference=yes 163 | 164 | # List of class names for which member attributes should not be checked (useful 165 | # for classes with dynamically set attributes). This supports the use of 166 | # qualified names. 167 | ignored-classes=optparse.Values,thread._local,_thread._local 168 | 169 | # List of module names for which member attributes should not be checked 170 | # (useful for modules/projects where namespaces are manipulated during runtime 171 | # and thus existing member attributes cannot be deduced by static analysis). It 172 | # supports qualified module names, as well as Unix pattern matching. 173 | ignored-modules= 174 | 175 | # Show a hint with possible names when a member name was not found. The aspect 176 | # of finding the hint is based on edit distance. 177 | missing-member-hint=yes 178 | 179 | # The minimum edit distance a name should have in order to be considered a 180 | # similar match for a missing member name. 181 | missing-member-hint-distance=1 182 | 183 | # The total number of similar names that should be taken in consideration when 184 | # showing a hint for a missing member. 185 | missing-member-max-choices=1 186 | 187 | # List of decorators that change the signature of a decorated function. 188 | signature-mutators= 189 | 190 | 191 | [STRING] 192 | 193 | # This flag controls whether inconsistent-quotes generates a warning when the 194 | # character used as a quote delimiter is used inconsistently within a module. 195 | check-quote-consistency=no 196 | 197 | # This flag controls whether the implicit-str-concat should generate a warning 198 | # on implicit string concatenation in sequences defined over several lines. 199 | check-str-concat-over-line-jumps=no 200 | 201 | 202 | [LOGGING] 203 | 204 | # The type of string formatting that logging methods do. `old` means using % 205 | # formatting, `new` is for `{}` formatting. 206 | logging-format-style=old 207 | 208 | # Logging modules to check that the string format arguments are in logging 209 | # function parameter format. 210 | logging-modules=logging 211 | 212 | 213 | [VARIABLES] 214 | 215 | # List of additional names supposed to be defined in builtins. Remember that 216 | # you should avoid defining new builtins when possible. 217 | additional-builtins= 218 | 219 | # Tells whether unused global variables should be treated as a violation. 220 | allow-global-unused-variables=yes 221 | 222 | # List of strings which can identify a callback function by name. A callback 223 | # name must start or end with one of those strings. 224 | callbacks=cb_, 225 | _cb 226 | 227 | # A regular expression matching the name of dummy variables (i.e. expected to 228 | # not be used). 229 | dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ 230 | 231 | # Argument names that match this expression will be ignored. Default to name 232 | # with leading underscore. 233 | ignored-argument-names=_.*|^ignored_|^unused_ 234 | 235 | # Tells whether we should check for unused import in __init__ files. 236 | init-import=no 237 | 238 | # List of qualified module names which can have objects that can redefine 239 | # builtins. 240 | redefining-builtins-modules=six.moves,past.builtins,future.builtins,builtins,io 241 | 242 | 243 | [BASIC] 244 | 245 | # Naming style matching correct argument names. 246 | argument-naming-style=snake_case 247 | 248 | # Regular expression matching correct argument names. Overrides argument- 249 | # naming-style. 250 | #argument-rgx= 251 | 252 | # Naming style matching correct attribute names. 253 | attr-naming-style=snake_case 254 | 255 | # Regular expression matching correct attribute names. Overrides attr-naming- 256 | # style. 257 | #attr-rgx= 258 | 259 | # Bad variable names which should always be refused, separated by a comma. 260 | bad-names=foo, 261 | bar, 262 | baz, 263 | toto, 264 | tutu, 265 | tata 266 | 267 | # Bad variable names regexes, separated by a comma. If names match any regex, 268 | # they will always be refused 269 | bad-names-rgxs= 270 | 271 | # Naming style matching correct class attribute names. 272 | class-attribute-naming-style=any 273 | 274 | # Regular expression matching correct class attribute names. Overrides class- 275 | # attribute-naming-style. 276 | #class-attribute-rgx= 277 | 278 | # Naming style matching correct class names. 279 | class-naming-style=PascalCase 280 | 281 | # Regular expression matching correct class names. Overrides class-naming- 282 | # style. 283 | #class-rgx= 284 | 285 | # Naming style matching correct constant names. 286 | const-naming-style=UPPER_CASE 287 | 288 | # Regular expression matching correct constant names. Overrides const-naming- 289 | # style. 290 | #const-rgx= 291 | 292 | # Minimum line length for functions/classes that require docstrings, shorter 293 | # ones are exempt. 294 | docstring-min-length=-1 295 | 296 | # Naming style matching correct function names. 297 | function-naming-style=snake_case 298 | 299 | # Regular expression matching correct function names. Overrides function- 300 | # naming-style. 301 | #function-rgx= 302 | 303 | # Good variable names which should always be accepted, separated by a comma. 304 | good-names=i, 305 | j, 306 | k, 307 | ex, 308 | Run, 309 | _ 310 | 311 | # Good variable names regexes, separated by a comma. If names match any regex, 312 | # they will always be accepted 313 | good-names-rgxs= 314 | 315 | # Include a hint for the correct naming format with invalid-name. 316 | include-naming-hint=no 317 | 318 | # Naming style matching correct inline iteration names. 319 | inlinevar-naming-style=any 320 | 321 | # Regular expression matching correct inline iteration names. Overrides 322 | # inlinevar-naming-style. 323 | #inlinevar-rgx= 324 | 325 | # Naming style matching correct method names. 326 | method-naming-style=snake_case 327 | 328 | # Regular expression matching correct method names. Overrides method-naming- 329 | # style. 330 | #method-rgx= 331 | 332 | # Naming style matching correct module names. 333 | module-naming-style=snake_case 334 | 335 | # Regular expression matching correct module names. Overrides module-naming- 336 | # style. 337 | #module-rgx= 338 | 339 | # Colon-delimited sets of names that determine each other's naming style when 340 | # the name regexes allow several styles. 341 | name-group= 342 | 343 | # Regular expression which should only match function or class names that do 344 | # not require a docstring. 345 | no-docstring-rgx=^_ 346 | 347 | # List of decorators that produce properties, such as abc.abstractproperty. Add 348 | # to this list to register other decorators that produce valid properties. 349 | # These decorators are taken in consideration only for invalid-name. 350 | property-classes=abc.abstractproperty 351 | 352 | # Naming style matching correct variable names. 353 | variable-naming-style=snake_case 354 | 355 | # Regular expression matching correct variable names. Overrides variable- 356 | # naming-style. 357 | #variable-rgx= 358 | 359 | 360 | [SPELLING] 361 | 362 | # Limits count of emitted suggestions for spelling mistakes. 363 | max-spelling-suggestions=4 364 | 365 | # Spelling dictionary name. Available dictionaries: none. To make it work, 366 | # install the python-enchant package. 367 | spelling-dict= 368 | 369 | # List of comma separated words that should not be checked. 370 | spelling-ignore-words= 371 | 372 | # A path to a file that contains the private dictionary; one word per line. 373 | spelling-private-dict-file= 374 | 375 | # Tells whether to store unknown words to the private dictionary (see the 376 | # --spelling-private-dict-file option) instead of raising a message. 377 | spelling-store-unknown-words=no 378 | 379 | 380 | [SIMILARITIES] 381 | 382 | # Ignore comments when computing similarities. 383 | ignore-comments=yes 384 | 385 | # Ignore docstrings when computing similarities. 386 | ignore-docstrings=yes 387 | 388 | # Ignore imports when computing similarities. 389 | ignore-imports=yes 390 | 391 | # Minimum lines number of a similarity. 392 | min-similarity-lines=6 393 | 394 | 395 | [FORMAT] 396 | 397 | # Expected format of line ending, e.g. empty (any line ending), LF or CRLF. 398 | expected-line-ending-format= 399 | 400 | # Regexp for a line that is allowed to be longer than the limit. 401 | ignore-long-lines=^\s*(# )??$ 402 | 403 | # Number of spaces of indent required inside a hanging or continued line. 404 | indent-after-paren=4 405 | 406 | # String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 407 | # tab). 408 | indent-string=' ' 409 | 410 | # Maximum number of characters on a single line. 411 | max-line-length=110 412 | 413 | # Maximum number of lines in a module. 414 | max-module-lines=1000 415 | 416 | # Allow the body of a class to be on the same line as the declaration if body 417 | # contains single statement. 418 | single-line-class-stmt=no 419 | 420 | # Allow the body of an if to be on the same line as the test if there is no 421 | # else. 422 | single-line-if-stmt=no 423 | 424 | 425 | [IMPORTS] 426 | 427 | # List of modules that can be imported at any level, not just the top level 428 | # one. 429 | allow-any-import-level= 430 | 431 | # Allow wildcard imports from modules that define __all__. 432 | allow-wildcard-with-all=no 433 | 434 | # Analyse import fallback blocks. This can be used to support both Python 2 and 435 | # 3 compatible code, which means that the block might have code that exists 436 | # only in one or another interpreter, leading to false positives when analysed. 437 | analyse-fallback-blocks=no 438 | 439 | # Deprecated modules which should not be used, separated by a comma. 440 | deprecated-modules=optparse,tkinter.tix 441 | 442 | # Create a graph of external dependencies in the given file (report RP0402 must 443 | # not be disabled). 444 | ext-import-graph= 445 | 446 | # Create a graph of every (i.e. internal and external) dependencies in the 447 | # given file (report RP0402 must not be disabled). 448 | import-graph= 449 | 450 | # Create a graph of internal dependencies in the given file (report RP0402 must 451 | # not be disabled). 452 | int-import-graph= 453 | 454 | # Force import order to recognize a module as part of the standard 455 | # compatibility libraries. 456 | known-standard-library= 457 | 458 | # Force import order to recognize a module as part of a third party library. 459 | known-third-party=enchant 460 | 461 | # Couples of modules and preferred modules, separated by a comma. 462 | preferred-modules= 463 | 464 | 465 | [DESIGN] 466 | 467 | # Maximum number of arguments for function / method. 468 | max-args=5 469 | 470 | # Maximum number of attributes for a class (see R0902). 471 | max-attributes=7 472 | 473 | # Maximum number of boolean expressions in an if statement (see R0916). 474 | max-bool-expr=5 475 | 476 | # Maximum number of branch for function / method body. 477 | max-branches=12 478 | 479 | # Maximum number of locals for function / method body. 480 | max-locals=15 481 | 482 | # Maximum number of parents for a class (see R0901). 483 | max-parents=7 484 | 485 | # Maximum number of public methods for a class (see R0904). 486 | max-public-methods=20 487 | 488 | # Maximum number of return / yield for function / method body. 489 | max-returns=6 490 | 491 | # Maximum number of statements in function / method body. 492 | max-statements=50 493 | 494 | # Minimum number of public methods for a class (see R0903). 495 | min-public-methods=2 496 | 497 | 498 | [CLASSES] 499 | 500 | # List of method names used to declare (i.e. assign) instance attributes. 501 | defining-attr-methods=__init__, 502 | __new__, 503 | setUp, 504 | __post_init__ 505 | 506 | # List of member names, which should be excluded from the protected access 507 | # warning. 508 | exclude-protected=_asdict, 509 | _fields, 510 | _replace, 511 | _source, 512 | _make 513 | 514 | # List of valid names for the first argument in a class method. 515 | valid-classmethod-first-arg=cls 516 | 517 | # List of valid names for the first argument in a metaclass class method. 518 | valid-metaclass-classmethod-first-arg=cls 519 | 520 | 521 | [EXCEPTIONS] 522 | 523 | # Exceptions that will emit a warning when being caught. Defaults to 524 | # "BaseException, Exception". 525 | overgeneral-exceptions=builtins.BaseException, 526 | builtins.Exception 527 | -------------------------------------------------------------------------------- /.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "files.exclude": { 3 | "**/__pycache__": true 4 | }, 5 | "blender.addon.loadDirectory": "addon", 6 | "blender.addon.moduleName": "servo_animation" 7 | } -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Blender Servo Animation Add-on 2 | 3 | Export your Blender animation to servo position values. They can be used with an Arduino compatible micro controller to move PWM-driven servos according to your animation. 4 | 5 | Animate your robot or animatronic project and take advantage of Blender's animation tools! 6 | 7 | Also check out the [Blender Servo Animation Arduino Library](https://github.com/timhendriks93/blender-servo-animation-arduino) which is specifically designed to work with this add-on. 8 | 9 | [![Continuous Integration](https://github.com/timhendriks93/blender-servo-animation/actions/workflows/ci.yml/badge.svg)](https://github.com/timhendriks93/blender-servo-animation/actions/workflows/ci.yml) 10 | 11 | ## Features 12 | 13 | - Represent servos through armature bones 14 | - Provide individual `Servo Settings` per bone 15 | - Export an animation as servo position values 16 | - Send position values via a live mode connection in real-time 17 | - Supporting Inverse Kinematics (IK) 18 | 19 | ## Installation 20 | 21 | > Note: the latest version of this Add-on is compatible with Blender **4.2 or higher**. 22 | 23 | The Add-on can be installed as a regular [Blender Extension](https://docs.blender.org/manual/en/latest/editors/preferences/extensions.html). 24 | 25 | ## Providing Servo Settings 26 | 27 | After enabling this Add-on, you should see a `Servo Settings` panel within the `Bone Properties` tab. This tab will be available once you select a bone while being in `Edit` or `Pose` mode. 28 | 29 | The underlying principle is that each bone represents a servo motor in the real world. To treat a bone as a servo and activate the `Servo Settings`, enable the checkbox in the panel header. 30 | 31 | ![Servo Settings panel](images/servo_settings.png) 32 | 33 | ### Servo Setting Properties 34 | 35 | | Property | Description | 36 | | -------- | ----------- | 37 | | Servo ID | Unique number between `0` and `255` to identify this servo (used to send live commands) | 38 | | Position Min | The minimum position value to identify this servo physically stops moving | 39 | | Position Max | Same as `Position Min`, but for the maximum value | 40 | | Threshold | The maximum value change between frames which is also used for frame jump handling in live mode | 41 | | Neutral Angle | The assumed neutral angle of the servo in degrees (typically half the rotation range) which should be adjusted carefully, since the servo will first move to its 'natural' neutral angle when powered | 42 | | Rotation Range | The manufactured rotation range of the servo in degrees (typically `180`) | 43 | | Euler Rotation Axis | The Euler rotation axis (`X`, `Y` or `Z`) of the bone rotation representing the servo movement | 44 | | Multiplier | Multiplier to increase or decrease the rotation to adjust the intensity within a specific build | 45 | | Reverse Direction | Whether the applied rotation should be reversed when converting to position value which might be necessary to reflect the servo's positioning within a specific build | 46 | 47 | ### Choosing a Position Value Range 48 | 49 | The default position min and max values are based on servo pulse lengths as they are required when using a library to control a servo driver module, like the `PCA9685`. 50 | 51 | It is also possible to use a different kind of value range. For example, to use the default Arduino Servo library, you can use a degrees value range by setting min to `0` and max to `180`. 