class MainScreen(Screen):
version = cyprus.read_firmware_version()
staircaseSpeedText = '0'
rampSpeed = INIT_RAMP_SPEED
staircaseSpeed = 40
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
global pos
pos = 0
def toggleGate(self):
global pos
if pos == 0:
pos = 0.5
cyprus.set_servo_position(2, pos)
else:
pos = 0
cyprus.set_servo_position(2, pos)
print("Open and Close gate here")
def toggleRamp(self):
s0.set_speed(self.rampSpeed.value)
if s0.read_switch() == 1:
print("hi")
s0.go_to_position(56.5)
elif s0.get_position_in_units() == 56.5:
axis1.goTo(0)
print("bye")
else:
while (axis1.isBusy()):
continue
axis1.goUntilPress(
0, 0, 5000
) #spins until hits a NO limit at speed 1000 and direction 1
while (axis1.isBusy()):
continue
axis1.setAsHome() #set the position for 0 for all go to commands
print("Move ramp up and down here")
def auto(self):
print("Run through one cycle of the perpetual motion machine")
if axis1.isBusy():
s0.softStop()
if s0.get_position_in_units() == 56.5:
s0.goHome()
elif s0.get_position_in_units() != 0.0:
axis1.goUntilPress(0, 0, 5000)
elif s0.get_position_in_units() == 0.0:
cyprus.set_servo_position(2, 0.5)
sleep(2)
cyprus.set_servo_position(2, 0)
self.toggleRamp()
while 1:
if cyprus.read_gpio() == 6:
print("metal detector signal read")
cyprus.set_motor_speed(1, self.staircaseSpeed.value)
self.toggleRamp()
while 1:
if s0.read_switch() == True:
sleep(5 / self.staircaseSpeed.value)
cyprus.set_motor_speed(1, 0)
s0.free_all()
return
return
def setRampSpeed(self, speed):
s0.set_speed(speed)
print("Set the ramp speed and update slider text")
def setStaircaseSpeed(self, speed):
if self.staircase.text == "Staircase Off":
cyprus.set_motor_speed(1, speed)
else:
pass
print("Set the staircase speed and update slider text")
def toggleStaircase(self):
if self.staircase.text == "Staircase Off":
cyprus.set_motor_speed(1, 0)
self.staircase.text = "Staircase On"
else:
self.staircase.text = "Staircase Off"
self.setStaircaseSpeed(self.staircaseSpeed.value)
def initialize(self):
print("Close gate, stop staircase and home ramp here")
cyprus.set_servo_position(2, 0)
cyprus.set_motor_speed(1, 0)
if (axis1.isBusy()):
s0.softStop()
print("s0 motor stopped")
if s0.get_position_in_units != 0.0:
axis1.goUntilPress(
0, 0,
5000) #spins until hits a NO limit at speed 1000 and direction
axis1.setAsHome()
else:
pass
print("initialized.")
def resetColors(self):
self.ids.gate.color = YELLOW
self.ids.staircase.color = YELLOW
self.ids.ramp.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
print("Exit")
MyApp().stop()
# resides in RaspberryPiCommon Github repo which is something you should always keep up to date.
#
# As mentioned, the Software library is in RaspberryPiCommon/pidev/Cyprus_Commands/Cyprus_Commands.py
# The code is readable - and there is a very well written README.md with example usage in the same folder as the library.
