feat: use gpio instead of spindle for endeffector

robot_control/src/robot/movement.py

@@ -1,23 +1,33 @@
 from typing import Optional
 import time
 import asyncio
+import pigpio
 from robot_control.src.api.grbl_handler import GRBLHandler
 from robot_control.src.utils.logging import LoggerSingleton
+from robot_control.src.utils.config import ConfigParser
 
 
 logger = LoggerSingleton.get_logger()
 
 class RobotMovement:
-    def __init__(self, grbl: GRBLHandler):
-        self.grbl = grbl
+    def __init__(self, grbl: GRBLHandler, config: ConfigParser):
+        self.pi = pigpio.pi()
+        self.config = config        
+        vacuum_config = config.get_vacuum_config()
+        self.valve_gpio_pin = vacuum_config.get("valve_gpio_pin")
+        self.pi.set_mode(self.valve_gpio_pin, pigpio.OUTPUT)
+        self.pi.write(self.valve_gpio_pin, 0)  # Ensure pump is off initially
+
+        sys_config = config.get_system_settings()
+        self.speed: float = sys_config.speed
+
+        self.home_position: tuple[float, float, float] = (0.0, 0.0, 0.0)
         self.current_position: tuple[float, float, float] = (0.0, 0.0, 0.0)
-        self.speed: float = 100.0 # TODO [SG]: Set at beginning?
         self.is_moving: bool = False
-        self.home_position: tuple[float, float, float] = (0.0, 0.0, 0.0)
         self.endeffector_active = False
-        self.pump_speed = 1000  # Default pump speed/power
         
         # Register for position updates
+        self.grbl = grbl
         self.grbl.register_position_callback(self._position_callback)
 
     def _position_callback(self, pos: dict):
@@ -70,16 +80,10 @@ class RobotMovement:
     def get_position(self) -> tuple[float, float, float]:
         return self.current_position
     
-    async def activate_endeffector(self, speed: Optional[int] = None) -> bool:
-        """Activate the pump end effector.
-        
-        Args:
-            speed: Optional pump speed (0-1000)
-        """
+    async def activate_endeffector(self) -> bool:
+        """Activate the pump end effector."""
         try:
-            if speed is not None:
-                self.pump_speed = max(0, min(1000, speed))
-            await self.grbl.send_gcode([f'M3 S{self.pump_speed}'])
+            self.pi.write(self.valve_gpio_pin, 1)
             self.endeffector_active = True
             logger.debug("End effector activated")
             return True
@@ -90,7 +94,7 @@ class RobotMovement:
     async def deactivate_endeffector(self) -> bool:
         """Deactivate the pump end effector."""
         try:
-            await self.grbl.send_gcode(['M5'])
+            self.pi.write(self.valve_gpio_pin, 0)
             self.endeffector_active = False
             logger.debug("End effector deactivated")
             return True