import configs
import configobj
global config, enable
config = configs.get_config('Obj Detection')
enabled = config['enabled']
mc_name = config['micro_controller']
# Logging
import logging
log = logging.getLogger(config['logger_name'])
# Events
import events
# Conditions
from threading import Event
# micro_controller_network
import micro_controller_network
mc = micro_controller_network.get_object(mc_name)
# Static Variables
return_codes = {'\x70':'Micro Switch Triggered',
'\x71':'No Object',
'\x72':'Can',
'\x73':'Glass',
'\x74':'Plastic',
'\x75':'Detection Error',
'\x76':'Start Button Pressed'}
command_codes = {'Check Object':'\x60',
'Start Button Glow':'\x61'}
# Static Functions #
def init():
# Initialize modules #
# Sabertooth2x10
import sabertooth2x10 as saber
saber.init()
mc = saber.get_object()
# Laser Range Finder
import laser
laser.init()
lrf = laser.get_object()
lrf.clear()
# MCN
import micro_controller_network as mcn
mcn.init()
micros = []
servo_micro = mcn.get_object('Servo Control')
micros.append(servo_micro)
od_micro = mcn.get_object('Obj Detection')
micros.append(od_micro)
array_micro = mcn.get_object('Array Micro')
micros.append(array_micro)
# Servo Controller
import servo_controller as sc
sc.init()
arm_servo = sc.get_object('Arm Servo')
arm_down()
sorter_servo = sc.get_object('Sorter Servo')
sorter_center()
gripper_servo = sc.get_object('Gripper Servo')
gripper_close()
spinner_servo = sc.get_object('Spinner Servo')