#
# The PWM Ports on the RPiMIB are P4 and P5. The software library can be used to control both servo motors and motor
# controllers like the Talon that use a servo motor input and convert that to a high current drive that can control
# large motors.
#
# In addition to creating PWM that is used to control servo motors and servo motor style motor controllers the software
# library has been designed to also create non servo specific PWM for controlling industry standard motor controllers.
# Basically the Servo PWM is a special case of industry standard PWM, hopefully we will get to more on this later.
#
# To get a RC servo motor signal out of P4 of the RPiMIB do the following:
cyprus.initialize() # initialize the RPiMIB and establish communication
cyprus.setup_servo(1) # sets up P4 on the RPiMIB as a RC servo style output
cyprus.set_servo_position(
1, 0
) # 1 specifies port P4, 0 is a float from 0-1 that specifies servo position ~(0-180deg)
sleep(
1
) # wait one second for the servo to get there... minimum here should be about sleep(0.05)
cyprus.set_servo_position(
1, .5
) # 1 specifies port P4, 0.5 specifies servo position ~(0-180deg) range of (0-1)
# when done disconnect the RPiMIB communication
cyprus.close()
# To get a RC servo motor CONTROLLER signal out of P5 of the RPiMIB do the following:
cyprus.initialize() # initialize the RPiMIB and establish communication
def button_down(self):
self.goSwitch.color = 0, 0.588, 0.637, 1
sleep(0.05)
if cyprus.read_gpio() & 0b0001:
self.goSwitch.color = 0.0, 0.84, 0.91, 1
self.servo_change()
def initialize(self):
cyprus.setup_servo(2)
cyprus.setup_servo(1)
print("Close gate, stop staircase and home ramp here")
sleep(.5)
home_pos_1 = 11.34
motor_1.go_to_position(home_pos_1)
#MOTOR 2 SETUP
motor_2 = stepper(port=0, speed=10, micro_steps=128)
motor_2.home(0)
print("homed motor 2")
sleep(.5)
home_pos_2 = 24.123
motor_2.go_to_position(home_pos_2)
increment = .035
current_pos_x = home_pos_2
current_pos_y = home_pos_1
ccrpi.open_spi()
print("opened spi")
##ccrpi.write_gpio(0)
####
ccrpi.setup_servo()
ccrpi.write_pwm(6, 1, .5)
clamp = lambda n, min_n, max_n: max(min(max_n, n), min_n)
try:
while True:
pygame.event.pump()
joy_val_x = joystick.get_axis(HORIZONTAL_AXIS)
joy_val_y = joystick.get_axis(VERTICAL_AXIS)
current_pos_y = current_pos_y + joy_val_y * increment
current_pos_x = current_pos_x + joy_val_x * increment
def is_ball_off_lower():
return (cyprus.read_gpio() & 0b0010) != 0
class MainScreen(Screen):
version = cyprus.read_firmware_version()
armPosition = 0
lastClick = time.clock()
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
def debounce(self):
processInput = False
currentTime = time.clock()
if (currentTime - self.lastClick) > DEBOUNCE:
processInput = True
self.lastClick = currentTime
return processInput
def toggleArm(self):
toggle_arm()
if UP:
self.ids.armControl.text = "Lower Arm"
else:
self.ids.armControl.text = "Raise Arm"
def toggleMagnet(self):
toggle_magnet()
if ON:
self.ids.magnetControl.text = "Drop Ball"
else:
self.ids.magnetControl.text = "Hold Ball"
def auto(self):
global ON
global UP
temp_on = ON
temp_up = UP
ON = True
toggle_magnet()
UP = False
toggle_arm()
for i in range(0, 50):
if is_ball_on_upper():
break
print("Please place ball on higher tower.")