52 | 53 | > Note: the correct settings vary between different servo brands and models. Be careful not to damage the servo when finding the min and max position values. 54 | 55 | ### Limiting the value range 56 | 57 | You can take advantage of Blender's functionality and use [bone constraints](https://docs.blender.org/manual/en/latest/animation/constraints/transform/limit_rotation.html) to already limit the bone rotation according to your build. The more precise your 3D model, the easier it will be to apply constraints and get an accurate preview of the real-world setup. 58 | 59 | ## Animating the Armature 60 | 61 | When animating your armature you can benefit from all the exciting animation features Blender has to offer. Apart from animating every bone/servo separately, you can also use IK ([Inverse Kinematics](https://www.youtube.com/watch?v=S-2v_CKmVE8)) to let the Add-On calculate the positions of multiple servos automatically. 62 | 63 | When thinking of animatronic or robotic projects, you could animate a head or arm without having to worry about the individual bones/servos that make up the neck mechanism or arm segments. To further illustrate this, you can also find an [example of a neck mechanism](examples/IK/ik.blend) to learn about the armature and constraints setup. 64 | 65 | ## Exporting 66 | 67 | Once all servo settings are provided and your animation is ready, you can calculate and export the servo position values. 68 | 69 | Make sure to select the armature containing the bones/servos you want to export and choose the desired format in the `File > Export` menu: 70 | 71 | ![Export Menu Top](images/export_menu.png) 72 | 73 | Alternatively, you can also trigger the export via the timeline menu which is shown in the live mode section below: 74 | 75 | ![Export Menu Timeline](images/timeline_menu.png) 76 | 77 | ### Export Formats 78 | 79 | There are 3 different formats to choose from: 80 | 81 | 1. `Animation Servo Positions (.h)`: An Arduino/C/C++ style header file which can be easily included in an Arduino project. 82 | 2. `Animation Servo Positions (.json)`: A simple (non-formatted) JSON file which can be used in a more generic way. 83 | 3. `Animation Servo Positions (.bin)`: A binary file which can be used to store the animation data on an SD card. 84 | 85 | ### Using the Exported Data 86 | 87 | For projects which involve an Arduino compatible microcontroller, the easiest way to work with the exported data is by using the dedicated [Blender Servo Animation Arduino Library](https://github.com/timhendriks93/blender-servo-animation-arduino). This library allows you to map the exported positions to a servo representation and add custom logic to actually send servo control signals. Check out the library's repository for more details and some read-to-use examples. 88 | 89 | Apart from using the library, it is also possible to write use the exported data in any other kind of program. Especially the JSON format simply represents a list of position values which can be easily parsed via code. 90 | 91 | ## Live Mode 92 | 93 | To make the animation process even more intuitive, you can enable the `Live mode` to send position commands via one of the following connection types: 94 | 95 | - Serial (UART/USB) 96 | - Web socket (TCP) 97 | 98 | This will allow you to control your servos in real-time from within Blender. 99 | 100 | ### Setup a connection 101 | 102 | To use the `Live Mode`, you will need to prepare a receiver which will interpret the received commands and use them to control the servo motors accordingly. 103 | 104 | In most cases, the receiver can be considered an Arduino compatible micro controller. As a first step, a connection method should be selected via the `Method` dropdown menu. 105 | 106 | ![Livemode Timeline menu](images/timeline_menu.png) 107 | 108 | > Note: starting the `Live Mode` will immediately send the position values for all servos based on the current frame. Make sure that this will not break anything, as the servos will try to move to their new position as fast as possible. 109 | 110 | #### Serial connection 111 | 112 | Once the micro controller is connected via USB to your PC, the add-on will try to find and list the respective `Serial Port`. If there are multiple ports and you are unsure which one belongs to your controller, simply compare the list of ports after removing and re-connecting the device. 113 | 114 | The `Baud Rate` specifies at which rate or speed the data will be transferred. It might need to be adjusted according to the limitations and configurations of your receiver. Keep in mind that a high frame rate combined with a multitude of servos requires a faster data transmission to achieve a smooth movement. As a reference, it was possible to smoothly control `16 servos` at `60 fps` with a baud rate of `115200`. 115 | 116 | Once the `Serial Port` and `Baud Rate` have been set, you can click the `Connect` button to establish the serial connection and start the `Live Mode`. 117 | 118 | #### Web socket connection 119 | 120 | It is also possible to send the position values via a TCP-based web socket connection. For example, one could use a WiFi-capable micro controller like the `ESP32` and set up a server to receive commands from Blender. The server should be in the same network as the machine which is running Blender. 121 | 122 | After starting such a server, we can enter the respective IP address and port into the `Host` and `Port` input fields. 123 | 124 | Clicking the `Connect` button will then establish a tcp connection and start the `Live Mode`. 125 | 126 | ### Position Jump Handling 127 | 128 | Once the connection is established, you can use the timeline to control your servos in a synchronized way. This opens up the possibility to jump to a different frame or position within your animation. To prevent damage due to the servos moving too quickly, you can use `Position Jump Handling`. This option is enabled by default. 129 | 130 | When clicking somewhere in the timeline and therefore jumping to a different frame, the add-on will first calculate all position value differences. If one of those differences exceeds the `Threshold` value of the respective servos, they will be slowly moved to their new target position. This is done by sending multiple position values in small increments. During this process, the user interface will show a progress indicator. 131 | 132 | The speed of this process is also relative to the configured `Threshold` values. A slower and safer movement can be achieved by setting the threshold values as low as possible with the actual animation still able to run properly. 133 | 134 | ### Servo Calibration 135 | 136 | While having an active live mode connection, it is possible to use a servo calibration feature. This will allow you to find the minimum and maximum position value of a servo similar to what you would normally do with a servo tester. 137 | 138 | The calibration process can be started by clicking the `Calibrate servo` button within the servo settings panel: 139 | 140 | ![Calibrate servo button](images/calibrate_servo_button.png) 141 | 142 | > Note: the button will only be clickable when there is an active live mode connection. 143 | 144 | Clicking this button will bring up a dialog containing a drop down menu to switch between the minimum and maximum position. You can then carefully adjust the position value until the servo stops moving. After doing so for both directions or position types, you can click on `OK` to apply these values as the new min and max position values. 145 | 146 | ![Calibrate servo dialog](images/calibrate_servo_dialog.png) 147 | 148 | > Note: Be careful when changing the position value and toggling the position type as the servo will move at full speed and position jump handling is not being considered. 149 | 150 | To cancel this process you can either press `ESC` or click outside the dialog box. While position jump handling is not considered during the calibration process it is again considered when cancelling or applying the calibration. 151 | 152 | ### Command Protocol 153 | 154 | The position values are sent based on a specific binary protocol. The receiver has to know about it and be able to interpret the received data in order to successfully trigger the correct servo movement. 155 | 156 | The protocol defines in which order and pattern individual bytes are transferred. The following table shows the protocol structure based on an example where the servo with the ID `0` should receive the position value `375`: 157 | 158 | | | Start | Servo ID | High Pos | Low Pos | End | 159 | | --- | --- | --- | --- | --- | --- | 160 | | ASCII | < | 0 | 1 | 119 | > | 161 | | Decimal | 60 | 0 | 1 | 119 | 62 | 162 | | Hexadecimal | 0x3C | 0x00 | 0x01 | 0x77 | 0x3E | 163 | 164 | The position value is split into 2 bytes (high and low), while the first byte is the most significant one. 165 | 166 | ### Reading Commands on an Arduino 167 | 168 | Instead of writing your own logic to read and interpret the live mode commands, you can also use the [Blender Servo Animation Arduino Library](https://github.com/timhendriks93/blender-servo-animation-arduino) which has a built-in support for the live mode. Check out the library's repository for more details and some ready-to-use examples. 169 | -------------------------------------------------------------------------------- /addon/__init__.py: -------------------------------------------------------------------------------- 1 | import bpy 2 | 3 | from .props.bone_property_group import BonePropertyGroup 4 | from .props.wm_property_group import WindowManagerPropertyGroup 5 | from .ui.bone_panel import BonePanel 6 | from .ui.menu_panel import MenuPanel 7 | from .ops.json_export import JsonExport 8 | from .ops.arduino_export import ArduinoExport 9 | from .ops.binary_export import BinaryExport 10 | from .ops.stop_live_mode import StopLiveMode 11 | from .ops.start_live_mode import StartLiveMode 12 | from .ops.calibrate_servo import CalibrateServo 13 | 14 | 15 | classes = ( 16 | BonePropertyGroup, 17 | WindowManagerPropertyGroup, 18 | BonePanel, 19 | MenuPanel, 20 | ArduinoExport, 21 | JsonExport, 22 | BinaryExport, 23 | StopLiveMode, 24 | StartLiveMode, 25 | CalibrateServo 26 | ) 27 | 28 | 29 | def menu_func_export(self, _): 30 | self.layout.operator(ArduinoExport.bl_idname) 31 | self.layout.operator(JsonExport.bl_idname) 32 | self.layout.operator(BinaryExport.bl_idname) 33 | 34 | 35 | def menu_func_timeline(self, _): 36 | self.layout.popover(MenuPanel.bl_idname) 37 | 38 | 39 | def register(): 40 | for cls in classes: 41 | bpy.utils.register_class(cls) 42 | 43 | bpy.types.Bone.servo_settings = bpy.props.PointerProperty( 44 | type=BonePropertyGroup) 45 | bpy.types.EditBone.servo_settings = bpy.props.PointerProperty( 46 | type=BonePropertyGroup) 47 | bpy.types.WindowManager.servo_animation = bpy.props.PointerProperty( 48 | type=WindowManagerPropertyGroup) 49 | bpy.types.TOPBAR_MT_file_export.append(menu_func_export) 50 | bpy.types.TIME_MT_editor_menus.append(menu_func_timeline) 51 | 52 | 53 | def unregister(): 54 | for cls in classes: 55 | bpy.utils.unregister_class(cls) 56 | 57 | del bpy.types.Bone.servo_settings 58 | del bpy.types.EditBone.servo_settings 59 | del bpy.types.WindowManager.servo_animation 60 | bpy.types.TOPBAR_MT_file_export.remove(menu_func_export) 61 | bpy.types.TIME_MT_editor_menus.remove(menu_func_timeline) 62 | -------------------------------------------------------------------------------- /addon/blender_manifest.toml: -------------------------------------------------------------------------------- 1 | schema_version = "1.0.0" 2 | 3 | id = "servo_animation" 4 | version = "2.0.0" 5 | name = "Servo Animation" 6 | tagline = "Export your Blender animation to servo position values" 7 | maintainer = "Tim Hendriks " 8 | type = "add-on" 9 | 10 | website = "https://github.com/timhendriks93/blender-servo-animation" 11 | 12 | tags = ["Animation", "Import-Export", "Rigging"] 13 | 14 | blender_version_min = "4.2.0" 15 | 16 | license = [ 17 | "SPDX:GPL-3.0-or-later", 18 | ] 19 | 20 | wheels = [ 21 | "./wheels/pyserial-3.5-py2.py3-none-any.whl", 22 | "./wheels/websocket_client-1.5.1-py3-none-any.whl", 23 | ] 24 | 25 | files = "Export animation servo position values to disk" 26 | -------------------------------------------------------------------------------- /addon/ops/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/addon/ops/__init__.py -------------------------------------------------------------------------------- /addon/ops/arduino_export.py: -------------------------------------------------------------------------------- 1 | import bpy 2 | 3 | from bpy.types import Operator 4 | from bpy_extras.io_utils import ExportHelper 5 | from .base_export import BaseExport 6 | 7 | 8 | class ArduinoExport(Operator, BaseExport, ExportHelper): 9 | bl_idname = "export_anim.servo_animation_arduino" 10 | bl_label = "Servo Animation (.h)" 11 | bl_description = "Save an Arduino header file with servo position values of the active armature" 12 | 13 | filename_ext = ".h" 14 | chunk_size = 12 15 | 16 | filter_glob: bpy.props.StringProperty( 17 | default="*.h", 18 | options={'HIDDEN'}, 19 | maxlen=255 20 | ) 21 | 22 | namespace: bpy.props.BoolProperty( 23 | name="Add scene namespace", 24 | description=( 25 | "Use the current scene name to wrap the position arrays and " 26 | "variables in a namespace" 27 | ) 28 | ) 29 | 30 | def export(self, positions, filepath, context): 31 | fps, frames, seconds = self.get_time_meta(context.scene) 32 | filename = self.get_blend_filename() 33 | 34 | content = ( 35 | "/*\n Blender Servo Animation Positions\n\n " 36 | f"FPS: {fps}\n Frames: {frames}\n Seconds: {seconds}\n " 37 | f"Bones: {len(positions[0])}\n Armature: {context.object.name}\n " 38 | f"Scene: {context.scene.name}\n File: {filename}\n*/\n\n" 39 | "#include \n" 40 | ) 41 | 42 | commands = self.get_commands(positions) 43 | length = len(commands) 44 | lines = self.join_by_chunk_size(commands, self.chunk_size) 45 | 46 | if self.namespace: 47 | scene_name = self.format_scene_name() 48 | content += f"\nnamespace {scene_name} {{\n" 49 | 50 | content += ( 51 | f"\nconst byte FPS = {fps};" 52 | f"\nconst int FRAMES = {frames};" 53 | f"\nconst int LENGTH = {length};\n\n" 54 | ) 55 | 56 | content += f'const byte PROGMEM ANIMATION_DATA[LENGTH] = {{\n{lines}}};\n' 57 | 58 | if self.namespace: 59 | content += f"\n}} // namespace {scene_name}\n" 60 | 61 | with open(filepath, 'w', encoding='utf-8') as file: 62 | file.write(content) 63 | 64 | @classmethod 65 | def join_by_chunk_size(cls, iterable, chunk_size): 66 | output = '' 67 | str_iterable = list(map(cls.format_hex, iterable)) 68 | 69 | for i in range(0, len(str_iterable), chunk_size): 70 | output += ' ' + ', '.join(str_iterable[i:i + chunk_size]) + ',\n' 71 | 72 | return output 73 | 74 | @classmethod 75 | def format_hex(cls, byte): 76 | return f'{byte:#04x}' 77 | 78 | @classmethod 79 | def format_scene_name(cls): 80 | valid_chars = set('abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789_') 81 | scene_name = ''.join(c if c in valid_chars else '_' for c in bpy.context.scene.name) 82 | 83 | if scene_name[0].isdigit(): 84 | scene_name = '_' + scene_name 85 | 86 | return scene_name 87 | -------------------------------------------------------------------------------- /addon/ops/base_export.py: -------------------------------------------------------------------------------- 1 | import time 2 | import bpy 3 | 4 | from ..utils.converter import calculate_positions 5 | from ..utils.live_mode import LiveMode 6 | 7 | 8 | class BaseExport: 9 | COMMAND_START = 0x3C 10 | COMMAND_END = 0x3E 11 | LINE_BREAK = 10 12 | 13 | skip_duplicates: bpy.props.BoolProperty( 14 | name="Skip unchanged positions", 15 | description="Skip positions which haven't changed since the last frame", 16 | default=True 17 | ) 18 | 19 | @classmethod 20 | def poll(cls, context): 21 | if not context.object or context.object.type != 'ARMATURE': 22 | return False 23 | for pose_bone in context.object.pose.bones: 24 | if pose_bone.bone.servo_settings.active: 25 | return True 26 | return False 27 | 28 | def execute(self, context): 29 | start = time.time() 30 | original_frame = context.scene.frame_current 31 | original_live_mode = LiveMode.is_connected() 32 | 33 | if original_live_mode is True: 34 | bpy.ops.servo_animation.stop_live_mode() 35 | 36 | try: 37 | positions = calculate_positions(context, self.skip_duplicates) 38 | self.export(positions, self.filepath, context) 39 | except RuntimeError as error: 40 | self.report({'ERROR'}, str(error)) 41 | 42 | return {'CANCELLED'} 43 | finally: 44 | context.scene.frame_set(original_frame) 45 | 46 | if original_live_mode is True: 47 | bpy.ops.servo_animation.start_live_mode('INVOKE_DEFAULT') 48 | 49 | end = time.time() 50 | duration = round(end - start) 51 | unit = "second" if duration == 1 else "seconds" 52 | self.report( 53 | {'INFO'}, f"Animation servo positions exported after {duration} {unit}") 54 | 55 | return {'FINISHED'} 56 | 57 | def get_commands(self, positions): 58 | commands = [] 59 | 60 | for frame_positions in positions: 61 | for servo_id in frame_positions: 62 | position = frame_positions[servo_id] 63 | commands += self.get_command(servo_id, position) 64 | 65 | commands.append(self.LINE_BREAK) 66 | 67 | return commands 68 | 69 | def get_command(self, servo_id, position): 70 | command = [self.COMMAND_START, servo_id] 71 | command += position.to_bytes(2, 'big') 72 | command += [self.COMMAND_END] 73 | 74 | return command 75 | 76 | @staticmethod 77 | def get_time_meta(scene): 78 | fps = scene.render.fps 79 | frames = scene.frame_end - scene.frame_start + 1 80 | seconds = round(frames / scene.render.fps) 81 | 82 | return fps, frames, seconds 83 | 84 | @staticmethod 85 | def get_blend_filename(): 86 | return bpy.path.basename(bpy.context.blend_data.filepath) 87 | -------------------------------------------------------------------------------- /addon/ops/binary_export.py: -------------------------------------------------------------------------------- 1 | import bpy 2 | 3 | from bpy.types import Operator 4 | from bpy_extras.io_utils import ExportHelper 5 | from .base_export import BaseExport 6 | 7 | 8 | class BinaryExport(Operator, BaseExport, ExportHelper): 9 | bl_idname = "export_anim.servo_animation_binary" 10 | bl_label = "Servo Animation (.bin)" 11 | bl_description = "Save a binary file with servo position values of the active armature" 12 | 13 | filename_ext = ".bin" 14 | 15 | filter_glob: bpy.props.StringProperty( 16 | default="*.bin", 17 | options={'HIDDEN'}, 18 | maxlen=255 19 | ) 20 | 21 | def export(self, positions, filepath, _context): 22 | commands = self.get_commands(positions) 23 | 24 | with open(filepath, 'wb') as file: 25 | file.write(bytes(commands)) 26 | -------------------------------------------------------------------------------- /addon/ops/calibrate_servo.py: -------------------------------------------------------------------------------- 1 | import bpy 2 | 3 | from bpy.types import Operator 4 | from ..utils.live_mode import LiveMode 5 | 6 | 7 | def send_position_min(self, context): 8 | LiveMode.send_position( 9 | context.active_bone.servo_settings.servo_id, 10 | self.position_min 11 | ) 12 | 13 | def send_position_max(self, context): 14 | LiveMode.send_position( 15 | context.active_bone.servo_settings.servo_id, 16 | self.position_max 17 | ) 18 | 19 | def toggle_position(self, context): 20 | if self.toggle == 'MIN': 21 | send_position_min(self, context) 22 | else: 23 | send_position_max(self, context) 24 | 25 | 26 | class CalibrateServo(Operator): 27 | bl_idname = "servo_animation.calibrate" 28 | bl_label = "Calibrate servo" 29 | bl_description = "Calibrate servo during live mode by setting the min and max position values" 30 | bl_options = {'INTERNAL', 'BLOCKING'} 31 | 32 | toggle: bpy.props.EnumProperty( 33 | name="Position type", 34 | items=[ 35 | ('MIN', 'Min position', ''), 36 | ('MAX', 'Max position', '') 37 | ], 38 | default='MIN', 39 | options={'SKIP_SAVE'}, 40 | update=toggle_position 41 | ) 42 | position_min: bpy.props.IntProperty( 43 | name="Position value", 44 | min=0, 45 | max=10000, 46 | description="The minimum position value before the servo physically stops moving", 47 | update=send_position_min 48 | ) 49 | position_max: bpy.props.IntProperty( 50 | name="Position value", 51 | min=0, 52 | max=10000, 53 | description="The maximum position value before the servo physically stops moving", 54 | update=send_position_max 55 | ) 56 | 57 | @classmethod 58 | def poll(cls, context): 59 | return context.active_bone and LiveMode.is_connected() 60 | 61 | def execute(self, context): 62 | servo_settings = context.active_bone.servo_settings 63 | servo_settings.position_min = self.position_min 64 | servo_settings.position_max = self.position_max 65 | 66 | self.stop() 67 | 68 | return {'FINISHED'} 69 | 70 | def __del__(self): 71 | self.stop() 72 | 73 | @classmethod 74 | def stop(cls): 75 | if not LiveMode.is_handler_enabled(): 76 | LiveMode.enable_handler() 77 | LiveMode.handler(None, None) 78 | 79 | def invoke(self, context, _event): 80 | servo_id = context.active_bone.servo_settings.servo_id 81 | last_position = LiveMode.get_last_position(servo_id) 82 | 83 | if last_position is None: 84 | self.report({'ERROR'}, f"Could not find last position for servo with ID {servo_id}") 85 | 86 | return {'CANCELLED'} 87 | 88 | self.position_min = last_position 89 | self.position_max = last_position 90 | 91 | LiveMode.disable_handler() 92 | 93 | return context.window_manager.invoke_props_dialog(self) 94 | 95 | def draw(self, _context): 96 | layout = self.layout 97 | layout.use_property_split = True 98 | 99 | box = layout.box() 100 | box.label(text="Changes move servo immediately", icon="ERROR") 101 | 102 | layout.separator() 103 | 104 | col = self.layout.column(align=True) 105 | col.prop(self, "toggle") 106 | 107 | if self.toggle == 'MIN': 108 | col.prop(self, "position_min") 109 | else: 110 | col.prop(self, "position_max") 111 | 112 | layout.separator() 113 | -------------------------------------------------------------------------------- /addon/ops/json_export.py: -------------------------------------------------------------------------------- 1 | import json 2 | import bpy 3 | 4 | from bpy.types import Operator 5 | from bpy_extras.io_utils import ExportHelper 6 | from .base_export import BaseExport 7 | 8 | 9 | class JsonExport(Operator, BaseExport, ExportHelper): 10 | bl_idname = "export_anim.servo_animation_json" 11 | bl_label = "Servo Animation (.json)" 12 | bl_description = "Save a JSON file with servo position values of the active armature" 13 | 14 | filename_ext = ".json" 15 | 16 | filter_glob: bpy.props.StringProperty( 17 | default="*.json", 18 | options={'HIDDEN'}, 19 | maxlen=255 20 | ) 21 | 22 | indent: bpy.props.EnumProperty( 23 | name="Indent", 24 | items=[ 25 | ('None', 'No indent', ''), 26 | ('1', '1 Space', ''), 27 | ('2', '2 Spaces', ''), 28 | ('3', '3 Spaces', ''), 29 | ('4', '4 Spaces', ''), 30 | ], 31 | default='2', 32 | ) 33 | 34 | def export(self, positions, filepath, context): 35 | fps, frames, seconds = self.get_time_meta(context.scene) 36 | filename = self.get_blend_filename() 37 | 38 | try: 39 | indent = int(self.indent) 40 | except ValueError: 41 | indent = None 42 | 43 | data = { 44 | "description": 'Blender Servo Animation Positions', 45 | "fps": fps, 46 | "frames": frames, 47 | "seconds": seconds, 48 | "bones": len(positions[0]), 49 | "armature": context.object.name, 50 | "file": filename, 51 | "scene": context.scene.name, 52 | "positions": positions 53 | } 54 | 55 | content = json.dumps(data, indent=indent) 56 | 57 | with open(filepath, 'w', encoding='utf-8') as file: 58 | file.write(content) 59 | -------------------------------------------------------------------------------- /addon/ops/start_live_mode.py: -------------------------------------------------------------------------------- 1 | import bpy 2 | import serial 3 | import websocket 4 | 5 | from bpy.types import Operator 6 | from ..utils.live_mode import LiveMode 7 | 8 | 9 | class StartLiveMode(Operator): 10 | bl_idname = "servo_animation.start_live_mode" 11 | bl_label = "Live Mode" 12 | bl_description = "Start sending live position values via a live mode connection" 13 | bl_options = {'INTERNAL', 'BLOCKING'} 14 | 15 | METHOD_ITEMS = [ 16 | (LiveMode.METHOD_SERIAL, "Serial", "Connect via USB"), 17 | (LiveMode.METHOD_SOCKET, "Web Socket", "Connect via a web socket"), 18 | ] 19 | 20 | method: bpy.props.EnumProperty(items=METHOD_ITEMS) 21 | 22 | serial_port: bpy.props.StringProperty() 23 | serial_baud: bpy.props.IntProperty() 24 | 25 | socket_host: bpy.props.StringProperty() 26 | socket_port: bpy.props.IntProperty() 27 | socket_path: bpy.props.StringProperty() 28 | 29 | @classmethod 30 | def poll(cls, context): 31 | servo_animation = context.window_manager.servo_animation 32 | 33 | return ( 34 | not LiveMode.is_connected() 35 | and ( 36 | ( 37 | servo_animation.live_mode_method == LiveMode.METHOD_SERIAL 38 | and servo_animation.serial_port != "NONE" 39 | ) 40 | or ( 41 | servo_animation.live_mode_method == LiveMode.METHOD_SOCKET 42 | and servo_animation.socket_host != "" 43 | ) or bpy.app.background 44 | ) 45 | ) 46 | 47 | @classmethod 48 | def register_handler(cls): 49 | bpy.app.handlers.frame_change_post.append(LiveMode.handler) 50 | bpy.app.handlers.depsgraph_update_post.append(LiveMode.handler) 51 | LiveMode.handler(bpy.context.scene, None) 52 | 53 | def execute(self, context): 54 | servo_animation = context.window_manager.servo_animation 55 | servo_animation.live_mode_method = self.method 56 | 57 | if self.method == LiveMode.METHOD_SERIAL: 58 | return self.open_serial(context) 59 | 60 | if self.method == LiveMode.METHOD_SOCKET: 61 | return self.open_socket(context) 62 | 63 | self.report({'ERROR'}, "Unknown live mode method") 64 | 65 | return {'CANCELLED'} 66 | 67 | def open_serial(self, _context): 68 | try: 69 | serial_connection = serial.Serial(self.serial_port, self.serial_baud) 70 | except (serial.SerialException, ValueError): 71 | self.report( 72 | {'ERROR'}, 73 | ( 74 | f"Failed to open serial connection on port {self.serial_port} " 75 | f"with baud rate {self.serial_baud}" 76 | ) 77 | ) 78 | 79 | return {'CANCELLED'} 80 | 81 | LiveMode.set_connection(serial_connection) 82 | 83 | self.register_handler() 84 | self.report( 85 | {'INFO'}, 86 | f"Opened serial connection on port {self.serial_port} with baud rate {self.serial_baud}" 87 | ) 88 | 89 | return {'FINISHED'} 90 | 91 | def open_socket(self, _context): 92 | socket_url = f"ws://{self.socket_host}:{self.socket_port}{self.socket_path}" 93 | socket_connection = websocket.WebSocket() 94 | socket_connection.settimeout(1) 95 | 96 | try: 97 | socket_connection.connect(socket_url) 98 | except (websocket.WebSocketException, OSError): 99 | self.report({'ERROR'}, f"Failed to open web socket connection with {socket_url}") 100 | 101 | return {'CANCELLED'} 102 | 103 | LiveMode.set_connection(socket_connection) 104 | 105 | self.register_handler() 106 | self.report({'INFO'}, f"Opened web socket connection with {socket_url}") 107 | 108 | return {'FINISHED'} 109 | 110 | def invoke(self, context, _event): 111 | servo_animation = context.window_manager.servo_animation 112 | 113 | self.method = servo_animation.live_mode_method 114 | 115 | self.serial_port = servo_animation.serial_port 116 | self.serial_baud = int(servo_animation.serial_baud) 117 | 118 | self.socket_host = servo_animation.socket_host 119 | self.socket_port = servo_animation.socket_port 120 | self.socket_path = servo_animation.socket_path 121 | 122 | return self.execute(context) 123 | -------------------------------------------------------------------------------- /addon/ops/stop_live_mode.py: -------------------------------------------------------------------------------- 1 | import bpy 2 | 3 | from bpy.types import Operator 4 | from ..utils.live_mode import LiveMode 5 | 6 | 7 | class StopLiveMode(Operator): 8 | bl_idname = "servo_animation.stop_live_mode" 9 | bl_label = "Stop Live Mode" 10 | bl_description = "Stop sending live position values via the current live mode connection" 11 | bl_options = {'INTERNAL', 'BLOCKING'} 12 | 13 | unexpected: bpy.props.BoolProperty() 14 | 15 | @staticmethod 16 | def display_warning(popup_self, _context): 17 | popup_self.layout.label(text="Please check your setup and start the live mode again.") 18 | 19 | @classmethod 20 | def unregister_handler(cls): 21 | if bpy.app.handlers.frame_change_post.count(LiveMode.handler): 22 | bpy.app.handlers.frame_change_post.remove(LiveMode.handler) 23 | 24 | if bpy.app.handlers.depsgraph_update_post.count(LiveMode.handler): 25 | bpy.app.handlers.depsgraph_update_post.remove(LiveMode.handler) 26 | 27 | def execute(self, context): 28 | method = context.window_manager.servo_animation.live_mode_method 29 | 30 | LiveMode.close_connection() 31 | 32 | self.unregister_handler() 33 | 34 | if method == LiveMode.METHOD_SERIAL: 35 | connection_type = "serial" 36 | elif method == LiveMode.METHOD_SOCKET: 37 | connection_type = "web socket" 38 | else: 39 | self.report({'ERROR'}, "Unknown live mode method") 40 | 41 | return {'CANCELLED'} 42 | 43 | if self.unexpected: 44 | report_type = {'WARNING'} 45 | message = f"{connection_type.capitalize()} connection closed unexpectedly" 46 | context.window_manager.popup_menu(self.display_warning, title=message, icon='ERROR') 47 | else: 48 | report_type = {'INFO'} 49 | message = f"Closed {connection_type} connection" 50 | 51 | self.report(report_type, message) 52 | 53 | return {'FINISHED'} 54 | -------------------------------------------------------------------------------- /addon/props/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/addon/props/__init__.py -------------------------------------------------------------------------------- /addon/props/bone_property_group.py: -------------------------------------------------------------------------------- 1 | import bpy 2 | 3 | from bpy.types import PropertyGroup 4 | from ..utils.servo_settings import range_limit_value 5 | 6 | 7 | def update_position_min(self, _context): 8 | self.position_min = range_limit_value( 9 | self.position_min, None, self.position_max) 10 | 11 | 12 | def update_position_max(self, _context): 13 | self.position_max = range_limit_value( 14 | self.position_max, self.position_min, None) 15 | 16 | 17 | def update_neutral_angle(self, _context): 18 | self.neutral_angle = range_limit_value( 19 | self.neutral_angle, None, self.rotation_range) 20 | 21 | 22 | class BonePropertyGroup(PropertyGroup): 23 | active: bpy.props.BoolProperty( 24 | name="Provide Servo Settings", 25 | description="Provide servo settings for this bone" 26 | ) 27 | servo_id: bpy.props.IntProperty( 28 | name="Servo ID", 29 | default=0, 30 | min=0, 31 | max=255, 32 | description="The unique servo ID which is also used for sending live commands" 33 | ) 34 | position_min: bpy.props.IntProperty( 35 | name="Min Position", 36 | default=150, 37 | min=0, 38 | max=10000, 39 | description="The minimum position value before the servo physically stops moving", 40 | update=update_position_min 41 | ) 42 | position_max: bpy.props.IntProperty( 43 | name="Max Position", 44 | default=600, 45 | min=0, 46 | max=10000, 47 | description="The maximum position value before the servo physically stops moving", 48 | update=update_position_max 49 | ) 50 | threshold: bpy.props.IntProperty( 51 | name="Threshold", 52 | default=20, 53 | min=0, 54 | max=10000, 55 | description=( 56 | "The maximum value change between frames which is also " 57 | "used for frame jump handling in live mode" 58 | ) 59 | ) 60 | neutral_angle: bpy.props.IntProperty( 61 | name="Neutral Angle", 62 | default=90, 63 | min=0, 64 | max=360, 65 | description=( 66 | "The neutral angle of the servo in degrees (typically half the rotation range) " 67 | "which resembles the bone's position in the first frame" 68 | ), 69 | update=update_neutral_angle 70 | ) 71 | reverse_direction: bpy.props.BoolProperty( 72 | name="Reverse Direction", 73 | description=( 74 | "Whether the applied rotation should be reversed when converting to " 75 | "position value which might be necessary to reflect the servo's " 76 | "positioning within a specific build" 77 | ) 78 | ) 79 | multiplier: bpy.props.FloatProperty( 80 | name="Multiplier", 81 | default=1, 82 | min=0.1, 83 | max=100, 84 | precision=1, 85 | step=10, 86 | description=( 87 | "Multiplier to increase or decrease the rotation to adjust the " 88 | "intensity within a specific build" 89 | ) 90 | ) 91 | rotation_range: bpy.props.IntProperty( 92 | name="Rotation Range", 93 | default=180, 94 | min=0, 95 | max=360, 96 | description="The manufactured rotation range of the servo in degrees (typically 180)" 97 | ) 98 | rotation_axis: bpy.props.EnumProperty( 99 | name="Euler Rotation Axis", 100 | default=0, 101 | items=[ 102 | ('0', 'X', "X Euler rotation axis"), 103 | ('1', 'Y', "Y Euler rotation axis"), 104 | ('2', 'Z', "Z Euler rotation axis") 105 | ] 106 | ) 107 | -------------------------------------------------------------------------------- /addon/props/wm_property_group.py: -------------------------------------------------------------------------------- 1 | import bpy 2 | 3 | from bpy.types import PropertyGroup 4 | from ..ops.start_live_mode import StartLiveMode 5 | from ..utils.live_mode import LiveMode 6 | 7 | 8 | def get_serial_port_items(_self, _context): 9 | items = [] 10 | ports = LiveMode.get_serial_ports() 11 | 12 | if len(ports) < 1: 13 | items.append(("NONE", "No port available", "")) 14 | else: 15 | for port in ports: 16 | items.append((port, port, "")) 17 | 18 | return items 19 | 20 | 21 | class WindowManagerPropertyGroup(PropertyGroup): 22 | live_mode_method: bpy.props.EnumProperty( 23 | name="Method", 24 | items=StartLiveMode.METHOD_ITEMS 25 | ) 26 | serial_port: bpy.props.EnumProperty( 27 | name="Port", 28 | items=get_serial_port_items 29 | ) 30 | serial_baud: bpy.props.EnumProperty( 31 | name="Baud Rate", 32 | default="115200", 33 | items=[ 34 | ("19200", "19200", ""), 35 | ("115200", "115200", ""), 36 | ("192500", "192500", "") 37 | ] 38 | ) 39 | socket_host: bpy.props.StringProperty( 40 | name="Host", 41 | default="127.0.0.1" 42 | ) 43 | socket_port: bpy.props.IntProperty( 44 | name="Port", 45 | min=0, 46 | max=65535, 47 | default=80 48 | ) 49 | socket_path: bpy.props.StringProperty( 50 | name="Path", 51 | default="/" 52 | ) 53 | position_jump_handling: bpy.props.BoolProperty( 54 | name="Position Jump Handling", 55 | description=( 56 | "Slowly move the servos to their new position " 57 | "when the position difference exceeds the threshold" 58 | ), 59 | default=True 60 | ) 61 | -------------------------------------------------------------------------------- /addon/ui/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/addon/ui/__init__.py -------------------------------------------------------------------------------- /addon/ui/bone_panel.py: -------------------------------------------------------------------------------- 1 | 2 | from bpy.types import Panel 3 | from ..ops.calibrate_servo import CalibrateServo 4 | from ..utils.converter import calculate_position 5 | from ..utils.servo_settings import has_unique_servo_id 6 | 7 | 8 | class BonePanel(Panel): 9 | bl_label = "Servo Settings" 10 | bl_idname = "BONE_PT_servo" 11 | bl_space_type = 'PROPERTIES' 12 | bl_region_type = 'WINDOW' 13 | bl_context = "bone" 14 | 15 | @classmethod 16 | def poll(cls, context): 17 | return context.active_bone is not None 18 | 19 | def draw_header(self, context): 20 | servo_settings = context.active_bone.servo_settings 21 | layout = self.layout 22 | layout.prop(servo_settings, "active", text="") 23 | 24 | def draw(self, context): 25 | layout = self.layout 26 | layout.use_property_split = True 27 | servo_settings = context.active_bone.servo_settings 28 | 29 | layout.operator(CalibrateServo.bl_idname) 30 | layout.separator() 31 | 32 | self.draw_servo_id(servo_settings, context) 33 | 34 | layout.separator() 35 | 36 | col = layout.column(align=True) 37 | col.active = servo_settings.active 38 | col.prop(servo_settings, "position_min") 39 | col.prop(servo_settings, "position_max") 40 | 41 | col = layout.column(align=True) 42 | col.active = servo_settings.active 43 | col.prop(servo_settings, "threshold") 44 | 45 | layout.separator() 46 | 47 | col = layout.column(align=True) 48 | col.active = servo_settings.active 49 | col.prop(servo_settings, "neutral_angle") 50 | col.prop(servo_settings, "rotation_range") 51 | col.prop(servo_settings, "rotation_axis") 52 | 53 | layout.separator() 54 | 55 | col = layout.column() 56 | col.active = servo_settings.active 57 | col.prop(servo_settings, "multiplier") 58 | col.prop(servo_settings, "reverse_direction") 59 | 60 | if servo_settings.active and context.active_pose_bone is not None: 61 | self.draw_current(context) 62 | 63 | def draw_servo_id(self, servo_settings, context): 64 | layout = self.layout 65 | 66 | if servo_settings.active and not has_unique_servo_id(context.active_bone, context.scene): 67 | box = layout.box() 68 | box.label(text="Servo ID is not unique", icon="ERROR") 69 | 70 | col = layout.column() 71 | col.active = servo_settings.active 72 | col.prop(servo_settings, "servo_id") 73 | 74 | def draw_current(self, context): 75 | layout = self.layout 76 | box = layout.box() 77 | position, angle, in_range = calculate_position(context.active_pose_bone) 78 | 79 | if not in_range: 80 | box.label(text="Position is out of range", icon="ERROR") 81 | 82 | row = box.row() 83 | col = row.column(align=True) 84 | col.alignment = 'RIGHT' 85 | col.label(text="Frame:") 86 | col.label(text="Position value:") 87 | col.label(text="Angle:") 88 | col = row.column(align=True) 89 | col.label(text=str(context.scene.frame_current)) 90 | col.label(text=str(position)) 91 | col.label(text=str(angle) + "°") 92 | -------------------------------------------------------------------------------- /addon/ui/menu_panel.py: -------------------------------------------------------------------------------- 1 | from bpy.types import Panel 2 | from ..ops.json_export import JsonExport 3 | from ..ops.arduino_export import ArduinoExport 4 | from ..ops.binary_export import BinaryExport 5 | from ..ops.stop_live_mode import StopLiveMode 6 | from ..ops.start_live_mode import StartLiveMode 7 | from ..utils.live_mode import LiveMode 8 | 9 | 10 | class MenuPanel(Panel): 11 | bl_label = "Servo Animation" 12 | bl_idname = "TIMELINE_PT_servo" 13 | bl_space_type = 'SEQUENCE_EDITOR' 14 | bl_region_type = 'HEADER' 15 | 16 | def draw(self, context): 17 | layout = self.layout 18 | layout.use_property_split = True 19 | layout.use_property_decorate = False 20 | 21 | col = layout.column() 22 | col.label(text="Live Mode") 23 | 24 | self.draw_live_mode(context, layout, col) 25 | 26 | col = layout.column(align=True) 27 | col.label(text="Export") 28 | col.operator(ArduinoExport.bl_idname, text="Arduino (.h)") 29 | col.operator(JsonExport.bl_idname, text="JSON (.json)") 30 | col.operator(BinaryExport.bl_idname, text="Binary (.bin)") 31 | 32 | @classmethod 33 | def draw_live_mode(cls, context, layout, col): 34 | servo_animation = context.window_manager.servo_animation 35 | live_mode_is_connected = LiveMode.is_connected() 36 | 37 | if live_mode_is_connected: 38 | col.operator(StopLiveMode.bl_idname, 39 | text="Disconnect", depress=True) 40 | else: 41 | col.operator(StartLiveMode.bl_idname, text="Connect") 42 | 43 | col = layout.column(align=True) 44 | col.enabled = not live_mode_is_connected 45 | col.prop(servo_animation, "live_mode_method") 46 | 47 | if servo_animation.live_mode_method == LiveMode.METHOD_SERIAL: 48 | sub = col.column(align=True) 49 | sub.prop(servo_animation, "serial_port") 50 | col.prop(servo_animation, "serial_baud") 51 | 52 | if servo_animation.serial_port == 'NONE': 53 | sub.enabled = False 54 | 55 | elif servo_animation.live_mode_method == LiveMode.METHOD_SOCKET: 56 | col.prop(servo_animation, "socket_host") 57 | col.prop(servo_animation, "socket_port") 58 | col.prop(servo_animation, "socket_path") 59 | 60 | col = layout.column() 61 | col.prop(servo_animation, "position_jump_handling") 62 | -------------------------------------------------------------------------------- /addon/utils/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/addon/utils/__init__.py -------------------------------------------------------------------------------- /addon/utils/converter.py: -------------------------------------------------------------------------------- 1 | import math 2 | import mathutils 3 | 4 | 5 | def range_map(value, from_low, from_high, to_low, to_high): 6 | return (value - from_low) * (to_high - to_low) / (from_high - from_low) + to_low 7 | 8 | 9 | def matrix_visual(pose_bone): 10 | bone = pose_bone.bone 11 | 12 | matrix_pose_bone = pose_bone.matrix 13 | matrix_bone = bone.matrix_local 14 | 15 | if bone.parent: 16 | matrix_parent_bone = bone.parent.matrix_local.copy() 17 | matrix_parent_pose_bone = pose_bone.parent.matrix.copy() 18 | else: 19 | matrix_parent_bone = mathutils.Matrix() 20 | matrix_parent_pose_bone = mathutils.Matrix() 21 | 22 | matrix_bone_inverted = matrix_bone.copy().inverted() 23 | matrix_parent_pose_bone_inverted = matrix_parent_pose_bone.copy().inverted() 24 | 25 | return ( 26 | matrix_bone_inverted 27 | @ matrix_parent_bone 28 | @ matrix_parent_pose_bone_inverted 29 | @ matrix_pose_bone 30 | ) 31 | 32 | 33 | def calculate_position(pose_bone): 34 | servo_settings = pose_bone.bone.servo_settings 35 | rotation_euler = matrix_visual(pose_bone).to_euler() 36 | rotation_axis_index = int(servo_settings.rotation_axis) 37 | rotation_in_degrees = round(math.degrees( 38 | rotation_euler[rotation_axis_index]) * servo_settings.multiplier, 2) 39 | 40 | if servo_settings.reverse_direction: 41 | rotation_in_degrees = rotation_in_degrees * -1 42 | 43 | angle = servo_settings.neutral_angle - rotation_in_degrees 44 | position = round(range_map(angle, 0, servo_settings.rotation_range, 45 | servo_settings.position_min, servo_settings.position_max)) 46 | 47 | in_range = servo_settings.position_min <= position <= servo_settings.position_max 48 | 49 | return position, round(angle, 2), in_range 50 | 51 | 52 | def calculate_positions(context, skip_duplicates): 53 | pose_bones = [] 54 | positions = [] 55 | last_positions = {} 56 | window_manager = context.window_manager 57 | start = context.scene.frame_start 58 | end = context.scene.frame_end + 1 59 | 60 | window_manager.progress_begin(min=start, max=end) 61 | 62 | for pose_bone in context.object.pose.bones: 63 | servo_settings = pose_bone.bone.servo_settings 64 | if servo_settings.active: 65 | pose_bones.append(pose_bone) 66 | 67 | for frame in range(start, end): 68 | frame_positions = calculate_frame_positions( 69 | context, pose_bones, last_positions, skip_duplicates, frame) 70 | positions.append(frame_positions) 71 | window_manager.progress_update(frame) 72 | 73 | window_manager.progress_end() 74 | 75 | return positions 76 | 77 | 78 | def calculate_frame_positions(context, pose_bones, last_positions, skip_duplicates, frame): 79 | frame_positions = {} 80 | 81 | context.scene.frame_set(frame) 82 | 83 | for pose_bone in pose_bones: 84 | bone = pose_bone.bone 85 | servo_id = bone.servo_settings.servo_id 86 | position, _angle, in_range = calculate_position(pose_bone) 87 | 88 | if servo_id not in last_positions: 89 | last_positions[servo_id] = None 90 | 91 | if not in_range: 92 | raise RuntimeError( 93 | f"Calculated position {position} for bone {bone.name} " 94 | + f"is out of range at frame {frame}." 95 | ) 96 | 97 | if skip_duplicates and last_positions[servo_id] == position: 98 | continue 99 | 100 | frame_positions[servo_id] = position 101 | last_positions[servo_id] = position 102 | 103 | return frame_positions 104 | -------------------------------------------------------------------------------- /addon/utils/live_mode.py: -------------------------------------------------------------------------------- 1 | # pylint: disable=broad-exception-caught 2 | 3 | import time 4 | import math 5 | import bpy 6 | import serial 7 | import websocket 8 | 9 | from serial.tools import list_ports 10 | 11 | from ..utils.servo_settings import get_active_pose_bones 12 | from ..utils.converter import calculate_position 13 | 14 | class LiveMode: 15 | COMMAND_START = 0x3C 16 | COMMAND_END = 0x3E 17 | 18 | METHOD_SERIAL = "SERIAL" 19 | METHOD_SOCKET = "SOCKET" 20 | 21 | STEP_DURATION_BASE = .3 22 | 23 | _last_positions = {} 24 | _connection = None 25 | _handler_enabled = True 26 | 27 | @classmethod 28 | def set_connection(cls, connection): 29 | cls._connection = connection 30 | 31 | @classmethod 32 | def is_connected(cls): 33 | method = bpy.context.window_manager.servo_animation.live_mode_method 34 | 35 | if method == LiveMode.METHOD_SERIAL: 36 | return ( 37 | isinstance(cls._connection, serial.Serial) 38 | and cls._connection.is_open 39 | and ( 40 | cls._connection.port in cls.get_serial_ports() 41 | or bpy.app.background 42 | ) 43 | ) 44 | 45 | if method == LiveMode.METHOD_SOCKET: 46 | return ( 47 | isinstance(cls._connection, websocket.WebSocket) 48 | and cls._connection.connected 49 | ) 50 | 51 | return False 52 | 53 | @classmethod 54 | def is_handler_enabled(cls): 55 | return cls._handler_enabled 56 | 57 | @classmethod 58 | def enable_handler(cls): 59 | cls._handler_enabled = True 60 | 61 | @classmethod 62 | def disable_handler(cls): 63 | cls._handler_enabled = False 64 | 65 | @classmethod 66 | def get_serial_ports(cls): 67 | ports = [] 68 | 69 | for port in list_ports.comports(): 70 | ports.append(port.device) 71 | 72 | return ports 73 | 74 | @classmethod 75 | def get_last_position(cls, servo_id): 76 | if servo_id in cls._last_positions: 77 | return cls._last_positions[servo_id] 78 | 79 | return None 80 | 81 | @classmethod 82 | def handler(cls, _scene, _depsgraph): 83 | if not cls.is_handler_enabled(): 84 | return 85 | 86 | cls.disable_handler() 87 | 88 | threshold_exceeded = False 89 | target_positions = [] 90 | servo_animation = bpy.context.window_manager.servo_animation 91 | 92 | for pose_bone in get_active_pose_bones(bpy.context.scene): 93 | position, _angle, in_range = calculate_position(pose_bone) 94 | 95 | if not in_range: 96 | continue 97 | 98 | servo_settings = pose_bone.bone.servo_settings 99 | servo_id = servo_settings.servo_id 100 | step = round(servo_settings.threshold / 10) 101 | target_positions.append((servo_id, position, step)) 102 | 103 | if ( 104 | servo_id in cls._last_positions 105 | and abs(position - cls._last_positions[servo_id]) > servo_settings.threshold 106 | ): 107 | threshold_exceeded = True 108 | 109 | if (servo_animation.position_jump_handling and threshold_exceeded): 110 | cls.handle_position_jump(target_positions) 111 | else: 112 | cls.handle_default(target_positions) 113 | 114 | cls.enable_handler() 115 | 116 | @classmethod 117 | def handle_default(cls, target_positions): 118 | for servo_id, position, _step in target_positions: 119 | cls.send_position(servo_id, position) 120 | 121 | @classmethod 122 | def handle_position_jump(cls, target_positions): 123 | if bpy.context.screen.is_animation_playing: 124 | bpy.ops.screen.animation_cancel(restore_frame=False) 125 | 126 | abs_steps = 0 127 | 128 | for servo_id, position, step in target_positions: 129 | diff = abs(position - cls._last_positions[servo_id]) 130 | steps = math.ceil(diff / step) 131 | abs_steps = max(abs_steps, steps) 132 | 133 | window_manager = bpy.context.window_manager 134 | window_manager.progress_begin(0, abs_steps) 135 | 136 | for abs_step in range(abs_steps): 137 | window_manager.progress_update(abs_step) 138 | 139 | for servo_id, position, step in target_positions: 140 | new_position = cls._last_positions[servo_id] 141 | 142 | if position == new_position: 143 | continue 144 | 145 | if position > new_position: 146 | new_position += step 147 | else: 148 | new_position -= step 149 | 150 | if abs(position - new_position) < step: 151 | new_position = position 152 | 153 | cls.send_position(servo_id, new_position) 154 | 155 | time.sleep(.01) 156 | 157 | window_manager.progress_end() 158 | 159 | @classmethod 160 | def send_position(cls, servo_id, position): 161 | if position == cls._last_positions.get(servo_id): 162 | return 163 | 164 | command = [cls.COMMAND_START, servo_id] 165 | command += position.to_bytes(2, 'big') 166 | command += [cls.COMMAND_END] 167 | 168 | servo_animation = bpy.context.window_manager.servo_animation 169 | 170 | try: 171 | if servo_animation.live_mode_method == LiveMode.METHOD_SERIAL: 172 | cls._connection.write(command) 173 | elif servo_animation.live_mode_method == LiveMode.METHOD_SOCKET: 174 | cls._connection.send_binary(bytes(command)) 175 | 176 | cls._last_positions[servo_id] = position 177 | except Exception: 178 | bpy.ops.servo_animation.stop_live_mode(unexpected=True) 179 | 180 | @classmethod 181 | def close_connection(cls): 182 | cls._last_positions = {} 183 | 184 | if cls._connection: 185 | cls._connection.close() 186 | -------------------------------------------------------------------------------- /addon/utils/servo_settings.py: -------------------------------------------------------------------------------- 1 | def get_active_pose_bones(scene): 2 | pose_bones = [] 3 | 4 | for obj in scene.objects: 5 | if obj.type != "ARMATURE": 6 | continue 7 | 8 | for pose_bone in obj.pose.bones: 9 | if pose_bone.bone.servo_settings.active: 10 | pose_bones.append(pose_bone) 11 | 12 | return pose_bones 13 | 14 | 15 | def get_pose_bone_by_servo_id(servo_id, scene): 16 | for pose_bone in get_active_pose_bones(scene): 17 | if pose_bone.bone.servo_settings.servo_id == servo_id: 18 | return pose_bone 19 | 20 | return None 21 | 22 | 23 | def range_limit_value(value, min_value, max_value): 24 | if min_value is not None and value < min_value: 25 | return min_value 26 | if max_value is not None and value > max_value: 27 | return max_value 28 | return value 29 | 30 | 31 | def has_unique_servo_id(bone, scene): 32 | for pose_bone in get_active_pose_bones(scene): 33 | if pose_bone.bone.name == bone.name: 34 | continue 35 | if pose_bone.bone.servo_settings.servo_id == bone.servo_settings.servo_id: 36 | return False 37 | 38 | return True 39 | -------------------------------------------------------------------------------- /addon/wheels/pyserial-3.5-py2.py3-none-any.whl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/addon/wheels/pyserial-3.5-py2.py3-none-any.whl -------------------------------------------------------------------------------- /addon/wheels/websocket_client-1.5.1-py3-none-any.whl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/addon/wheels/websocket_client-1.5.1-py3-none-any.whl -------------------------------------------------------------------------------- /examples/IK/ik.