def limitSwitch(self):
self.stat = MOTOR.getSENSORS(0)
if not (self.stat&0x01) or not (self.stat&0x04):
MOTOR.RESET(0)
print('Limit switches hit, stopping')
root.after_cancel(self._job)
self.stopAll()
def resetMotor(self):
MOTOR.RESET(0)
stat = 0xff
while stat:
time.sleep(.1)
stat = MOTOR.getINTflag0(0)
time.sleep(.1)
def handleIote2eResult(self, iote2eResult ):
actuatorValue = iote2eResult.pairs['actuatorValue'];
logger.info('actuatorValue {}'.format(actuatorValue))
if 'off' == actuatorValue:
MOTOR.dcSTOP(0,3)
elif 'on' == actuatorValue:
MOTOR.dcSTART(0,3)
def neutral(self, msg):
MOTOR.stepperSTOP(config.ADDR, config.MOTOR)
MOTOR.stepperCONFIG(config.ADDR, config.MOTOR, 'ccw', 'M8', 500, 0)
MOTOR.stepperJOG(config.ADDR, config.MOTOR)
endstop(1)
MOTOR.stepperCONFIG(config.ADDR, config.MOTOR, 'cw', 'M8', 1000, 0)
MOTOR.stepperMOVE(config.ADDR, config.MOTOR, 300)
wait(1)
def jog(self):
if (self.direction.get() == 0):
dir='cw'
else:
dir='ccw'
MOTOR.stepperCONFIG( 0,self.mVal,dir,self.ss.get(),self.rate.get(),self.acc.get())
MOTOR.stepperJOG(0,self.mVal)
self.stepState=1
def move(self):
if (self.direction.get() == 0):
dir='cw'
else:
dir='ccw'
MOTOR.stepperCONFIG(0,self.mVal,dir,self.ss.get(),self.rate.get(),self.acc.get())
MOTOR.stepperMOVE(0,self.mVal,self.steps.get())
self.stepState=2
def on_terminate():
RELAY.RESET(0)
RELAY.RESET(1)
MOTOR.RESET(0)
MOTOR.RESET(1)
print("All relays and Motors are off.")
print("Program has been terminated!")
def main():
# clear old move commands and start fresh, remove power and reset to a know state
MOTOR.RESET(0)
MOTOR.RESET(1)
mqttc = MqttClient('hardware')
mqttc.run()
atexit.register(on_terminate)
def jogHome(self):
#Initialize homing variables
self.motorA = 1
self.motorB = 1
#Configure motor parameters for jogging
self.sync_config(1, 150, 0)
#Move steppers A and B towards switches
MOTOR.stepperJOG(0, 'a')
MOTOR.stepperJOG(0, 'b')
#Wait for limit switch signal
root.after(1, self.findHome)
def stop(self):
for m in self._LEFT + self._RIGHT:
MOTOR.dcSTOP(m._address, m._number)
time.sleep(m._acceleration)
m.speed = 0
m._direction = m._forward
MOTOR.dcCONFIG(m._address, m._number, m.direction, m.speed,
m._acceleration)
m._stopped = True
print("motor: {0}, {1} speed: {2} direction: {3}".format(
m._address, m._number, m.speed, m.direction))
def stop():
global position
global moving
global jogging
print "entered stop "
moving = 0
jogging = 0
stopped = 1
MOTOR.clrLED(0)
MOTOR.stepperSTOP (card, motor)
position = 0
def stopAll(self):
global intBITS, intFLAG
intBITS = MOTOR.getINTflag0(0)
intFlag = 0
GPIO.cleanup(22)
#root.after_cancel(self._job)
MOTOR.RESET(0)
self.homeComplete = 0
self.vFinal = 0
self.cFinal = 0
self.cycleCount = 0
print('Stopping all processes')
def move_rel (m_dist):
global position
global moving
global accel
global velocity
if (position + m_dist < 0):
error = 3
print >> sys.stderr, "Invalid relative move (negative postion) aborting\n"
return (error)
if (dist < 0):
direction = 'cw'
else:
direction = 'ccw'
position += m_dist
MOTOR.stepperCONFIG(card, motor, direction, 3, velocity, accel)
stopped = 0
moving = 1
MOTOR.setLED(0)
MOTOR.move(card, motor, m_dist)
delay = m_dist / velocity
delay += accel
time.sleep(delay)
moving = 0
stopped = 1
MOTOR.clrLED(0)
def interval(self):
if (self.direction.get() == 0):
dir='cw'
else:
dir='ccw'
MOTOR.stepperCONFIG( 0,self.mVal,dir,self.ss.get(),self.rate.get(),self.acc.get())
a = 1
while a < self.rptSet.get(): #10: #self.ratedelta:
MOTOR.stepperMOVE(0,self.mVal,self.steps.get())
time.sleep(10) #(self.delay)
a = a + 1
self.stepState=1
def __init__(self, min_speed=25):
# make the motor banks
self._LEFT = [
Motor(0, 1, 'cw', 'ccw'),
Motor(0, 2, 'cw', 'ccw'),
Motor(0, 3, 'cw', 'ccw')
]
self._RIGHT = [
Motor(1, 1, 'ccw', 'cw'),
Motor(1, 2, 'ccw', 'cw'),
Motor(1, 3, 'ccw', 'cw')
]
# get the motors ready to run
for m in self._LEFT:
MOTOR.dcCONFIG(m._address, m._number, m.direction, 0,
m._acceleration)
print("Starting motors at speed 0.")