sleep(1)
else:
return
try_lift(is_ball_on_upper, upperTowerPositions, False)
try_lift(is_ball_off_lower, lowerTowerPositions, True)
ON = not temp_on
toggle_magnet()
UP = not temp_up
toggle_arm()
move_arm_final(self.armPosition)
def setArmPosition(self, position):
self.armPosition = position
move_arm(self.armPosition)
self.ids.armControlLabel.text = 'Arm Position: ' + str(
int(self.armPosition))
def initialize(self):
toggle_arm()
toggle_magnet()
home_arm()
def resetColors(self):
self.ids.armControl.color = YELLOW
self.ids.magnetControl.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
print("Exit")
arm.free_all()
GPIO.cleanup()
GPIO.cleanup()
cyprus.close()
MyApp().stop()
# ////////////////////////////////////////////////////////////////
# // DECLARE APP CLASS AND SCREENMANAGER //
# // LOAD KIVY FILE //
# ////////////////////////////////////////////////////////////////
class MyApp(App):
def build(self):
self.title = "Perpetual Motion"
return sm
Builder.load_file('main.kv')
Window.clearcolor = (.1, .1, .1, 1) # (WHITE)
cyprus.open_spi()
# ////////////////////////////////////////////////////////////////
# // SLUSH/HARDWARE SETUP //
# ////////////////////////////////////////////////////////////////
sm = ScreenManager()
ramp = stepper(port=0, speed=INIT_RAMP_SPEED)
onGate = False
cyprus.initialize()
cyprus.setup_servo(2)
cyprus.set_servo_position(2, 0)
# ////////////////////////////////////////////////////////////////
# // MAIN FUNCTIONS //
# // SHOULD INTERACT DIRECTLY WITH HARDWARE //
# ////////////////////////////////////////////////////////////////
MAIN_SCREEN_NAME = 'main'
s1 = stepper(port=0,
micro_steps=32,
hold_current=20,
run_current=20,
accel_current=20,
deaccel_current=20,
steps_per_unit=200,
speed=8)
dire = 0
mcount = 1
dcount = 0
bcount = 1
switch_boolean = False
cyprus.initialize()
cyprus.setup_servo(1)
cyprus.set_servo_position(1, 0.5)
cyprus.close()
class ProjectNameGUI(App):
"""
Class to handle running the GUI Application
"""
def build(self):
"""
Build the application
:return: Kivy Screen Manager instance
"""
return SCREEN_MANAGER
def initialize(self):
print("Home arm and turn off magnet")
cyprus.set_servo_position(2, 0.5)
self.homeArm()
class MainScreen(Screen):
version = cyprus.read_firmware_version()
#Slider.value = 0
lastClick = time.clock()
#Slider.value = ObjectProperty(None)
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
def debounce(self):
processInput = False
currentTime = time.clock()
if ((currentTime - self.lastClick) > DEBOUNCE):
processInput = True
self.lastClick = currentTime
return processInput
def toggleArmV(self):
print("Process vertical arm movement here")
self.setArmPositionV()
def setArmPositionV(self):
print("Move arm vertically here")
global DOWN
if DOWN:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("robotic arm up")
self.ids.armControl.text = "Raise Arm"
DOWN = False
else:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("robotic arm down")
self.ids.armControl.text = "Lower Arm"
DOWN = True
def toggleArmH(self):
print("Process horizontal arm movement here")
self.setArmPositionH()
def setArmPositionH(self):
print("Move arm horizontally here")
global HOME
global position
position = self.ids.moveArm.value * -1
while True:
if HOME:
#arm.set_as_home()
print("arm moving")
arm.go_to_position(position)
#print(self.Slider.value)
print("moved")
#arm.softStop()
break
else:
arm.goHome()
print(" now at home")
HOME = True
break
x = self.ids.moveArm.value
#self.isBallOnTallTower()
#if tall_OFF == False:
#arm.start_relative_move(14)
#else:
# if short_OFF == False:
# arm.start_relative_move(5)
def toggleMagnet(self):
print("Process magnet here")
#talon motor
self.setMagnet()
def setMagnet(self):
global OFF
if OFF:
cyprus.set_servo_position(2, 1)
print("magnet has grabbed")