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/examples/IK/ik.bin -------------------------------------------------------------------------------- /examples/IK/ik.blend: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/examples/IK/ik.blend -------------------------------------------------------------------------------- /examples/IK/ik.h: -------------------------------------------------------------------------------- 1 | /* 2 | Blender Servo Animation Positions 3 | 4 | FPS: 30 5 | Frames: 100 6 | Seconds: 3 7 | Bones: 2 8 | Armature: Armature 9 | Scene: Scene 10 | File: ik.blend 11 | */ 12 | 13 | #include 14 | 15 | const byte FPS = 30; 16 | const int FRAMES = 100; 17 | const int LENGTH = 1040; 18 | 19 | const byte PROGMEM ANIMATION_DATA[LENGTH] = { 20 | 0x3c, 0x00, 0x01, 0x77, 0x3e, 0x3c, 0x01, 0x01, 0x77, 0x3e, 0x0a, 0x3c, 21 | 0x00, 0x01, 0x78, 0x3e, 0x3c, 0x01, 0x01, 0x78, 0x3e, 0x0a, 0x3c, 0x00, 22 | 0x01, 0x79, 0x3e, 0x3c, 0x01, 0x01, 0x7b, 0x3e, 0x0a, 0x3c, 0x00, 0x01, 23 | 0x7c, 0x3e, 0x3c, 0x01, 0x01, 0x7f, 0x3e, 0x0a, 0x3c, 0x00, 0x01, 0x80, 24 | 0x3e, 0x3c, 0x01, 0x01, 0x84, 0x3e, 0x0a, 0x3c, 0x00, 0x01, 0x83, 0x3e, 25 | 0x3c, 0x01, 0x01, 0x8a, 0x3e, 0x0a, 0x3c, 0x00, 0x01, 0x87, 0x3e, 0x3c, 26 | 0x01, 0x01, 0x91, 0x3e, 0x0a, 0x3c, 0x00, 0x01, 0x8c, 0x3e, 0x3c, 0x01, 27 | 0x01, 0x99, 0x3e, 0x0a, 0x3c, 0x00, 0x01, 0x90, 0x3e, 0x3c, 0x01, 0x01, 28 | 0xa1, 0x3e, 0x0a, 0x3c, 0x00, 0x01, 0x93, 0x3e, 0x3c, 0x01, 0x01, 0xaa, 29 | 0x3e, 0x0a, 0x3c, 0x00, 0x01, 0x96, 0x3e, 0x3c, 0x01, 0x01, 0xb2, 0x3e, 30 | 0x0a, 0x3c, 0x00, 0x01, 0x98, 0x3e, 0x3c, 0x01, 0x01, 0xbb, 0x3e, 0x0a, 31 | 0x3c, 0x00, 0x01, 0x9a, 0x3e, 0x3c, 0x01, 0x01, 0xc2, 0x3e, 0x0a, 0x3c, 32 | 0x01, 0x01, 0xc9, 0x3e, 0x0a, 0x3c, 0x00, 0x01, 0x99, 0x3e, 0x3c, 0x01, 33 | 0x01, 0xcf, 0x3e, 0x0a, 0x3c, 0x00, 0x01, 0x96, 0x3e, 0x3c, 0x01, 0x01, 34 | 0xd4, 0x3e, 0x0a, 0x3c, 0x00, 0x01, 0x92, 0x3e, 0x3c, 0x01, 0x01, 0xd7, 35 | 0x3e, 0x0a, 0x3c, 0x00, 0x01, 0x8c, 0x3e, 0x3c, 0x01, 0x01, 0xd8, 0x3e, 36 | 0x0a, 0x3c, 0x00, 0x01, 0x86, 0x3e, 0x3c, 0x01, 0x01, 0xd7, 0x3e, 0x0a, 37 | 0x3c, 0x00, 0x01, 0x7e, 0x3e, 0x3c, 0x01, 0x01, 0xd5, 0x3e, 0x0a, 0x3c, 38 | 0x00, 0x01, 0x75, 0x3e, 0x3c, 0x01, 0x01, 0xd2, 0x3e, 0x0a, 0x3c, 0x00, 39 | 0x01, 0x6c, 0x3e, 0x3c, 0x01, 0x01, 0xce, 0x3e, 0x0a, 0x3c, 0x00, 0x01, 40 | 0x63, 0x3e, 0x3c, 0x01, 0x01, 0xc9, 0x3e, 0x0a, 0x3c, 0x00, 0x01, 0x5a, 41 | 0x3e, 0x3c, 0x01, 0x01, 0xc4, 0x3e, 0x0a, 0x3c, 0x00, 0x01, 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| }; 108 | -------------------------------------------------------------------------------- /examples/IK/ik.json: -------------------------------------------------------------------------------- 1 | { 2 | "description": "Blender Servo Animation Positions", 3 | "fps": 30, 4 | "frames": 100, 5 | "seconds": 3, 6 | "bones": 2, 7 | "armature": "Armature", 8 | "file": "ik.blend", 9 | "scene": "Scene", 10 | "positions": [ 11 | { 12 | "0": 375, 13 | "1": 375 14 | }, 15 | { 16 | "0": 376, 17 | "1": 376 18 | }, 19 | { 20 | "0": 377, 21 | "1": 379 22 | }, 23 | { 24 | "0": 380, 25 | "1": 383 26 | }, 27 | { 28 | "0": 384, 29 | "1": 388 30 | }, 31 | { 32 | "0": 387, 33 | "1": 394 34 | }, 35 | { 36 | "0": 391, 37 | "1": 401 38 | }, 39 | { 40 | "0": 396, 41 | "1": 409 42 | }, 43 | { 44 | "0": 400, 45 | "1": 417 46 | }, 47 | { 48 | "0": 403, 49 | "1": 426 50 | }, 51 | { 52 | "0": 406, 53 | "1": 434 54 | }, 55 | { 56 | "0": 408, 57 | "1": 443 58 | }, 59 | { 60 | "0": 410, 61 | "1": 450 62 | }, 63 | { 64 | "1": 457 65 | }, 66 | { 67 | "0": 409, 68 | "1": 463 69 | }, 70 | { 71 | "0": 406, 72 | "1": 468 73 | }, 74 | { 75 | "0": 402, 76 | "1": 471 77 | }, 78 | { 79 | "0": 396, 80 | "1": 472 81 | }, 82 | { 83 | "0": 390, 84 | "1": 471 85 | }, 86 | { 87 | "0": 382, 88 | "1": 469 89 | }, 90 | { 91 | "0": 373, 92 | "1": 466 93 | }, 94 | { 95 | "0": 364, 96 | "1": 462 97 | }, 98 | { 99 | "0": 355, 100 | "1": 457 101 | }, 102 | { 103 | "0": 346, 104 | "1": 452 105 | }, 106 | { 107 | "0": 338, 108 | "1": 447 109 | }, 110 | { 111 | "0": 330, 112 | "1": 441 113 | }, 114 | { 115 | "0": 323, 116 | "1": 437 117 | }, 118 | { 119 | "0": 318, 120 | "1": 432 121 | }, 122 | { 123 | "0": 314, 124 | "1": 428 125 | }, 126 | { 127 | "0": 311, 128 | "1": 424 129 | }, 130 | { 131 | "0": 309, 132 | "1": 420 133 | }, 134 | { 135 | "0": 307, 136 | "1": 416 137 | }, 138 | { 139 | "0": 305, 140 | "1": 411 141 | }, 142 | { 143 | "1": 407 144 | }, 145 | { 146 | "1": 402 147 | }, 148 | { 149 | "1": 398 150 | }, 151 | { 152 | "0": 306, 153 | "1": 394 154 | }, 155 | { 156 | "0": 307, 157 | "1": 389 158 | }, 159 | { 160 | "0": 309, 161 | "1": 384 162 | }, 163 | { 164 | "0": 311, 165 | "1": 380 166 | }, 167 | { 168 | "0": 314, 169 | "1": 375 170 | }, 171 | { 172 | "0": 317, 173 | "1": 370 174 | }, 175 | { 176 | "0": 320, 177 | "1": 366 178 | }, 179 | { 180 | "0": 323, 181 | "1": 361 182 | }, 183 | { 184 | "0": 327, 185 | "1": 356 186 | }, 187 | { 188 | "0": 331, 189 | "1": 352 190 | }, 191 | { 192 | "0": 335, 193 | "1": 347 194 | }, 195 | { 196 | "0": 339, 197 | "1": 342 198 | }, 199 | { 200 | "0": 343, 201 | "1": 337 202 | }, 203 | { 204 | "0": 347, 205 | "1": 333 206 | }, 207 | { 208 | "0": 351, 209 | "1": 328 210 | }, 211 | { 212 | "0": 356, 213 | "1": 324 214 | }, 215 | { 216 | "0": 360, 217 | "1": 319 218 | }, 219 | { 220 | "0": 364, 221 | "1": 315 222 | }, 223 | { 224 | "0": 369, 225 | "1": 312 226 | }, 227 | { 228 | "0": 374, 229 | "1": 309 230 | }, 231 | { 232 | "0": 380, 233 | "1": 308 234 | }, 235 | { 236 | "0": 386, 237 | "1": 307 238 | }, 239 | { 240 | "0": 392, 241 | "1": 306 242 | }, 243 | { 244 | "0": 398 245 | }, 246 | { 247 | "0": 404 248 | }, 249 | { 250 | "0": 410, 251 | "1": 307 252 | }, 253 | { 254 | "0": 415, 255 | "1": 308 256 | }, 257 | { 258 | "0": 420, 259 | "1": 309 260 | }, 261 | { 262 | "0": 425, 263 | "1": 310 264 | }, 265 | { 266 | "0": 429, 267 | "1": 311 268 | }, 269 | { 270 | "0": 432, 271 | "1": 312 272 | }, 273 | { 274 | "0": 435, 275 | "1": 313 276 | }, 277 | { 278 | "0": 436 279 | }, 280 | { 281 | "0": 437 282 | }, 283 | {}, 284 | { 285 | "0": 436, 286 | "1": 314 287 | }, 288 | { 289 | "0": 435, 290 | "1": 315 291 | }, 292 | { 293 | "0": 434, 294 | "1": 316 295 | }, 296 | { 297 | "0": 432, 298 | "1": 318 299 | }, 300 | { 301 | "0": 430, 302 | "1": 320 303 | }, 304 | { 305 | "0": 428, 306 | "1": 322 307 | }, 308 | { 309 | "0": 426, 310 | "1": 324 311 | }, 312 | { 313 | "0": 423, 314 | "1": 327 315 | }, 316 | { 317 | "0": 421, 318 | "1": 329 319 | }, 320 | { 321 | "0": 418, 322 | "1": 332 323 | }, 324 | { 325 | "0": 415, 326 | "1": 335 327 | }, 328 | { 329 | "0": 412, 330 | "1": 338 331 | }, 332 | { 333 | "0": 409, 334 | "1": 341 335 | }, 336 | { 337 | "0": 406, 338 | "1": 344 339 | }, 340 | { 341 | "0": 403, 342 | "1": 347 343 | }, 344 | { 345 | "0": 400, 346 | "1": 350 347 | }, 348 | { 349 | "0": 397, 350 | "1": 353 351 | }, 352 | { 353 | "0": 394, 354 | "1": 356 355 | }, 356 | { 357 | "0": 391, 358 | "1": 359 359 | }, 360 | { 361 | "0": 388, 362 | "1": 362 363 | }, 364 | { 365 | "0": 386, 366 | "1": 364 367 | }, 368 | { 369 | "0": 384, 370 | "1": 366 371 | }, 372 | { 373 | "0": 381, 374 | "1": 369 375 | }, 376 | { 377 | "0": 380, 378 | "1": 370 379 | }, 380 | { 381 | "0": 378, 382 | "1": 372 383 | }, 384 | { 385 | "0": 377, 386 | "1": 373 387 | }, 388 | { 389 | "0": 376, 390 | "1": 374 391 | }, 392 | { 393 | "0": 375, 394 | "1": 375 395 | }, 396 | {} 397 | ] 398 | } -------------------------------------------------------------------------------- /examples/Scenes/scene-a.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/examples/Scenes/scene-a.bin -------------------------------------------------------------------------------- /examples/Scenes/scene-a.h: -------------------------------------------------------------------------------- 1 | /* 2 | Blender Servo Animation Positions 3 | 4 | FPS: 30 5 | Frames: 100 6 | Seconds: 3 7 | Bones: 1 8 | Armature: Armature 9 | Scene: SceneA 10 | File: scenes.blend 11 | */ 12 | 13 | #include 14 | 15 | namespace SceneA { 16 | 17 | const byte FPS = 30; 18 | const int FRAMES = 100; 19 | const int LENGTH = 600; 20 | 21 | const byte PROGMEM ANIMATION_DATA[LENGTH] = { 22 | 0x3c, 0x00, 0x05, 0xc0, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xc1, 0x3e, 0x0a, 23 | 0x3c, 0x00, 0x05, 0xc5, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xcb, 0x3e, 0x0a, 24 | 0x3c, 0x00, 0x05, 0xd4, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xde, 0x3e, 0x0a, 25 | 0x3c, 0x00, 0x05, 0xeb, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xf9, 0x3e, 0x0a, 26 | 0x3c, 0x00, 0x06, 0x08, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x1a, 0x3e, 0x0a, 27 | 0x3c, 0x00, 0x06, 0x2c, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x3f, 0x3e, 0x0a, 28 | 0x3c, 0x00, 0x06, 0x53, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x68, 0x3e, 0x0a, 29 | 0x3c, 0x00, 0x06, 0x7d, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x92, 0x3e, 0x0a, 30 | 0x3c, 0x00, 0x06, 0xa8, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xbe, 0x3e, 0x0a, 31 | 0x3c, 0x00, 0x06, 0xd3, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xe8, 0x3e, 0x0a, 32 | 0x3c, 0x00, 0x06, 0xfd, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x11, 0x3e, 0x0a, 33 | 0x3c, 0x00, 0x07, 0x24, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x36, 0x3e, 0x0a, 34 | 0x3c, 0x00, 0x07, 0x48, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x57, 0x3e, 0x0a, 35 | 0x3c, 0x00, 0x07, 0x65, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x72, 0x3e, 0x0a, 36 | 0x3c, 0x00, 0x07, 0x7c, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x85, 0x3e, 0x0a, 37 | 0x3c, 0x00, 0x07, 0x8b, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x8f, 0x3e, 0x0a, 38 | 0x3c, 0x00, 0x07, 0x90, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x8e, 0x3e, 0x0a, 39 | 0x3c, 0x00, 0x07, 0x86, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x7a, 0x3e, 0x0a, 40 | 0x3c, 0x00, 0x07, 0x6a, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x57, 0x3e, 0x0a, 41 | 0x3c, 0x00, 0x07, 0x3f, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x24, 0x3e, 0x0a, 42 | 0x3c, 0x00, 0x07, 0x07, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xe7, 0x3e, 0x0a, 43 | 0x3c, 0x00, 0x06, 0xc4, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x9f, 0x3e, 0x0a, 44 | 0x3c, 0x00, 0x06, 0x79, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x51, 0x3e, 0x0a, 45 | 0x3c, 0x00, 0x06, 0x29, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xff, 0x3e, 0x0a, 46 | 0x3c, 0x00, 0x05, 0xd5, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xab, 0x3e, 0x0a, 47 | 0x3c, 0x00, 0x05, 0x81, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0x57, 0x3e, 0x0a, 48 | 0x3c, 0x00, 0x05, 0x2f, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0x07, 0x3e, 0x0a, 49 | 0x3c, 0x00, 0x04, 0xe1, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0xbc, 0x3e, 0x0a, 50 | 0x3c, 0x00, 0x04, 0x99, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0x79, 0x3e, 0x0a, 51 | 0x3c, 0x00, 0x04, 0x5c, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0x41, 0x3e, 0x0a, 52 | 0x3c, 0x00, 0x04, 0x29, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0x16, 0x3e, 0x0a, 53 | 0x3c, 0x00, 0x04, 0x06, 0x3e, 0x0a, 0x3c, 0x00, 0x03, 0xfa, 0x3e, 0x0a, 54 | 0x3c, 0x00, 0x03, 0xf2, 0x3e, 0x0a, 0x3c, 0x00, 0x03, 0xf0, 0x3e, 0x0a, 55 | 0x3c, 0x00, 0x03, 0xf1, 0x3e, 0x0a, 0x3c, 0x00, 0x03, 0xf5, 0x3e, 0x0a, 56 | 0x3c, 0x00, 0x03, 0xfa, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0x02, 0x3e, 0x0a, 57 | 0x3c, 0x00, 0x04, 0x0b, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0x16, 0x3e, 0x0a, 58 | 0x3c, 0x00, 0x04, 0x23, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0x31, 0x3e, 0x0a, 59 | 0x3c, 0x00, 0x04, 0x40, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0x51, 0x3e, 0x0a, 60 | 0x3c, 0x00, 0x04, 0x62, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0x75, 0x3e, 0x0a, 61 | 0x3c, 0x00, 0x04, 0x88, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0x9b, 0x3e, 0x0a, 62 | 0x3c, 0x00, 0x04, 0xaf, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0xc4, 0x3e, 0x0a, 63 | 0x3c, 0x00, 0x04, 0xd8, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0xec, 0x3e, 0x0a, 64 | 0x3c, 0x00, 0x05, 0x01, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0x15, 0x3e, 0x0a, 65 | 0x3c, 0x00, 0x05, 0x28, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0x3b, 0x3e, 0x0a, 66 | 0x3c, 0x00, 0x05, 0x4e, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0x5f, 0x3e, 0x0a, 67 | 0x3c, 0x00, 0x05, 0x70, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0x7f, 0x3e, 0x0a, 68 | 0x3c, 0x00, 0x05, 0x8d, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0x9a, 0x3e, 0x0a, 69 | 0x3c, 0x00, 0x05, 0xa5, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xae, 0x3e, 0x0a, 70 | 0x3c, 0x00, 0x05, 0xb6, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xbb, 0x3e, 0x0a, 71 | 0x3c, 0x00, 0x05, 0xbf, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xc0, 0x3e, 0x0a, 72 | }; 73 | 74 | } // namespace SceneA 75 | -------------------------------------------------------------------------------- /examples/Scenes/scene-a.json: -------------------------------------------------------------------------------- 1 | { 2 | "description": "Blender Servo Animation Positions", 3 | "fps": 30, 4 | "frames": 100, 5 | "seconds": 3, 6 | "bones": 1, 7 | "armature": "Armature", 8 | "file": "scenes.blend", 9 | "scene": "SceneA", 10 | "positions": [ 11 | { 12 | "0": 1472 13 | }, 14 | { 15 | "0": 1473 16 | }, 17 | { 18 | "0": 1477 19 | }, 20 | { 21 | "0": 1483 22 | }, 23 | { 24 | "0": 1492 25 | }, 26 | { 27 | "0": 1502 28 | }, 29 | { 30 | "0": 1515 31 | }, 32 | { 33 | "0": 1529 34 | }, 35 | { 36 | "0": 1544 37 | }, 38 | { 39 | "0": 1562 40 | }, 41 | { 42 | "0": 1580 43 | }, 44 | { 45 | "0": 1599 46 | }, 47 | { 48 | "0": 1619 49 | }, 50 | { 51 | "0": 