MOTOR.dcSTART(m._address, m._number)
m._stopped = False
for m in self._RIGHT:
MOTOR.dcCONFIG(m._address, m._number, m.direction, 0,
m._acceleration)
print("Starting motors at speed 0.")
MOTOR.dcSTART(m._address, m._number)
m._stopped = False
def motors_off():
"""Stop and cut power to all motors"""
motor.stepperSTOP(0, 'A')
motor.stepperSTOP(0, 'B')
motor.stepperOFF(0, 'A')
motor.stepperOFF(0, 'B')
def stopAll(self):
global intBITS, intFLAG
intBITS = MOTOR.getINTflag0(0)
intFlag = 0
GPIO.cleanup(22)
root.after_cancel(self._job)
MOTOR.RESET(0)
self.homeComplete = 0
self.vFinal = 0
self.cFinal = 0
self.cycleCount = 0
self.direction = 1
self.disableAllbutHome()
self.resetClocks()
print('Stopping all processes')
print('Please re-Home and reset volume and cycles')
def MotorOff():
#print("Stopping Motor")
MOTOR.dcSTOP(ctl,FL)
MOTOR.dcSTOP(ctl,FR)
MOTOR.dcSTOP(ctl,RL)
MOTOR.dcSTOP(ctl,RR)
status = "stopped"
return status
def right(FLspeed,FRspeed,RLspeed,RRspeed):
status = initMotor('cw','ccw','cw','ccw')
MOTOR.dcSTART(ctl,FL)
MOTOR.dcSTART(ctl,FR)
MOTOR.dcSTART(ctl,RL)
MOTOR.dcSTART(ctl,RR)
status = 'right'
return status
def fwd(FLspeed,FRspeed,RLspeed,RRspeed):
# print("Forward motion called. CTL: ",ctl)
status = initMotor('cw','cw','cw','cw')
MOTOR.dcSTART(ctl, FL)
MOTOR.dcSTART(ctl, FR)
MOTOR.dcSTART(ctl, RL)
MOTOR.dcSTART(ctl, RR)
status = "forward"
return status
def reverse(FLspeed,FRspeed,RLspeed,RRspeed):
#print("Reverse motion called. CTL: ")
status = initMotor('ccw','ccw','ccw','ccw')
MOTOR.dcSTART(ctl, FL)
MOTOR.dcSTART(ctl, FR)
MOTOR.dcSTART(ctl, RL)
MOTOR.dcSTART(ctl, RR)
status = "reverse"
return status
def __init__(self,master,r,c):
self.master=master
self.initialization=False
self.sm=Frame(self.master,padx=4,pady=4,bd=2,relief='sunken')
self.sm.grid(row=r,column=c, sticky=N+S+W+E)
##Create Fonts
self.title=tkFont.Font(family='Helvetica', size=25, weight='bold')
self.heading=tkFont.Font(family='Helvetica', size=18, weight='bold')
self.content=tkFont.Font(family='Helvetica', size=12, weight='bold')
self.dir_dict = {0:'cw', 1:'ccw'}
self.direction=1
self.cycleCount=1
self.bigStart=Button(self.sm,text="go",height=108,width=125,command=self.makeLysate)
self.bigStart.grid(row=2,column=0,rowspan=2,padx=30,pady=4)
self.intBITS=MOTOR.getINTflag0(0)
self.intFLAG=1
GPIO.setmode(GPIO.BCM)
GPIO.setup(22, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.add_event_detect(22, GPIO.FALLING, callback=self.moveDone)
#allow interrupts when a motor stops
MOTOR.enablestepSTOPint(0,'a')
MOTOR.enablestepSTOPint(0,'b')
MOTOR.intEnable(0)
def jog_motor(direction):
"""Jog the selected direction"""
if direction == 'up':
motor_name = 'B'
motor_dir = 'CCW'
elif direction == 'down':
motor_name = 'B'
motor_dir = 'CW'