self.ids.magnetControl.text = "Magnet Off"
OFF = False
else:
cyprus.set_servo_position(2, 0.5)
print("magnet has released")
self.ids.magnetControl.text = "Magnet On"
OFF = True
def auto(self):
print("Run the arm automatically here")
self.isBallOnTallTower()
if tall_OFF == False:
print("ball in on top tower")
arm.go_to_position(-12)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("lowered")
sleep(0.5)
cyprus.set_servo_position(2, 1)
print("grabbed")
sleep(0.5)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("raised")
sleep(0.5)
arm.go_to_position(-20)
print("at final location")
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("lowered")
sleep(1)
cyprus.set_servo_position(2, 0.5)
print("released")
sleep(0.5)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("raised")
sleep(0.5)
arm.go_to_position(0)
else:
self.isBallOnShortTower()
if short_OFF == False:
print("ball is at short tower")
arm.go_to_position(-20)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("lowered")
sleep(0.5)
cyprus.set_servo_position(2, 1)
print("grabbed")
sleep(0.5)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("raised")
sleep(0.5)
arm.go_to_position(-12)
print("at final location")
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("lowered")
sleep(1)
cyprus.set_servo_position(2, 0.5)
print("released")
sleep(0.5)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("raised")
sleep(0.5)
arm.go_to_position(0)
def homeArm(self):
global homeDirection
arm.home(1)
def isBallOnTallTower(self):
print("Determine if ball is on the top tower")
global tall_OFF
if ((cyprus.read_gpio() & 0b0001) == 0):
print("GPIO on port P6 is LOW")
tall_OFF = False
else:
tall_OFF = True
def isBallOnShortTower(self):
print("Determine if ball is on the bottom tower")
global short_OFF
if ((cyprus.read_gpio() & 0b0010) == 0):
print("GPIO on port P7 is LOW")
short_OFF = False
else:
short_OFF = True
def initialize(self):
print("Home arm and turn off magnet")
cyprus.set_servo_position(2, 0.5)
self.homeArm()
def resetColors(self):
self.ids.armControl.color = YELLOW
self.ids.magnetControl.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
MyApp().stop()
def auto(self):
print("Run the arm automatically here")
self.isBallOnTallTower()
if tall_OFF == False:
print("ball in on top tower")
arm.go_to_position(-12)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("lowered")
sleep(0.5)
cyprus.set_servo_position(2, 1)
print("grabbed")
sleep(0.5)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("raised")
sleep(0.5)
arm.go_to_position(-20)
print("at final location")
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("lowered")
sleep(1)
cyprus.set_servo_position(2, 0.5)
print("released")
sleep(0.5)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("raised")
sleep(0.5)
arm.go_to_position(0)
else:
self.isBallOnShortTower()
if short_OFF == False:
print("ball is at short tower")
arm.go_to_position(-20)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("lowered")
sleep(0.5)
cyprus.set_servo_position(2, 1)
print("grabbed")
sleep(0.5)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("raised")
sleep(0.5)
arm.go_to_position(-12)
print("at final location")
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("lowered")
sleep(1)
cyprus.set_servo_position(2, 0.5)
print("released")
sleep(0.5)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("raised")
sleep(0.5)
arm.go_to_position(0)
# ////////////////////////////////////////////////////////////////
# // DECLARE APP CLASS AND SCREENMANAGER //
# // LOAD KIVY FILE //
# ////////////////////////////////////////////////////////////////
class MyApp(App):
def build(self):
self.title = "Robotic Arm"
return sm
Builder.load_file('main.kv')
Window.clearcolor = (.1, .1, .1, 1) # (WHITE)
cyprus.open_spi()