1640 52 | }, 53 | { 54 | "0": 1661 55 | }, 56 | { 57 | "0": 1682 58 | }, 59 | { 60 | "0": 1704 61 | }, 62 | { 63 | "0": 1726 64 | }, 65 | { 66 | "0": 1747 67 | }, 68 | { 69 | "0": 1768 70 | }, 71 | { 72 | "0": 1789 73 | }, 74 | { 75 | "0": 1809 76 | }, 77 | { 78 | "0": 1828 79 | }, 80 | { 81 | "0": 1846 82 | }, 83 | { 84 | "0": 1864 85 | }, 86 | { 87 | "0": 1879 88 | }, 89 | { 90 | "0": 1893 91 | }, 92 | { 93 | "0": 1906 94 | }, 95 | { 96 | "0": 1916 97 | }, 98 | { 99 | "0": 1925 100 | }, 101 | { 102 | "0": 1931 103 | }, 104 | { 105 | "0": 1935 106 | }, 107 | { 108 | "0": 1936 109 | }, 110 | { 111 | "0": 1934 112 | }, 113 | { 114 | "0": 1926 115 | }, 116 | { 117 | "0": 1914 118 | }, 119 | { 120 | "0": 1898 121 | }, 122 | { 123 | "0": 1879 124 | }, 125 | { 126 | "0": 1855 127 | }, 128 | { 129 | "0": 1828 130 | }, 131 | { 132 | "0": 1799 133 | }, 134 | { 135 | "0": 1767 136 | }, 137 | { 138 | "0": 1732 139 | }, 140 | { 141 | "0": 1695 142 | }, 143 | { 144 | "0": 1657 145 | }, 146 | { 147 | "0": 1617 148 | }, 149 | { 150 | "0": 1577 151 | }, 152 | { 153 | "0": 1535 154 | }, 155 | { 156 | "0": 1493 157 | }, 158 | { 159 | "0": 1451 160 | }, 161 | { 162 | "0": 1409 163 | }, 164 | { 165 | "0": 1367 166 | }, 167 | { 168 | "0": 1327 169 | }, 170 | { 171 | "0": 1287 172 | }, 173 | { 174 | "0": 1249 175 | }, 176 | { 177 | "0": 1212 178 | }, 179 | { 180 | "0": 1177 181 | }, 182 | { 183 | "0": 1145 184 | }, 185 | { 186 | "0": 1116 187 | }, 188 | { 189 | "0": 1089 190 | }, 191 | { 192 | "0": 1065 193 | }, 194 | { 195 | "0": 1046 196 | }, 197 | { 198 | "0": 1030 199 | }, 200 | { 201 | "0": 1018 202 | }, 203 | { 204 | "0": 1010 205 | }, 206 | { 207 | "0": 1008 208 | }, 209 | { 210 | "0": 1009 211 | }, 212 | { 213 | "0": 1013 214 | }, 215 | { 216 | "0": 1018 217 | }, 218 | { 219 | "0": 1026 220 | }, 221 | { 222 | "0": 1035 223 | }, 224 | { 225 | "0": 1046 226 | }, 227 | { 228 | "0": 1059 229 | }, 230 | { 231 | "0": 1073 232 | }, 233 | { 234 | "0": 1088 235 | }, 236 | { 237 | "0": 1105 238 | }, 239 | { 240 | "0": 1122 241 | }, 242 | { 243 | "0": 1141 244 | }, 245 | { 246 | "0": 1160 247 | }, 248 | { 249 | "0": 1179 250 | }, 251 | { 252 | "0": 1199 253 | }, 254 | { 255 | "0": 1220 256 | }, 257 | { 258 | "0": 1240 259 | }, 260 | { 261 | "0": 1260 262 | }, 263 | { 264 | "0": 1281 265 | }, 266 | { 267 | "0": 1301 268 | }, 269 | { 270 | "0": 1320 271 | }, 272 | { 273 | "0": 1339 274 | }, 275 | { 276 | "0": 1358 277 | }, 278 | { 279 | "0": 1375 280 | }, 281 | { 282 | "0": 1392 283 | }, 284 | { 285 | "0": 1407 286 | }, 287 | { 288 | "0": 1421 289 | }, 290 | { 291 | "0": 1434 292 | }, 293 | { 294 | "0": 1445 295 | }, 296 | { 297 | "0": 1454 298 | }, 299 | { 300 | "0": 1462 301 | }, 302 | { 303 | "0": 1467 304 | }, 305 | { 306 | "0": 1471 307 | }, 308 | { 309 | "0": 1472 310 | } 311 | ] 312 | } -------------------------------------------------------------------------------- /examples/Scenes/scene-b.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/examples/Scenes/scene-b.bin -------------------------------------------------------------------------------- /examples/Scenes/scene-b.h: -------------------------------------------------------------------------------- 1 | /* 2 | Blender Servo Animation Positions 3 | 4 | FPS: 60 5 | Frames: 200 6 | Seconds: 3 7 | Bones: 1 8 | Armature: Armature.001 9 | Scene: SceneB 10 | File: scenes.blend 11 | */ 12 | 13 | #include 14 | 15 | namespace SceneB { 16 | 17 | const byte FPS = 60; 18 | const int FRAMES = 200; 19 | const int LENGTH = 1160; 20 | 21 | const byte PROGMEM ANIMATION_DATA[LENGTH] = { 22 | 0x3c, 0x00, 0x05, 0xc0, 0x3e, 0x0a, 0x0a, 0x3c, 0x00, 0x05, 0xc1, 0x3e, 23 | 0x0a, 0x0a, 0x3c, 0x00, 0x05, 0xc2, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xc3, 24 | 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xc5, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xc7, 25 | 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xc9, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xcb, 26 | 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xcd, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xd0, 27 | 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xd3, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xd6, 28 | 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xd9, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xdd, 29 | 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xe0, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xe4, 30 | 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xe8, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xed, 31 | 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xf1, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xf6, 32 | 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xfb, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x00, 33 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x05, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x0a, 34 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x0f, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x15, 35 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x1a, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x20, 36 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x26, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x2c, 37 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x32, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x38, 38 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x3f, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x45, 39 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x4b, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x52, 40 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x59, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x5f, 41 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x66, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x6d, 42 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x74, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x7b, 43 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x82, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x88, 44 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x8f, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x96, 45 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x9d, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xa4, 46 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xac, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xb3, 47 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xba, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xc1, 48 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xc8, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xce, 49 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xd5, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xdc, 50 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xe3, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xea, 51 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xf1, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xf7, 52 | 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xfe, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x05, 53 | 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x0b, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x11, 54 | 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x18, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x1e, 55 | 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x24, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x2a, 56 | 0x3e, 0x0a, 0x3c, 0x00, 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0x07, 0x8f, 0x3e, 0x0a, 0x0a, 0x3c, 0x00, 0x07, 70 | 0x90, 0x3e, 0x0a, 0x0a, 0x0a, 0x3c, 0x00, 0x07, 0x8f, 0x3e, 0x0a, 0x0a, 71 | 0x3c, 0x00, 0x07, 0x8e, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x8d, 0x3e, 0x0a, 72 | 0x3c, 0x00, 0x07, 0x8b, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x8a, 0x3e, 0x0a, 73 | 0x3c, 0x00, 0x07, 0x88, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x85, 0x3e, 0x0a, 74 | 0x3c, 0x00, 0x07, 0x83, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x80, 0x3e, 0x0a, 75 | 0x3c, 0x00, 0x07, 0x7e, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x7b, 0x3e, 0x0a, 76 | 0x3c, 0x00, 0x07, 0x77, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x74, 0x3e, 0x0a, 77 | 0x3c, 0x00, 0x07, 0x70, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x6c, 0x3e, 0x0a, 78 | 0x3c, 0x00, 0x07, 0x68, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x64, 0x3e, 0x0a, 79 | 0x3c, 0x00, 0x07, 0x60, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x5b, 0x3e, 0x0a, 80 | 0x3c, 0x00, 0x07, 0x56, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x52, 0x3e, 0x0a, 81 | 0x3c, 0x00, 0x07, 0x4d, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x48, 0x3e, 0x0a, 82 | 0x3c, 0x00, 0x07, 0x42, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x3d, 0x3e, 0x0a, 83 | 0x3c, 0x00, 0x07, 0x37, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x32, 0x3e, 0x0a, 84 | 0x3c, 0x00, 0x07, 0x2c, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x26, 0x3e, 0x0a, 85 | 0x3c, 0x00, 0x07, 0x20, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x1a, 0x3e, 0x0a, 86 | 0x3c, 0x00, 0x07, 0x14, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x0d, 0x3e, 0x0a, 87 | 0x3c, 0x00, 0x07, 0x07, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x00, 0x3e, 0x0a, 88 | 0x3c, 0x00, 0x06, 0xfa, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xf3, 0x3e, 0x0a, 89 | 0x3c, 0x00, 0x06, 0xed, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xe6, 0x3e, 0x0a, 90 | 0x3c, 0x00, 0x06, 0xdf, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xd8, 0x3e, 0x0a, 91 | 0x3c, 0x00, 0x06, 0xd2, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xcb, 0x3e, 0x0a, 92 | 0x3c, 0x00, 0x06, 0xc4, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xbd, 0x3e, 0x0a, 93 | 0x3c, 0x00, 0x06, 0xb6, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xaf, 0x3e, 0x0a, 94 | 0x3c, 0x00, 0x06, 0xa8, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xa1, 0x3e, 0x0a, 95 | 0x3c, 0x00, 0x06, 0x9a, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x93, 0x3e, 0x0a, 96 | 0x3c, 0x00, 0x06, 0x8c, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x85, 0x3e, 0x0a, 97 | 0x3c, 0x00, 0x06, 0x7e, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x78, 0x3e, 0x0a, 98 | 0x3c, 0x00, 0x06, 0x71, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x6a, 0x3e, 0x0a, 99 | 0x3c, 0x00, 0x06, 0x63, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x5d, 0x3e, 0x0a, 100 | 0x3c, 0x00, 0x06, 0x56, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x50, 0x3e, 0x0a, 101 | 0x3c, 0x00, 0x06, 0x49, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x43, 0x3e, 0x0a, 102 | 0x3c, 0x00, 0x06, 0x3c, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x36, 0x3e, 0x0a, 103 | 0x3c, 0x00, 0x06, 0x30, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x2a, 0x3e, 0x0a, 104 | 0x3c, 0x00, 0x06, 0x24, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x1e, 0x3e, 0x0a, 105 | 0x3c, 0x00, 0x06, 0x19, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x13, 0x3e, 0x0a, 106 | 0x3c, 0x00, 0x06, 0x0e, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x08, 0x3e, 0x0a, 107 | 0x3c, 0x00, 0x06, 0x03, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xfe, 0x3e, 0x0a, 108 | 0x3c, 0x00, 0x05, 0xfa, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xf5, 0x3e, 0x0a, 109 | 0x3c, 0x00, 0x05, 0xf0, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xec, 0x3e, 0x0a, 110 | 0x3c, 0x00, 0x05, 0xe8, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xe4, 0x3e, 0x0a, 111 | 0x3c, 0x00, 0x05, 0xe0, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xdc, 0x3e, 0x0a, 112 | 0x3c, 0x00, 0x05, 0xd9, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xd5, 0x3e, 0x0a, 113 | 0x3c, 0x00, 0x05, 0xd2, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xd0, 0x3e, 0x0a, 114 | 0x3c, 0x00, 0x05, 0xcd, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xcb, 0x3e, 0x0a, 115 | 0x3c, 0x00, 0x05, 0xc8, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xc6, 0x3e, 0x0a, 116 | 0x3c, 0x00, 0x05, 0xc5, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xc3, 0x3e, 0x0a, 117 | 0x3c, 0x00, 0x05, 0xc2, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xc1, 0x3e, 0x0a, 118 | 0x0a, 0x3c, 0x00, 0x05, 0xc0, 0x3e, 0x0a, 0x0a, 119 | }; 120 | 121 | } // namespace SceneB 122 | -------------------------------------------------------------------------------- /examples/Scenes/scene-b.json: -------------------------------------------------------------------------------- 1 | { 2 | "description": "Blender Servo Animation Positions", 3 | "fps": 60, 4 | "frames": 200, 5 | "seconds": 3, 6 | "bones": 0, 7 | "armature": "Armature.001", 8 | "file": "scenes.blend", 9 | "scene": "SceneB", 10 | "positions": [ 11 | { 12 | "0": 1472 13 | }, 14 | {}, 15 | { 16 | "0": 1473 17 | }, 18 | {}, 19 | { 20 | "0": 1474 21 | }, 22 | { 23 | "0": 1475 24 | }, 25 | { 26 | "0": 1477 27 | }, 28 | { 29 | "0": 1479 30 | }, 31 | { 32 | "0": 1481 33 | }, 34 | { 35 | "0": 1483 36 | }, 37 | { 38 | "0": 1485 39 | }, 40 | { 41 | "0": 1488 42 | }, 43 | { 44 | "0": 1491 45 | }, 46 | { 47 | "0": 1494 48 | }, 49 | { 50 | "0": 1497 51 | }, 52 | { 53 | "0": 1501 54 | }, 55 | { 56 | "0": 1504 57 | }, 58 | { 59 | "0": 1508 60 | }, 61 | { 62 | "0": 1512 63 | }, 64 | { 65 | "0": 1517 66 | }, 67 | { 68 | "0": 1521 69 | }, 70 | { 71 | "0": 1526 72 | }, 73 | { 74 | "0": 1531 75 | }, 76 | { 77 | "0": 1536 78 | }, 79 | { 80 | "0": 1541 81 | }, 82 | { 83 | "0": 1546 84 | }, 85 | { 86 | "0": 1551 87 | }, 88 | { 89 | "0": 1557 90 | }, 91 | { 92 | "0": 1562 93 | }, 94 | { 95 | "0": 1568 96 | }, 97 | { 98 | "0": 1574 99 | }, 100 | { 101 | "0": 1580 102 | }, 103 | { 104 | "0": 1586 105 | }, 106 | { 107 | "0": 1592 108 | }, 109 | { 110 | "0": 1599 111 | }, 112 | { 113 | "0": 1605 114 | }, 115 | { 116 | "0": 1611 117 | }, 118 | { 119 | "0": 1618 120 | }, 121 | { 122 | "0": 1625 123 | }, 124 | { 125 | "0": 1631 126 | }, 127 | { 128 | "0": 1638 129 | }, 130 | { 131 | "0": 1645 132 | }, 133 | { 134 | "0": 1652 135 | }, 136 | { 137 | "0": 1659 138 | }, 139 | { 140 | "0": 1666 141 | }, 142 | { 143 | "0": 1672 144 | }, 145 | { 146 | "0": 1679 147 | }, 148 | { 149 | "0": 1686 150 | }, 151 | { 152 | "0": 1693 153 | }, 154 | { 155 | "0": 1700 156 | }, 157 | { 158 | "0": 1708 159 | }, 160 | { 161 | "0": 1715 162 | }, 163 | { 164 | "0": 1722 165 | }, 166 | { 167 | "0": 1729 168 | }, 169 | { 170 | "0": 1736 171 | }, 172 | { 173 | "0": 1742 174 | }, 175 | { 176 | "0": 1749 177 | }, 178 | { 179 | "0": 1756 180 | }, 181 | { 182 | "0": 1763 183 | }, 184 | { 185 | "0": 1770 186 | }, 187 | { 188 | "0": 1777 189 | }, 190 | { 191 | "0": 1783 192 | }, 193 | { 194 | "0": 1790 195 | }, 196 | { 197 | "0": 1797 198 | }, 199 | { 200 | "0": 1803 201 | }, 202 | { 203 | "0": 1809 204 | }, 205 | { 206 | "0": 1816 207 | }, 208 | { 209 | "0": 1822 210 | }, 211 | { 212 | "0": 1828 213 | }, 214 | { 215 | "0": 1834 216 | }, 217 | { 218 | "0": 1840 219 | }, 220 | { 221 | "0": 1846 222 | }, 223 | { 224 | "0": 1851 225 | }, 226 | { 227 | "0": 1857 228 | }, 229 | { 230 | "0": 1862 231 | }, 232 | { 233 | "0": 1867 234 | }, 235 | { 236 | "0": 1872 237 | }, 238 | { 239 | "0": 1877 240 | }, 241 | { 242 | "0": 1882 243 | }, 244 | { 245 | "0": 1887 246 | }, 247 | { 248 | "0": 1891 249 | }, 250 | { 251 | "0": 1896 252 | }, 253 | { 254 | "0": 1900 255 | }, 256 | { 257 | "0": 1904 258 | }, 259 | { 260 | "0": 1907 261 | }, 262 | { 263 | "0": 1911 264 | }, 265 | { 266 | "0": 1914 267 | }, 268 | { 269 | "0": 1917 270 | }, 271 | { 272 | "0": 1920 273 | }, 274 | { 275 | "0": 1923 276 | }, 277 | { 278 | "0": 1925 279 | }, 280 | { 281 | "0": 1927 282 | }, 283 | { 284 | "0": 1929 285 | }, 286 | { 287 | "0": 1931 288 | }, 289 | { 290 | "0": 1933 291 | }, 292 | { 293 | "0": 1934 294 | }, 295 | { 296 | "0": 1935 297 | }, 298 | {}, 299 | { 300 | "0": 1936 301 | }, 302 | {}, 303 | {}, 304 | { 305 | "0": 1935 306 | }, 307 | {}, 308 | { 309 | "0": 1934 310 | }, 311 | { 312 | "0": 1933 313 | }, 314 | { 315 | "0": 1931 316 | }, 317 | { 318 | "0": 