elif direction == 'right':
motor_name = 'A'
motor_dir = 'CW'
elif direction == 'left':
motor_name = 'A'
motor_dir = 'CCW'
motor.stepperCONFIG(0, motor_name, motor_dir, 3, 2000, 0)
motor.stepperJOG(0, motor_name)
def configmotors(self, speed, first=False):
if (first):
GPIO.setmode(GPIO.BCM)
MOTOR.intEnable(0) #enable interrupts on Pi-Plate
MOTOR.enablestepSTOPint(
0, 'A') #set up to interrupt when motor a stops
MOTOR.enablestepSTOPint(
0, 'B') #set up to interrupt when motor a stops
MOTOR.stepperCONFIG(0, 'A', 'cw', 'H', speed, 0)
MOTOR.stepperCONFIG(0, 'B', 'cw', 'H', speed, 0)
pwm = [None, None, time.perf_counter()]
GPIO.setup(4, GPIO.OUT)
GPIO.setup(5, GPIO.OUT)
pwm[0] = GPIO.PWM(4, 50)
pwm[0].start(0)
pwm[1] = GPIO.PWM(5, 50)
pwm[1].start(0)
return pwm
def stopAll(self):
#root.after_cancel(self._job)
MOTOR.RESET(0)
self.homeComplete = 0
self.vFinal = 0
self.cFinal = 0
self.cycleCount = 0
self.intReset
print("Stopping all processes")
def check_switches():
switch_status = motor.getSENSORS(0)
if switch_status == 15:
return 'none'
elif switch_status == 11:
return 'up'
elif switch_status == 14:
return 'right'
else:
return 'error'
def is_stepper_online(mtr_number):
address = 0
if mtr_number in (3, 4): address = 1
elif mtr_number in (5, 6): address = 2
elif mtr_number in (7, 8): address = 3
if MOTOR.getADDR(address) == address:
return {"address": address, "state": "online"}
else:
return {"address": address, "state": "offline"}
def jogHome(self):
#Initialize homing variables
self.motorA = 1
self.motorB = 1
self.homeButton["state"] = "disabled"
#Configure motor parameters for jogging
MOTOR.stepperCONFIG(0,'a','ccw','M8',150,0)
MOTOR.stepperCONFIG(0,'b','ccw','M8',150,0)
#Move steppers A and B towards switches
MOTOR.stepperJOG(0,'a')
MOTOR.stepperJOG(0,'b')
#Wait for limit switch signal
root.after(1,self.findHome)
def send_data(self):
# create the sensor data message
if self.verbose:
data = json.dumps(
{
"00-Title": "Limit switch status",
"01-Sensor1 status": bool(MOTOR.getSENSORS(0) & 0x01),
"02-Sensor2 status": bool(MOTOR.getSENSORS(0) & 0x02),
"03-Sensor3 status": bool(MOTOR.getSENSORS(0) & 0x04),
"04-Sensor4 status": bool(MOTOR.getSENSORS(0) & 0x08),
"05-Timestamp": time.strftime("%Y-%m-%d %H:%M:%S")
},
sort_keys=True)
else:
#short version
# takes a while to get the sensor reading
data = bin(MOTOR.getSENSORS(0) & 0x0F)
#publish.single("sensors/data", data, hostname=broker)
self.mqttc.publish(hostname + "/sensors/switch", data, 0) # publish
def get_card_address():
relays = []
motors = []
for address in range(0, 2):
relays.append(RELAY.getADDR(address))
for address in range(0, 8):
motors.append(MOTOR.getADDR(address))
# remove duplicates with set
return {'Relays': list(set(relays)), 'Steppers': list(set(motors))}