# ////////////////////////////////////////////////////////////////
# // SLUSH/HARDWARE SETUP //
# ////////////////////////////////////////////////////////////////
sm = ScreenManager()
arm = stepper(port=0, speed=10)
cyprus.initialize()
cyprus.setup_servo(2)
# ////////////////////////////////////////////////////////////////
# // MAIN FUNCTIONS //
# // SHOULD INTERACT DIRECTLY WITH HARDWARE //
# ////////////////////////////////////////////////////////////////
def setStaircaseSpeed(self, speed):
if self.staircase.text == "Staircase Off":
cyprus.set_motor_speed(1, speed)
else:
pass
print("Set the staircase speed and update slider text")
class MainScreen(Screen):
version = cyprus.read_firmware_version()
armPosition = 0
lastClick = time.clock()
armHeight = False
magnet = False
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
def debounce(self):
processInput = False
currentTime = time.clock()
if ((currentTime - self.lastClick) > DEBOUNCE):
processInput = True
self.lastClick = currentTime
return processInput
def toggleArm(self):
print("Process arm movement here")
self.armHeight = not self.armHeight
if self.armHeight:
cyprus.set_pwm_values(1, period_value=100000, compare_value=50000, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
else:
cyprus.set_pwm_values(1, period_value=100000, compare_value=0, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
def toggleMagnet(self):
print("Process magnet here")
self.magnet = not self.magnet
if self.magnet:
cyprus.set_servo_position(2, 1)
else:
cyprus.set_servo_position(2, .5)
def auto(self):
print("Run the arm automatically here")
shortTower = 30.25
tallTower = 38.9
if self.isBallOnTallTower():
shortTower = 38.9
tallTower = 30.25
arm.home(1)
arm.go_to_position(shortTower)
self.toggleMagnet()
time.sleep(.5)
self.toggleArm()
time.sleep(1)
self.toggleArm()
time.sleep(.5)
arm.go_to_position(tallTower)
time.sleep(.5)
self.toggleArm()
time.sleep(.7)
self.toggleMagnet()
time.sleep(.5)
self.toggleArm()
time.sleep(.5)
arm.home(1)
def setArmPosition(self, position):
if arm.get_position_in_units() == 0:
self.ids.moveArm.value = 0
self.ids.armControlLabel.text = str(position)
arm.go_to_position(position)
print(arm.get_position_in_units())
print("Move arm here")
def homeArm(self):
arm.home(0)
def isBallOnTallTower(self):
print("Determine if ball is on the top tower")
if cyprus.read_gpio() & 0b0001:
sleep(.05)
if cyprus.read_gpio() & 0b0001:
print("proximity sensor off")
return False
return True
def isBallOnShortTower(self):
print("Determine if ball is on the bottom tower")
if cyprus.read_gpio() & 0B0010:
print("Nope!")
return False
print("Here")
return True
def initialize(self):
print("Home arm and turn off magnet")
cyprus.initialize()
cyprus.setup_servo(1)
cyprus.setup_servo(2)
cyprus.set_servo_position(2, .5)
cyprus.set_pwm_values(1, period_value=100000, compare_value=0, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
self.homeArm()
def resetColors(self):
self.ids.armControl.color = YELLOW
self.ids.magnetControl.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
MyApp().stop()
def switch_button(self):
global switch_boolean
cyprus.initialize()
while switch_boolean:
if cyprus.read_gpio() & 0b0001:
sleep(0.1)
if (cyprus.read_gpio() & 0b0001) == 1:
cyprus.set_pwm_values(
2,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
else:
sleep(0.1)
if (cyprus.read_gpio() & 0b0001) == 0:
cyprus.set_pwm_values(
2,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.close()
# ////////////////////////////////////////////////////////////////
# // DECLARE APP CLASS AND SCREENMANAGER //
# // LOAD KIVY FILE //
# ////////////////////////////////////////////////////////////////
class MyApp(App):
def build(self):
self.title = "Robotic Arm"
return sm
Builder.load_file('main.kv')