1930 319 | }, 320 | { 321 | "0": 1928 322 | }, 323 | { 324 | "0": 1925 325 | }, 326 | { 327 | "0": 1923 328 | }, 329 | { 330 | "0": 1920 331 | }, 332 | { 333 | "0": 1918 334 | }, 335 | { 336 | "0": 1915 337 | }, 338 | { 339 | "0": 1911 340 | }, 341 | { 342 | "0": 1908 343 | }, 344 | { 345 | "0": 1904 346 | }, 347 | { 348 | "0": 1900 349 | }, 350 | { 351 | "0": 1896 352 | }, 353 | { 354 | "0": 1892 355 | }, 356 | { 357 | "0": 1888 358 | }, 359 | { 360 | "0": 1883 361 | }, 362 | { 363 | "0": 1878 364 | }, 365 | { 366 | "0": 1874 367 | }, 368 | { 369 | "0": 1869 370 | }, 371 | { 372 | "0": 1864 373 | }, 374 | { 375 | "0": 1858 376 | }, 377 | { 378 | "0": 1853 379 | }, 380 | { 381 | "0": 1847 382 | }, 383 | { 384 | "0": 1842 385 | }, 386 | { 387 | "0": 1836 388 | }, 389 | { 390 | "0": 1830 391 | }, 392 | { 393 | "0": 1824 394 | }, 395 | { 396 | "0": 1818 397 | }, 398 | { 399 | "0": 1812 400 | }, 401 | { 402 | "0": 1805 403 | }, 404 | { 405 | "0": 1799 406 | }, 407 | { 408 | "0": 1792 409 | }, 410 | { 411 | "0": 1786 412 | }, 413 | { 414 | "0": 1779 415 | }, 416 | { 417 | "0": 1773 418 | }, 419 | { 420 | "0": 1766 421 | }, 422 | { 423 | "0": 1759 424 | }, 425 | { 426 | "0": 1752 427 | }, 428 | { 429 | "0": 1746 430 | }, 431 | { 432 | "0": 1739 433 | }, 434 | { 435 | "0": 1732 436 | }, 437 | { 438 | "0": 1725 439 | }, 440 | { 441 | "0": 1718 442 | }, 443 | { 444 | "0": 1711 445 | }, 446 | { 447 | "0": 1704 448 | }, 449 | { 450 | "0": 1697 451 | }, 452 | { 453 | "0": 1690 454 | }, 455 | { 456 | "0": 1683 457 | }, 458 | { 459 | "0": 1676 460 | }, 461 | { 462 | "0": 1669 463 | }, 464 | { 465 | "0": 1662 466 | }, 467 | { 468 | "0": 1656 469 | }, 470 | { 471 | "0": 1649 472 | }, 473 | { 474 | "0": 1642 475 | }, 476 | { 477 | "0": 1635 478 | }, 479 | { 480 | "0": 1629 481 | }, 482 | { 483 | "0": 1622 484 | }, 485 | { 486 | "0": 1616 487 | }, 488 | { 489 | "0": 1609 490 | }, 491 | { 492 | "0": 1603 493 | }, 494 | { 495 | "0": 1596 496 | }, 497 | { 498 | "0": 1590 499 | }, 500 | { 501 | "0": 1584 502 | }, 503 | { 504 | "0": 1578 505 | }, 506 | { 507 | "0": 1572 508 | }, 509 | { 510 | "0": 1566 511 | }, 512 | { 513 | "0": 1561 514 | }, 515 | { 516 | "0": 1555 517 | }, 518 | { 519 | "0": 1550 520 | }, 521 | { 522 | "0": 1544 523 | }, 524 | { 525 | "0": 1539 526 | }, 527 | { 528 | "0": 1534 529 | }, 530 | { 531 | "0": 1530 532 | }, 533 | { 534 | "0": 1525 535 | }, 536 | { 537 | "0": 1520 538 | }, 539 | { 540 | "0": 1516 541 | }, 542 | { 543 | "0": 1512 544 | }, 545 | { 546 | "0": 1508 547 | }, 548 | { 549 | "0": 1504 550 | }, 551 | { 552 | "0": 1500 553 | }, 554 | { 555 | "0": 1497 556 | }, 557 | { 558 | "0": 1493 559 | }, 560 | { 561 | "0": 1490 562 | }, 563 | { 564 | "0": 1488 565 | }, 566 | { 567 | "0": 1485 568 | }, 569 | { 570 | "0": 1483 571 | }, 572 | { 573 | "0": 1480 574 | }, 575 | { 576 | "0": 1478 577 | }, 578 | { 579 | "0": 1477 580 | }, 581 | { 582 | "0": 1475 583 | }, 584 | { 585 | "0": 1474 586 | }, 587 | { 588 | "0": 1473 589 | }, 590 | {}, 591 | { 592 | "0": 1472 593 | }, 594 | {} 595 | ] 596 | } -------------------------------------------------------------------------------- /examples/Scenes/scenes.blend: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/examples/Scenes/scenes.blend -------------------------------------------------------------------------------- /examples/Simple/simple.bin: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/examples/Simple/simple.bin -------------------------------------------------------------------------------- /examples/Simple/simple.blend: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/examples/Simple/simple.blend -------------------------------------------------------------------------------- /examples/Simple/simple.h: -------------------------------------------------------------------------------- 1 | /* 2 | Blender Servo Animation Positions 3 | 4 | FPS: 30 5 | Frames: 100 6 | Seconds: 3 7 | Bones: 1 8 | Armature: Armature 9 | Scene: Scene 10 | File: simple.blend 11 | */ 12 | 13 | #include 14 | 15 | const byte FPS = 30; 16 | const int FRAMES = 100; 17 | const int LENGTH = 600; 18 | 19 | const byte PROGMEM ANIMATION_DATA[LENGTH] = { 20 | 0x3c, 0x00, 0x05, 0xc0, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xc5, 0x3e, 0x0a, 21 | 0x3c, 0x00, 0x05, 0xd2, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xe8, 0x3e, 0x0a, 22 | 0x3c, 0x00, 0x06, 0x05, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x28, 0x3e, 0x0a, 23 | 0x3c, 0x00, 0x06, 0x51, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x7f, 0x3e, 0x0a, 24 | 0x3c, 0x00, 0x06, 0xb1, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0xe6, 0x3e, 0x0a, 25 | 0x3c, 0x00, 0x07, 0x1d, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x56, 0x3e, 0x0a, 26 | 0x3c, 0x00, 0x07, 0x90, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0xca, 0x3e, 0x0a, 27 | 0x3c, 0x00, 0x08, 0x03, 0x3e, 0x0a, 0x3c, 0x00, 0x08, 0x3a, 0x3e, 0x0a, 28 | 0x3c, 0x00, 0x08, 0x6f, 0x3e, 0x0a, 0x3c, 0x00, 0x08, 0xa1, 0x3e, 0x0a, 29 | 0x3c, 0x00, 0x08, 0xcf, 0x3e, 0x0a, 0x3c, 0x00, 0x08, 0xf8, 0x3e, 0x0a, 30 | 0x3c, 0x00, 0x09, 0x1b, 0x3e, 0x0a, 0x3c, 0x00, 0x09, 0x38, 0x3e, 0x0a, 31 | 0x3c, 0x00, 0x09, 0x4e, 0x3e, 0x0a, 0x3c, 0x00, 0x09, 0x5b, 0x3e, 0x0a, 32 | 0x3c, 0x00, 0x09, 0x60, 0x3e, 0x0a, 0x3c, 0x00, 0x09, 0x5e, 0x3e, 0x0a, 33 | 0x3c, 0x00, 0x09, 0x57, 0x3e, 0x0a, 0x3c, 0x00, 0x09, 0x4d, 0x3e, 0x0a, 34 | 0x3c, 0x00, 0x09, 0x3e, 0x3e, 0x0a, 0x3c, 0x00, 0x09, 0x2c, 0x3e, 0x0a, 35 | 0x3c, 0x00, 0x09, 0x16, 0x3e, 0x0a, 0x3c, 0x00, 0x08, 0xfd, 0x3e, 0x0a, 36 | 0x3c, 0x00, 0x08, 0xe1, 0x3e, 0x0a, 0x3c, 0x00, 0x08, 0xc1, 0x3e, 0x0a, 37 | 0x3c, 0x00, 0x08, 0x9f, 0x3e, 0x0a, 0x3c, 0x00, 0x08, 0x7a, 0x3e, 0x0a, 38 | 0x3c, 0x00, 0x08, 0x53, 0x3e, 0x0a, 0x3c, 0x00, 0x08, 0x29, 0x3e, 0x0a, 39 | 0x3c, 0x00, 0x07, 0xfd, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0xcf, 0x3e, 0x0a, 40 | 0x3c, 0x00, 0x07, 0x9f, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x6e, 0x3e, 0x0a, 41 | 0x3c, 0x00, 0x07, 0x3c, 0x3e, 0x0a, 0x3c, 0x00, 0x07, 0x08, 0x3e, 0x0a, 42 | 0x3c, 0x00, 0x06, 0xd3, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x9d, 0x3e, 0x0a, 43 | 0x3c, 0x00, 0x06, 0x66, 0x3e, 0x0a, 0x3c, 0x00, 0x06, 0x2f, 0x3e, 0x0a, 44 | 0x3c, 0x00, 0x05, 0xf8, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xc0, 0x3e, 0x0a, 45 | 0x3c, 0x00, 0x05, 0x88, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0x51, 0x3e, 0x0a, 46 | 0x3c, 0x00, 0x05, 0x1a, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0xe3, 0x3e, 0x0a, 47 | 0x3c, 0x00, 0x04, 0xad, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0x78, 0x3e, 0x0a, 48 | 0x3c, 0x00, 0x04, 0x44, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0x12, 0x3e, 0x0a, 49 | 0x3c, 0x00, 0x03, 0xe1, 0x3e, 0x0a, 0x3c, 0x00, 0x03, 0xb1, 0x3e, 0x0a, 50 | 0x3c, 0x00, 0x03, 0x83, 0x3e, 0x0a, 0x3c, 0x00, 0x03, 0x57, 0x3e, 0x0a, 51 | 0x3c, 0x00, 0x03, 0x2d, 0x3e, 0x0a, 0x3c, 0x00, 0x03, 0x06, 0x3e, 0x0a, 52 | 0x3c, 0x00, 0x02, 0xe1, 0x3e, 0x0a, 0x3c, 0x00, 0x02, 0xbf, 0x3e, 0x0a, 53 | 0x3c, 0x00, 0x02, 0x9f, 0x3e, 0x0a, 0x3c, 0x00, 0x02, 0x83, 0x3e, 0x0a, 54 | 0x3c, 0x00, 0x02, 0x6a, 0x3e, 0x0a, 0x3c, 0x00, 0x02, 0x54, 0x3e, 0x0a, 55 | 0x3c, 0x00, 0x02, 0x42, 0x3e, 0x0a, 0x3c, 0x00, 0x02, 0x33, 0x3e, 0x0a, 56 | 0x3c, 0x00, 0x02, 0x29, 0x3e, 0x0a, 0x3c, 0x00, 0x02, 0x22, 0x3e, 0x0a, 57 | 0x3c, 0x00, 0x02, 0x20, 0x3e, 0x0a, 0x3c, 0x00, 0x02, 0x24, 0x3e, 0x0a, 58 | 0x3c, 0x00, 0x02, 0x31, 0x3e, 0x0a, 0x3c, 0x00, 0x02, 0x45, 0x3e, 0x0a, 59 | 0x3c, 0x00, 0x02, 0x60, 0x3e, 0x0a, 0x3c, 0x00, 0x02, 0x81, 0x3e, 0x0a, 60 | 0x3c, 0x00, 0x02, 0xa7, 0x3e, 0x0a, 0x3c, 0x00, 0x02, 0xd2, 0x3e, 0x0a, 61 | 0x3c, 0x00, 0x03, 0x00, 0x3e, 0x0a, 0x3c, 0x00, 0x03, 0x32, 0x3e, 0x0a, 62 | 0x3c, 0x00, 0x03, 0x67, 0x3e, 0x0a, 0x3c, 0x00, 0x03, 0x9d, 0x3e, 0x0a, 63 | 0x3c, 0x00, 0x03, 0xd4, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0x0c, 0x3e, 0x0a, 64 | 0x3c, 0x00, 0x04, 0x43, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0x79, 0x3e, 0x0a, 65 | 0x3c, 0x00, 0x04, 0xae, 0x3e, 0x0a, 0x3c, 0x00, 0x04, 0xe0, 0x3e, 0x0a, 66 | 0x3c, 0x00, 0x05, 0x0e, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0x39, 0x3e, 0x0a, 67 | 0x3c, 0x00, 0x05, 0x5f, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0x80, 0x3e, 0x0a, 68 | 0x3c, 0x00, 0x05, 0x9b, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xaf, 0x3e, 0x0a, 69 | 0x3c, 0x00, 0x05, 0xbc, 0x3e, 0x0a, 0x3c, 0x00, 0x05, 0xc0, 0x3e, 0x0a, 70 | }; 71 | -------------------------------------------------------------------------------- /examples/Simple/simple.json: -------------------------------------------------------------------------------- 1 | { 2 | "description": "Blender Servo Animation Positions", 3 | "fps": 30, 4 | "frames": 100, 5 | "seconds": 3, 6 | "bones": 1, 7 | "armature": "Armature", 8 | "file": "simple.blend", 9 | "scene": "Scene", 10 | "positions": [ 11 | { 12 | "0": 1472 13 | }, 14 | { 15 | "0": 1477 16 | }, 17 | { 18 | "0": 1490 19 | }, 20 | { 21 | "0": 1512 22 | }, 23 | { 24 | "0": 1541 25 | }, 26 | { 27 | "0": 1576 28 | }, 29 | { 30 | "0": 1617 31 | }, 32 | { 33 | "0": 1663 34 | }, 35 | { 36 | "0": 1713 37 | }, 38 | { 39 | "0": 1766 40 | }, 41 | { 42 | "0": 1821 43 | }, 44 | { 45 | "0": 1878 46 | }, 47 | { 48 | "0": 1936 49 | }, 50 | { 51 | "0": 1994 52 | }, 53 | { 54 | "0": 2051 55 | }, 56 | { 57 | "0": 2106 58 | }, 59 | { 60 | "0": 2159 61 | }, 62 | { 63 | "0": 2209 64 | }, 65 | { 66 | "0": 2255 67 | }, 68 | { 69 | "0": 2296 70 | }, 71 | { 72 | "0": 2331 73 | }, 74 | { 75 | "0": 2360 76 | }, 77 | { 78 | "0": 2382 79 | }, 80 | { 81 | "0": 2395 82 | }, 83 | { 84 | "0": 2400 85 | }, 86 | { 87 | "0": 2398 88 | }, 89 | { 90 | "0": 2391 91 | }, 92 | { 93 | "0": 2381 94 | }, 95 | { 96 | "0": 2366 97 | }, 98 | { 99 | "0": 2348 100 | }, 101 | { 102 | "0": 2326 103 | }, 104 | { 105 | "0": 2301 106 | }, 107 | { 108 | "0": 2273 109 | }, 110 | { 111 | "0": 2241 112 | }, 113 | { 114 | "0": 2207 115 | }, 116 | { 117 | "0": 2170 118 | }, 119 | { 120 | "0": 2131 121 | }, 122 | { 123 | "0": 2089 124 | }, 125 | { 126 | "0": 2045 127 | }, 128 | { 129 | "0": 1999 130 | }, 131 | { 132 | "0": 1951 133 | }, 134 | { 135 | "0": 1902 136 | }, 137 | { 138 | "0": 1852 139 | }, 140 | { 141 | "0": 1800 142 | }, 143 | { 144 | "0": 1747 145 | }, 146 | { 147 | "0": 1693 148 | }, 149 | { 150 | "0": 1638 151 | }, 152 | { 153 | "0": 1583 154 | }, 155 | { 156 | "0": 1528 157 | }, 158 | { 159 | "0": 1472 160 | }, 161 | { 162 | "0": 1416 163 | }, 164 | { 165 | "0": 1361 166 | }, 167 | { 168 | "0": 1306 169 | }, 170 | { 171 | "0": 1251 172 | }, 173 | { 174 | "0": 1197 175 | }, 176 | { 177 | "0": 1144 178 | }, 179 | { 180 | "0": 1092 181 | }, 182 | { 183 | "0": 1042 184 | }, 185 | { 186 | "0": 993 187 | }, 188 | { 189 | "0": 945 190 | }, 191 | { 192 | "0": 899 193 | }, 194 | { 195 | "0": 855 196 | }, 197 | { 198 | "0": 813 199 | }, 200 | { 201 | "0": 774 202 | }, 203 | { 204 | "0": 737 205 | }, 206 | { 207 | "0": 703 208 | }, 209 | { 210 | "0": 671 211 | }, 212 | { 213 | "0": 643 214 | }, 215 | { 216 | "0": 618 217 | }, 218 | { 219 | "0": 596 220 | }, 221 | { 222 | "0": 578 223 | }, 224 | { 225 | "0": 563 226 | }, 227 | { 228 | "0": 553 229 | }, 230 | { 231 | "0": 546 232 | }, 233 | { 234 | "0": 544 235 | }, 236 | { 237 | "0": 548 238 | }, 239 | { 240 | "0": 561 241 | }, 242 | { 243 | "0": 581 244 | }, 245 | { 246 | "0": 608 247 | }, 248 | { 249 | "0": 641 250 | }, 251 | { 252 | "0": 679 253 | }, 254 | { 255 | "0": 722 256 | }, 257 | { 258 | "0": 768 259 | }, 260 | { 261 | "0": 818 262 | }, 263 | { 264 | "0": 871 265 | }, 266 | { 267 | "0": 925 268 | }, 269 | { 270 | "0": 980 271 | }, 272 | { 273 | "0": 1036 274 | }, 275 | { 276 | "0": 1091 277 | }, 278 | { 279 | "0": 1145 280 | }, 281 | { 282 | "0": 1198 283 | }, 284 | { 285 | "0": 1248 286 | }, 287 | { 288 | "0": 1294 289 | }, 290 | { 291 | "0": 1337 292 | }, 293 | { 294 | "0": 1375 295 | }, 296 | { 297 | "0": 1408 298 | }, 299 | { 300 | "0": 1435 301 | }, 302 | { 303 | "0": 1455 304 | }, 305 | { 306 | "0": 1468 307 | }, 308 | { 309 | "0": 1472 310 | } 311 | ] 312 | } -------------------------------------------------------------------------------- /images/calibrate_servo_button.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/images/calibrate_servo_button.png -------------------------------------------------------------------------------- /images/calibrate_servo_dialog.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/images/calibrate_servo_dialog.png -------------------------------------------------------------------------------- /images/export_menu.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/images/export_menu.png -------------------------------------------------------------------------------- /images/servo_settings.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/images/servo_settings.png -------------------------------------------------------------------------------- /images/timeline_menu.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/images/timeline_menu.png -------------------------------------------------------------------------------- /requirements-dev.txt: -------------------------------------------------------------------------------- 1 | parameterized 2 | websockets 3 | -------------------------------------------------------------------------------- /scripts/build.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | blender --command extension build --source-dir addon --output-filepath blender_servo_animation_addon.zip 4 | -------------------------------------------------------------------------------- /scripts/install.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | blender --command extension install-file -r user_default -e blender_servo_animation_addon.zip 4 | -------------------------------------------------------------------------------- /scripts/prepare.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | PARENTDIR=$(dirname "$current_dir") 4 | TESTSDIR="$PARENTDIR/tests" 5 | 6 | blender \ 7 | -noaudio \ 8 | --background \ 9 | --python-use-system-env \ 10 | --python-exit-code 1 \ 11 | --python $TESTSDIR/prepare.py 12 | 13 | exit $? 14 | -------------------------------------------------------------------------------- /scripts/test.