Plesty Pi Mirror Controller Device

A Plesty device driver for a Raspberry Pi Pico W-based mirror controller. It controls servo motors and LED driver channels (MCP4728 DAC) over a binary serial protocol via USB.

Hardware setup:

• Raspberry Pi Pico W connected via USB (default /dev/ttyACM0)
• Servo motors on GPIO pins 0–12
• LED/laser drivers on MCP4728 DAC channels a–d

Installation

git clone https://gitlab.com/plesty/hub/devices/others/plesty-pi-mirror-controller.git
cd plesty-pi-mirror-controller
uv sync
uv pip install -e .

On Linux, add your user to the dialout group for serial port access:

sudo usermod -aG dialout $USER  # log out and back in to apply

Usage

from plesty.pi_mirror_controller.device import Device

with Device(port="/dev/ttyACM0", servos={"mirror": 4}, leds={"laser": "a"}) as dev:
    print(dev.identity())

    # Direct control
    dev.set_servo("mirror", 1)       # extend
    dev.set_voltage("laser", 2.5)    # 2.5 V

    # Parameter get/set via ConfigSystem
    dev.write("mirror", 0)           # retract via config interface
    dev.write("laser", 1.0)          # 1.0 V via config interface
    print(dev.query("laser"))        # returns last set value

    # Composite operations
    dev.set_all_servos(0)
    dev.set_all_voltages(0.0)
    dev.reset_all()

    # Runtime reconfiguration
    dev.configure(servos={"mirror": 4, "shutter": 7})

See examples/example.py for a complete walkthrough.

Run as TCP Server

Expose the device over the network as a Plesty TCP server. The serial port is machine-specific and comes from .env (see .env.example); the servo/LED mapping and server tuning live in config/controller.yaml. CLI flags override both. Without an leds mapping, the four DAC channels are registered under their own letters (a–d) and no servo is; voltages outside 0–5 V are clamped to the range.

cp .env.example .env   # set the serial port
uv run python -m plesty.pi_mirror_controller --config config/controller.yaml

CLI options:

Before binding, the server checks that the OS lists the serial port (matched by name, or by the Pico's USB serial number), without opening it. If the port is missing, it stops and prints the ports it did find.

The port mock opens an in-memory simulator instead of a serial port: every call works and the bytes are recorded, with no controller attached.

Protocol

The firmware expects 2-byte binary messages over serial at 115200 baud:

Servo values: 0 = retracted, 1 = extended. LED voltages: 0–5 V mapped linearly to 0–255.