kyleandClaude Sonnet 5.5
55d33ab490
The Pi (hermes-bot) is flashed, upgraded and running ROS 2 Jazzy. The ST7789 works through Blinka on lgpio: pass cs=None (the kernel owns CE0), and the glass sits at y_offset=80 in the controller RAM for every rotation, since the driver rotates in software. The mounted pose needs rotation=270. hermes_face is a numpy port of the flat face from docs/face-prototype.html, with phosphor and vector styles, plus a new `sleeping` pose for "no agent connected". The renderer has no ROS or hardware imports. The tone map is a lookup table and the glow runs at half resolution, so the face reaches ~28 fps on the panel at 24% of a core (20 fps) to 40% (30 fps) with the CPU at full clock. CONTEXT.md now records the Pi, the cloud-init first-boot-only gotcha, and what is left. pi/50-cloud-init.yaml is a gitignored Wi-Fi template. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
22 lines
698 B
XML
22 lines
698 B
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>hermes_face</name>
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<version>0.1.0</version>
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<description>Oscilloscope-phosphor face for the Hermes robot's ST7789 display.</description>
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<maintainer email="noreply@example.com">K. Isom</maintainer>
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<license>UNLICENSED</license>
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<depend>rclpy</depend>
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<depend>std_msgs</depend>
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<depend>sensor_msgs</depend>
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<exec_depend>python3-numpy</exec_depend>
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<exec_depend>python3-pil</exec_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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