Window.clearcolor = (.1, .1, .1, 1) # (WHITE)
cyprus.open_spi()
# ////////////////////////////////////////////////////////////////
# // SLUSH/HARDWARE SETUP //
# ////////////////////////////////////////////////////////////////
sm = ScreenManager()
arm = stepper(port=0,
micro_steps=32,
hold_current=20,
run_current=20,
accel_current=20,
deaccel_current=20,
steps_per_unit=25,
speed=5)
def free_mtrs(self):
s1.free()
cyprus.initialize()
cyprus.set_servo_position(1, 0.5)
cyprus.close()
def is_ball_on_upper():
return (cyprus.read_gpio() & 0b0001) == 0
# ////////////////////////////////////////////////////////////////
# // DECLARE APP CLASS AND SCREENMANAGER //
# // LOAD KIVY FILE //
# ////////////////////////////////////////////////////////////////
class MyApp(App):
def build(self):
self.title = "Perpetual Motion"
return sm
Builder.load_file('main.kv')
Window.clearcolor = (.1, .1, .1, 1) # (WHITE)
cyprus.open_spi()
# ////////////////////////////////////////////////////////////////
# // SLUSH/HARDWARE SETUP //
# ////////////////////////////////////////////////////////////////
sm = ScreenManager()
ramp = stepper(port=0,
micro_steps=32,
hold_current=20,
run_current=20,
accel_current=20,
deaccel_current=20,
steps_per_unit=25,
speed=INIT_RAMP_SPEED)
ramp.go_until_press(0, 20000)
ramp.set_as_home()
# ////////////////////////////////////////////////////////////////
# // DECLARE APP CLASS AND SCREENMANAGER //
# // LOAD KIVY FILE //
# ////////////////////////////////////////////////////////////////
class MyApp(App):
def build(self):
self.title = "Perpetual Motion"
return sm
Builder.load_file('main.kv')
Window.clearcolor = (.1, .1, .1, 1) # (WHITE)
cyprus.open_spi()
# ////////////////////////////////////////////////////////////////
# // SLUSH/HARDWARE SETUP //
# ////////////////////////////////////////////////////////////////
sm = ScreenManager()
ramp = stepper(port=0, speed=INIT_RAMP_SPEED)
# ////////////////////////////////////////////////////////////////
# // MAIN FUNCTIONS //
# // SHOULD INTERACT DIRECTLY WITH HARDWARE //
# ////////////////////////////////////////////////////////////////
# ////////////////////////////////////////////////////////////////
# // DEFINE MAINSCREEN CLASS THAT KIVY RECOGNIZES //
class MainScreen(Screen):
version = cyprus.read_firmware_version()
staircaseSpeedText = '0'
rampSpeed = INIT_RAMP_SPEED
staircaseSpeed = 40
staircase = ObjectProperty(None)
rampSpeed = ObjectProperty(None)
staircaseSpeed = ObjectProperty(None)
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
def toggleGate(self):
print("Open and Close gate here")
self.openGate()
def openGate(self):
global CLOSE
if CLOSE:
cyprus.set_servo_position(2, 0.5)
CLOSE = False
else:
cyprus.set_servo_position(2, 0)
CLOSE = True
def toggleStaircase(self):
print("Turn on and off staircase here")
self.turnOnStaircase()
def turnOnStaircase(self):
global OFF
global STAIRCASE_SPEED
if OFF:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=STAIRCASE_SPEED,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("staircase moving")
OFF = False
else:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("staircase stopped")
# self.staircase.text = "Staircase Off"
OFF = True
def toggleRamp(self):
print("Move ramp up and down here")
self.moveRamp()
#def isBallAtBottomOfRamp(self):
#this function is on the exercise thing but do we need it?
# ramp.set_as_home()
def isBallAtTopOfRamp(self):
global OFF
global STAIRCASE_SPEED
if OFF:
while True:
if ((cyprus.read_gpio() & 0b0001) == 0):
print("GPIO on port P6 is LOW")
print(" ramp moving")
cyprus.set_pwm_values(
1,
period_value=100000,
compare_value=STAIRCASE_SPEED,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("staircase moving")
time.sleep(5)
OFF = False
break
else:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("staircase stopped")