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | PARENTDIR=$(dirname "$current_dir") 4 | TESTSDIR="$PARENTDIR/tests" 5 | TESTFILE="$TESTSDIR/results.txt" 6 | 7 | blender \ 8 | -noaudio \ 9 | --background $TESTSDIR/integration/test.blend \ 10 | --addons servo_animation \ 11 | --python-use-system-env \ 12 | --python-exit-code 1 \ 13 | --python $TESTSDIR/test.py \ 14 | > /dev/null 2>&1 15 | 16 | cat $TESTFILE 17 | 18 | last_line=$(tail -n 1 "$TESTFILE") 19 | 20 | if [ "$last_line" == "OK" ]; then 21 | exit 0 22 | else 23 | exit 1 24 | fi 25 | -------------------------------------------------------------------------------- /tests/integration/test.blend: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/timhendriks93/blender-servo-animation/ef5a1491100f4b89ea759c227bb828d735c7a773/tests/integration/test.blend -------------------------------------------------------------------------------- /tests/integration/test_export.py: -------------------------------------------------------------------------------- 1 | import unittest 2 | import os 3 | import shutil 4 | import hashlib 5 | 6 | from parameterized import parameterized 7 | 8 | import bpy 9 | 10 | 11 | def assert_file_hash(file_path, expected): 12 | assert os.path.exists( 13 | file_path), "expected export file to be present" 14 | 15 | hash_object = hashlib.sha256() 16 | 17 | with open(file_path, "rb") as file: 18 | hash_object.update(file.read()) 19 | 20 | file_hash = hash_object.hexdigest() 21 | 22 | assert file_hash == expected, f"expected file has to be {expected}, got {file_hash} instead" 23 | 24 | 25 | class TestExport(unittest.TestCase): 26 | def setUp(self): 27 | test_dir = os.path.dirname(__file__) 28 | self.output_dir = test_dir + "/output" 29 | shutil.rmtree(self.output_dir, ignore_errors=True) 30 | os.mkdir(self.output_dir) 31 | 32 | def tearDown(self): 33 | shutil.rmtree(self.output_dir, ignore_errors=True) 34 | bpy.data.armatures['Armature'].bones['Bone'].servo_settings.active = True 35 | 36 | @parameterized.expand([ 37 | ("with skipping and indent of 2", True, "2", 38 | "7576d368e9680a35a67a62df0200f08fd310e0f830e1497f8f12a3138e5ff24b"), 39 | ("without skipping and indent of 2", False, "2", 40 | "f96d14717222b184740f4258842f766eee341f0768eac42c44a4efd8e45f5814"), 41 | ("with skipping and no indent", True, "None", 42 | "88b4da9ceee71fbbe75f1f0f73727b69bc8b6ba21358a86932efb41ab5b1a1e6"), 43 | ("with skipping and indent of 4", True, "4", 44 | "87f25f8fab6a8996393a0e277d6e2891c70194d24c8283bf937097970c5033c8") 45 | ]) 46 | def test_json_export(self, _name, skip_duplicates, indent, expected): 47 | export_file = self.output_dir + "/export.json" 48 | 49 | bpy.ops.export_anim.servo_animation_json( 50 | filepath=export_file, skip_duplicates=skip_duplicates, indent=indent) 51 | 52 | assert_file_hash(export_file, expected) 53 | 54 | @parameterized.expand([ 55 | ("with skipping and no namespace", True, False, 56 | "5b8b6abd5ae925a394020dcfe2341705c74a3b1f2dd3a2a5230d73e56b85b4c5"), 57 | ("without skipping and no namespace", False, False, 58 | "38d458c7061ca3d252da01995199e7f23e646e9889d5b4a6609328fa57b9a237"), 59 | ("with skipping and namespace", True, True, 60 | "fc3e0c39b24bc2147c56d6cc3f65181839478e0df54b0b580328f50b0587a6d1"), 61 | ("without skipping and namespace", False, True, 62 | "e1abc66c2dc73bb13828c83bbd30c8967a1a0bb346a01ad542d5e74321b68e2a") 63 | ]) 64 | def test_arduino_export(self, _name, skip_duplicates, namespace, expected): 65 | export_file = self.output_dir + "/export.h" 66 | 67 | bpy.ops.export_anim.servo_animation_arduino( 68 | filepath=export_file, 69 | skip_duplicates=skip_duplicates, 70 | namespace=namespace 71 | ) 72 | 73 | assert_file_hash(export_file, expected) 74 | 75 | @parameterized.expand([ 76 | ("with skipping", True, 77 | "f6d5d5b3e0012e63e28b51bfe7416ffebf9517b67e4a873f947ff1c998a4a512"), 78 | ("without skipping", False, 79 | "11f06c27463865d5e6a4f014c515a01c1c0212c413d0434698908a562c13237f") 80 | ]) 81 | def test_binary_export(self, _name, skip_duplicates, expected): 82 | export_file = self.output_dir + "/export.bin" 83 | 84 | bpy.ops.export_anim.servo_animation_binary( 85 | filepath=export_file, 86 | skip_duplicates=skip_duplicates 87 | ) 88 | 89 | assert_file_hash(export_file, expected) 90 | 91 | @parameterized.expand([ 92 | ("arduino", ".h"), 93 | ("json", ".json"), 94 | ("binary", ".bin") 95 | ]) 96 | def test_no_servo_settings(self, export_type, extension): 97 | export_file = self.output_dir + "/export" + extension 98 | 99 | bpy.data.armatures['Armature'].bones['Bone'].servo_settings.active = False 100 | 101 | error_msg = "" 102 | 103 | try: 104 | if export_type == "arduino": 105 | bpy.ops.export_anim.servo_animation_arduino( 106 | filepath=export_file) 107 | elif export_type == "json": 108 | bpy.ops.export_anim.servo_animation_json(filepath=export_file) 109 | elif export_type == "binary": 110 | bpy.ops.export_anim.servo_animation_binary( 111 | filepath=export_file) 112 | except RuntimeError as error: 113 | error_msg = str(error) 114 | 115 | assert not os.path.exists( 116 | export_file), "did not expect export file to be present" 117 | 118 | exp = ( 119 | f"Operator bpy.ops.export_anim.servo_animation_{export_type}.poll() failed, " 120 | "context is incorrect" 121 | ) 122 | got = error_msg 123 | assert got == exp, f"expected error message '{exp}', got '{got}' instead" 124 | 125 | 126 | if __name__ == '__main__': 127 | unittest.main() 128 | -------------------------------------------------------------------------------- /tests/integration/test_serial_live_mode.py: -------------------------------------------------------------------------------- 1 | import unittest 2 | import os 3 | 4 | from parameterized import parameterized 5 | 6 | import bpy 7 | 8 | COMMAND_LENGTH = 5 9 | COMMAND_START = b"<" 10 | COMMAND_END = b">" 11 | 12 | 13 | class TestSerialLiveMode(unittest.TestCase): 14 | def setUp(self): 15 | self.receiver, self.sender = os.openpty() 16 | self.ttyname = os.ttyname(self.sender) 17 | 18 | def tearDown(self): 19 | try: 20 | os.close(self.sender) 21 | os.close(self.receiver) 22 | except OSError: 23 | pass 24 | 25 | bpy.context.window_manager.servo_animation.position_jump_handling = False 26 | bpy.context.object.data.bones['Bone'].servo_settings.servo_id = 0 27 | bpy.context.object.data.bones['Bone'].servo_settings.threshold = 20 28 | bpy.context.scene.frame_set(1) 29 | 30 | def read_bytes(self): 31 | read_bytes = [] 32 | 33 | try: 34 | os.close(self.sender) 35 | with os.fdopen(self.receiver, "rb") as reader: 36 | while len(reader.peek()) > 0: 37 | byte = reader.read(1) 38 | read_bytes.append(byte) 39 | except OSError: 40 | pass 41 | 42 | return read_bytes 43 | 44 | @parameterized.expand([ 45 | ("115200 baud rate", 115200, 1, 90, 0), 46 | ("19200 baud rate", 19200, 33, 45, 1), 47 | ("192500 baud rate", 192500, 66, 135, 12), 48 | ]) 49 | def test_start_stop(self, _name, baud_rate, frame, position, servo_id): 50 | bpy.context.scene.frame_set(frame) 51 | bpy.context.object.data.bones['Bone'].servo_settings.servo_id = servo_id 52 | 53 | bpy.ops.servo_animation.start_live_mode( 54 | 'EXEC_DEFAULT', 55 | method='SERIAL', 56 | serial_port=self.ttyname, 57 | serial_baud=baud_rate 58 | ) 59 | bpy.ops.servo_animation.stop_live_mode('EXEC_DEFAULT') 60 | bpy.context.scene.frame_set(33) 61 | 62 | read_bytes = self.read_bytes() 63 | 64 | assert len(read_bytes) == COMMAND_LENGTH 65 | assert read_bytes[0] == COMMAND_START 66 | assert int.from_bytes(read_bytes[1], 'big') == servo_id 67 | assert int.from_bytes(read_bytes[2]+read_bytes[3], 'big') == position 68 | assert read_bytes[4] == COMMAND_END 69 | 70 | @parameterized.expand([ 71 | ('without handling', False, 10, 33, [90, 45]), 72 | ('threshold reached', True, 10, 33, range(90, 44, -1)), 73 | ('threshold not reached - small frame jump', True, 10, 10, [90, 81]), 74 | ('threshold not reached - increased threshold', True, 50, 33, [90, 45]), 75 | ]) 76 | def test_position_jump(self, _name, handling, threshold, frame, positions): 77 | bpy.ops.servo_animation.start_live_mode( 78 | 'EXEC_DEFAULT', 79 | method='SERIAL', 80 | serial_port=self.ttyname, 81 | serial_baud=115200 82 | ) 83 | bpy.context.window_manager.servo_animation.position_jump_handling = handling 84 | bpy.context.object.data.bones['Bone'].servo_settings.threshold = threshold 85 | bpy.context.scene.frame_set(frame) 86 | bpy.ops.servo_animation.stop_live_mode('EXEC_DEFAULT') 87 | 88 | read_bytes = self.read_bytes() 89 | 90 | exp = len(positions) * COMMAND_LENGTH 91 | got = len(read_bytes) 92 | assert exp == got, f"expected {exp} bytes, got {got} instead" 93 | 94 | for i, position in enumerate(positions): 95 | offset = i * COMMAND_LENGTH 96 | position_byte_a = read_bytes[offset + 2] 97 | position_byte_b = read_bytes[offset + 3] 98 | 99 | assert read_bytes[offset] == COMMAND_START 100 | assert int.from_bytes(read_bytes[offset + 1], 'big') == 0 101 | assert int.from_bytes(position_byte_a+position_byte_b, 'big') == position 102 | assert read_bytes[offset + 4] == COMMAND_END 103 | 104 | @parameterized.expand([ 105 | ("invalid serial port", "/dev/ttyInvalid", 115200), 106 | ("invalid baud rate", None, -1), 107 | ]) 108 | def test_invalid_serial_port(self, _name, serial_port, baud_rate): 109 | if serial_port is None: 110 | serial_port = self.ttyname 111 | 112 | raised_exception = False 113 | 114 | try: 115 | bpy.ops.servo_animation.start_live_mode( 116 | 'EXEC_DEFAULT', 117 | method='SERIAL', 118 | serial_port=serial_port, 119 | serial_baud=baud_rate 120 | ) 121 | except RuntimeError: 122 | raised_exception = True 123 | 124 | assert raised_exception is True 125 | assert len(self.read_bytes()) == 0 126 | -------------------------------------------------------------------------------- /tests/integration/test_servo_calibration.py: -------------------------------------------------------------------------------- 1 | import unittest 2 | import os 3 | 4 | from parameterized import parameterized 5 | 6 | import bpy 7 | 8 | COMMAND_LENGTH = 5 9 | 10 | 11 | class TestServoCalibration(unittest.TestCase): 12 | def setUp(self): 13 | self.receiver, self.sender = os.openpty() 14 | self.ttyname = os.ttyname(self.sender) 15 | 16 | def tearDown(self): 17 | try: 18 | os.close(self.sender) 19 | os.close(self.receiver) 20 | except OSError: 21 | pass 22 | 23 | bpy.context.window_manager.servo_animation.position_jump_handling = False 24 | bpy.context.object.data.bones['Bone'].servo_settings.position_min = 0 25 | bpy.context.object.data.bones['Bone'].servo_settings.position_max = 180 26 | 27 | def read_bytes(self): 28 | read_bytes = [] 29 | 30 | try: 31 | os.close(self.sender) 32 | with os.fdopen(self.receiver, "rb") as reader: 33 | while len(reader.peek()) > 0: 34 | byte = reader.read(1) 35 | read_bytes.append(byte) 36 | except OSError: 37 | pass 38 | 39 | return read_bytes 40 | 41 | @parameterized.expand([ 42 | ("without handling", False, 45, 135, 4), 43 | ("threshold reached", True, 45, 135, 25), 44 | ("threshold not reached", True, 80, 110, 4), 45 | ]) 46 | def test_calibration(self, _name, handling, position_min, position_max, commands): 47 | servo_settings = bpy.context.object.data.bones['Bone'].servo_settings 48 | 49 | bpy.context.window_manager.servo_animation.position_jump_handling = handling 50 | 51 | assert servo_settings.position_min == 0 52 | assert servo_settings.position_max == 180 53 | 54 | bpy.ops.servo_animation.start_live_mode( 55 | 'EXEC_DEFAULT', 56 | method='SERIAL', 57 | serial_port=self.ttyname, 58 | serial_baud=115200 59 | ) 60 | bpy.ops.servo_animation.calibrate( 61 | 'EXEC_DEFAULT', 62 | position_min=position_min, 63 | position_max=position_max 64 | ) 65 | bpy.ops.servo_animation.stop_live_mode('EXEC_DEFAULT') 66 | 67 | assert servo_settings.position_min == position_min 68 | assert servo_settings.position_max == position_max 69 | 70 | read_bytes = self.read_bytes() 71 | 72 | assert len(read_bytes) == commands * COMMAND_LENGTH 73 | -------------------------------------------------------------------------------- /tests/integration/test_socket_live_mode.py: -------------------------------------------------------------------------------- 1 | import unittest 2 | import threading 3 | 4 | from websocket import WebSocket 5 | from parameterized import parameterized 6 | from websockets.sync.server import serve 7 | 8 | import bpy 9 | 10 | COMMAND_LENGTH = 5 11 | COMMAND_START = b"<" 12 | COMMAND_END = b">" 13 | 14 | 15 | class TestSocketLiveMode(unittest.TestCase): 16 | def setUp(self): 17 | self.received_data = [] 18 | self.server = serve(self.handler, "localhost", 0) 19 | self.host, self.port = self.server.socket.getsockname() 20 | self.server_thread = threading.Thread(target=self.run_server) 21 | self.server_thread.start() 22 | 23 | def tearDown(self): 24 | self.stop_server() 25 | 26 | bpy.context.window_manager.servo_animation.position_jump_handling = False 27 | bpy.context.object.data.bones['Bone'].servo_settings.servo_id = 0 28 | bpy.context.object.data.bones['Bone'].servo_settings.threshold = 20 29 | bpy.context.scene.frame_set(1) 30 | 31 | def run_server(self): 32 | self.server.serve_forever() 33 | 34 | def stop_server(self): 35 | self.server.shutdown() 36 | self.server_thread.join() 37 | 38 | def handler(self, socket): 39 | for message in socket: 40 | if message == "stop": 41 | self.stop_server() 42 | break 43 | 44 | for integer in message: 45 | byte = integer.to_bytes(length=1, byteorder='big') 46 | self.received_data.append(byte) 47 | 48 | def read_bytes(self): 49 | con = WebSocket() 50 | con.connect(f"ws://{self.host}:{self.port}") 51 | con.send("stop") 52 | con.close() 53 | 54 | while self.server_thread.is_alive(): 55 | pass 56 | 57 | return self.received_data 58 | 59 | @parameterized.expand([ 60 | ("frame 1", 1, 90, 0), 61 | ("frame 33", 33, 45, 1), 62 | ("frame 66", 66, 135, 12), 63 | ]) 64 | def test_start_stop(self, _name, frame, position, servo_id): 65 | bpy.context.scene.frame_set(frame) 66 | bpy.context.object.data.bones['Bone'].servo_settings.servo_id = servo_id 67 | 68 | bpy.ops.servo_animation.start_live_mode( 69 | 'EXEC_DEFAULT', 70 | method='SOCKET', 71 | socket_host=self.host, 72 | socket_port=self.port 73 | ) 74 | bpy.ops.servo_animation.stop_live_mode('EXEC_DEFAULT') 75 | bpy.context.scene.frame_set(33) 76 | 77 | read_bytes = self.read_bytes() 78 | 79 | assert len(read_bytes) == COMMAND_LENGTH, f"got {len(read_bytes)}" 80 | assert read_bytes[0] == COMMAND_START 81 | assert int.from_bytes(read_bytes[1], 'big') == servo_id 82 | assert int.from_bytes(read_bytes[2]+read_bytes[3], 'big') == position 83 | assert read_bytes[4] == COMMAND_END 84 | 85 | @parameterized.expand([ 86 | ('without handling', False, 10, 33, [90, 45]), 87 | ('threshold reached', True, 10, 33, range(90, 44, -1)), 88 | ('threshold not reached - small frame jump', True, 10, 10, [90, 81]), 89 | ('threshold not reached - increased threshold', True, 50, 33, [90, 45]), 90 | ]) 91 | def test_position_jump(self, _name, handling, threshold, frame, positions): 92 | bpy.ops.servo_animation.start_live_mode( 93 | 'EXEC_DEFAULT', 94 | method='SOCKET', 95 | socket_host=self.host, 96 | socket_port=self.port 97 | ) 98 | bpy.context.window_manager.servo_animation.position_jump_handling = handling 99 | bpy.context.object.data.bones['Bone'].servo_settings.threshold = threshold 100 | bpy.context.scene.frame_set(frame) 101 | bpy.ops.servo_animation.stop_live_mode('EXEC_DEFAULT') 102 | 103 | read_bytes = self.read_bytes() 104 | 105 | exp = len(positions) * COMMAND_LENGTH 106 | got = len(read_bytes) 107 | assert exp == got, f"expected {exp} bytes, got {got} instead" 108 | 109 | for i, position in enumerate(positions): 110 | offset = i * COMMAND_LENGTH 111 | position_byte_a = read_bytes[offset + 2] 112 | position_byte_b = read_bytes[offset + 3] 113 | 114 | assert read_bytes[offset] == COMMAND_START 115 | assert int.from_bytes(read_bytes[offset + 1], 'big') == 0 116 | assert int.from_bytes(position_byte_a+position_byte_b, 'big') == position 117 | assert read_bytes[offset + 4] == COMMAND_END 118 | 119 | @parameterized.expand([ 120 | ("invalid IP", "127.0.0.1234", 80), 121 | ("invalid port", "127.0.0.1", 1234) 122 | ]) 123 | def test_invalid_connection(self, _name, socket_host, socket_port): 124 | raised_exception = False 125 | 126 | try: 127 | bpy.ops.servo_animation.start_live_mode( 128 | 'EXEC_DEFAULT', 129 | method='SOCKET', 130 | socket_host=socket_host, 131 | socket_port=socket_port 132 | ) 133 | except RuntimeError: 134 | raised_exception = True 135 | 136 | assert raised_exception is True 137 | assert len(self.read_bytes()) == 0 138 | -------------------------------------------------------------------------------- /tests/prepare.py: -------------------------------------------------------------------------------- 1 | import os 2 | import pathlib 3 | import sys 4 | import ensurepip 5 | import subprocess 6 | 7 | import bpy 8 | 9 | 10 | main_dir = pathlib.Path(os.path.dirname(__file__)).resolve() 11 | sys.path.append(str(main_dir)) 12 | 13 | def ensure_pip(): 14 | ensurepip.bootstrap() 15 | os.environ.pop("PIP_REQ_TRACKER", None) 16 | 17 | def install_dependencies(): 18 | try: 19 | python = bpy.app.binary_path_python 20 | except AttributeError: 21 | python = sys.executable 22 | 23 | dir_path = os.path.dirname(__file__) 24 | req_file = dir_path + "/../requirements-dev.txt" 25 | 26 | subprocess.run([python, "-m", "pip", "install", "--upgrade", "pip"], check=True) 27 | subprocess.run([python, "-m", "pip", "install", "-r", req_file], check=True) 28 | 29 | if __name__ == "__main__": 30 | ensure_pip() 31 | install_dependencies() 32 | -------------------------------------------------------------------------------- /tests/test.py: -------------------------------------------------------------------------------- 1 | import unittest 2 | 3 | if __name__ == '__main__': 4 | integration_suite = unittest.TestLoader().discover('tests/integration') 5 | 6 | with open('tests/results.txt', 'w', encoding="utf-8") as f: 7 | runner = unittest.TextTestRunner(stream=f, verbosity=2) 8 | runner.run(integration_suite) 9 | --------------------------------------------------------------------------------