# self.staircase.text = "Staircase Off"
OFF = True
def moveRamp(self):
#cyprus.set_pwm_values(1, period_value=100000, compare_value=0, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
#cyprus.set_servo_position(2, 0)
global HOME
#global TOP
#if ((cyprus.read_gpio() & 0b0010)==0):
# print("GPIO on port P7 is LOW")
# print(" ramp moving")
# ramp.start_relative_move(-228)
#print("at top")
# self.isBallAtTopOfRamp()
# ramp.set_speed(40)
# ramp.relative_move(228)
# print("at home")
# ramp.stop()
#ramp.get_position_in_units()
global INIT_RAMP_SPEED
#ramp.go_until_press(1, 1)
#ramp.set_as_home()
# global TOP
while True:
#ramp.goHome()
#ramp.softStop()
if HOME:
#ramp.get_position_in_units()
ramp.set_as_home()
print(" ramp moving")
ramp.start_relative_move(-226)
print("at top")
self.isBallAtTopOfRamp()
ramp.set_speed(INIT_RAMP_SPEED)
#ramp.goHome()
ramp.start_relative_move(226)
print("at home")
#ramp.stop()
#HOME = False
break
# TOP = True
else:
ramp.go_until_press(1, 1)
# ramp.goHome()
print(" now at home")
HOME = True
break
def auto(self):
print("Run through one cycle of the perpetual motion machine")
global HOME
# global TOP
ramp.goHome()
sleep(5)
cyprus.set_servo_position(2, 0.5)
sleep(0.5)
cyprus.set_servo_position(2, 0)
while True:
if ((cyprus.read_gpio() & 0b0010) == 0):
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
ramp.set_speed(40)
print("GPIO on port P7 is LOW")
ramp.start_relative_move(-226)
print(" ramp moving")
while True:
if ((cyprus.read_gpio() & 0b0001) == 0):
ramp.stop()
print("GPIO on port P6 is LOW")
cyprus.set_pwm_values(
1,
period_value=100000,
compare_value=50000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("staircase moving")
break
#ramp.start_relative_move(226)
ramp.goHome()
print("going home")
time.sleep(8)
print("turning ramp off")
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.set_servo_position(2, 0.5)
sleep(0.5)
cyprus.set_servo_position(2, 0)
break
def setRampSpeed(self, speed):
print("Set the ramp speed and update slider text")
ramp.set_speed(self.rampSpeed.value)
def setStaircaseSpeed(self, speed):
global STAIRCASE_SPEED
print("Set the staircase speed and update slider text")
STAIRCASE_SPEED = self.staircaseSpeed.value
cyprus.set_motor_speed(4, self.staircaseSpeed.value)
def initialize(self):
print("Close gate, stop staircase and home ramp here")
def resetColors(self):
self.ids.gate.color = YELLOW
self.ids.staircase.color = YELLOW
self.ids.ramp.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
print("Exit")
MyApp().stop()
class MainScreen(Screen):
version = cyprus.read_firmware_version()
staircaseSpeedText = '0'
rampSpeed = INIT_RAMP_SPEED
staircaseSpeed = 40
gate = False
staircase = False
ramp = False
s0 = stepper(port=0,
micro_steps=32,
hold_current=20,
run_current=20,
accel_current=20,
deaccel_current=20,
steps_per_unit=200,
speed=8)
s0.set_speed(3.75)
staircase_speed = 100000
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
def thread_flip(self):
y = threading.Thread(target=self.auto, daemon=True)
y.start()
def toggleGate(self):
self.gate = not self.gate
if self.gate:
cyprus.set_servo_position(2, .48)
else:
cyprus.set_servo_position(2, 0)
print("Open and Close gate here")
def toggleStaircase(self):
self.staircase = not self.staircase
if self.staircase:
print(self.staircase)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=self.staircase_speed,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
else:
print(self.staircase)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("Turn on and off staircase here")
def toggleRamp(self):
self.ramp = not self.ramp
if self.ramp:
self.s0.start_relative_move(29)
else:
self.s0.start_relative_move(-29)
print("Move ramp up and down here")
def auto(self):
"""""
while True:
if cyprus.read_gpio() and 0B0010:
pass
else:
self.s0.start_relative_move(29)
if cyprus.read_gpio() and 0B001:
pass
else:
""" ""
self.toggleRamp()
time.sleep(7.75)
self.s0.set_speed(4)
self.toggleRamp()
time.sleep(1)
self.toggleStaircase()
time.sleep(5.25)
self.toggleGate()
time.sleep(1.75)
self.toggleStaircase()
time.sleep(.5)
self.toggleGate()
print("Run through one cycle of the perpetual motion machine")
def setRampSpeed(self, speed):
self.s0.set_speed(speed)
self.ids.rampSpeedLabel.text = "Ramp Speed: " + "{:.1f}".format(speed)
print("Set the ramp speed and update slider text")
def setStaircaseSpeed(self, speed):
self.staircase_speed = speed * 1000
self.ids.staircaseSpeedLabel.text = "StairCase Speed: " + str(
speed) + "%"
if self.staircase:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=(speed * 1000),
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("Set the staircase speed and update slider text")
def initialize(self):
cyprus.setup_servo(2)
cyprus.setup_servo(1)
print("Close gate, stop staircase and home ramp here")
def resetColors(self):
self.ids.gate.color = YELLOW
self.ids.staircase.color = YELLOW
self.ids.ramp.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
print("Exit")
MyApp().stop()
def auto(self):
print("Run through one cycle of the perpetual motion machine")
global HOME
# global TOP
ramp.goHome()
sleep(5)
cyprus.set_servo_position(2, 0.5)
sleep(0.5)
cyprus.set_servo_position(2, 0)
while True:
if ((cyprus.read_gpio() & 0b0010) == 0):
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
ramp.set_speed(40)
print("GPIO on port P7 is LOW")
ramp.start_relative_move(-226)
print(" ramp moving")
while True:
if ((cyprus.read_gpio() & 0b0001) == 0):
ramp.stop()
print("GPIO on port P6 is LOW")
cyprus.set_pwm_values(
1,
period_value=100000,
compare_value=50000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("staircase moving")
break
#ramp.start_relative_move(226)
ramp.goHome()
print("going home")
time.sleep(8)
print("turning ramp off")
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.set_servo_position(2, 0.5)
sleep(0.5)
cyprus.set_servo_position(2, 0)
break
from pidev.Cyprus_Commands import Cyprus_Commands_RPi as ccrpi
ccrpi.open_spi()
from pidev import stepper
##led = stepper(port = 1, speed = 50)
##for i in range(1, 255):
## print("lup")
ccrpi.write_pwm(1, ccrpi.COMPARE_MODE, ccrpi.LESS_THAN)
ccrpi.write_pwm(1, ccrpi.PERIOD, .001)
ccrpi.write_pwm(1, ccrpi.COMPARE, .001)
ccrpi.write_pwm(2, ccrpi.COMPARE_MODE, ccrpi.LESS_THAN)
ccrpi.write_pwm(2, ccrpi.PERIOD, .001)
ccrpi.write_pwm(2, ccrpi.COMPARE, .001)
## ccrpi.set_servo_speed(1, -0.5)
def setStaircaseSpeed(self, speed):
global STAIRCASE_SPEED
print("Set the staircase speed and update slider text")
STAIRCASE_SPEED = self.staircaseSpeed.value
cyprus.set_motor_speed(4, self.staircaseSpeed.value)
def get_trigger_button_state():
if cyprus.read_gpio() & 0b0001:
return 'up'
# ////////////////////////////////////////////////////////////////
# // DECLARE APP CLASS AND SCREENMANAGER //
# // LOAD KIVY FILE //
# ////////////////////////////////////////////////////////////////
class MyApp(App):
def build(self):
self.title = "Robotic Arm"
return sm
Builder.load_file('main.kv')
Window.clearcolor = (.1, .1, .1, 1) # (WHITE)
cyprus.open_spi()
ballOnTallTower = False
# ////////////////////////////////////////////////////////////////
# // SLUSH/HARDWARE SETUP //
# ////////////////////////////////////////////////////////////////
sm = ScreenManager()
arm = stepper(port=0, speed=10)
cyprus.initialize()
cyprus.setup_servo(1) # cytron
cyprus.setup_servo(2) # talon
"""
Port 4: Cytron
def transition_back():
SCREEN_MANAGER.current = MAIN_SCREEN
cyprus.close()
def cleanup(self):
cyprus.set_servo_position(1, .5)
cyprus.close()
spi.close()
GPIO.cleanup()
quit()
