def dispense(value):
value = float(value)
try:
print("Setting up OGR")
ogr = ScaleOGR(False, False)
stepper = Stepper(1000000)
f = Filter(0.2)
print("Setting up camera")
camera = PiCamera()
camera.close()
camera = PiCamera()
camera.resolution = (1920, 1088)
camera.framerate = 30
rawCapture = PiRGBArray(camera, size=(1920, 1088))
print("Getting images")
for frame in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
image = rawCapture.array
num = ogr.process(image)
fv = f.filter(num)
print('Detected number: {:} -- Filtered number: {:}'.format(
num, fv))
rawCapture.truncate(0)
if fv < value:
stepper.run(1000, 1)
else:
stepper.stop()
camera.close()
pass
except Exception as e:
print(e)
print("The scale is probably not on, turn it on and try again")
pass
from stepper import Stepper
import utime as time
pin_dir = Pin(14)
pin_step = Pin(13)
pin_en = Pin(0)
steppy = Stepper(pin_en, pin_dir, pin_step)
steppy.on()
steppy.max_speed = 10000
steppy.acc = 5
for i in range(0, 1):
steppy.target = steppy.deg_to_steps(360)
while (steppy.pos != steppy.target):
_ = steppy.run()
#steppy.off()
time.sleep(1.0)
steppy.target = 0
while (steppy.pos != steppy.target):
_ = steppy.run()
#steppy.off()
time.sleep(1.0)
print("Done!")
#pwm = PWM(pin_step)
#
#pwm.freq(1000)
#pwm.duty(512)
class valvecontrol:
# ============================================================================
# ===( Constants )============================================================
# ============================================================================
_m5_steigung = 0.8
# ============================================================================
# ===( Class globals )=======================================================
# ============================================================================
# ============================================================================
# ===( Utils )===============================================================
# ============================================================================
# ============================================================================
# ===( Constructor )==========================================================
# ============================================================================
def __init__(self, configFile="hardware.cfg", config=None):
if config == None:
f = open('hardware.cfg')
hardconfobj = ujson.loads(f.read())
self.config = hardconfobj["valve"]
f.close()
else:
self.config = config
#self.config["homeSencePin"]
#self.config["homePosToValve"] in mm
#self.config["valveToValve"] in mm
#self.config["valveAmmount"]
#self.config["maxSteps"]
# mm von ventil zu ventil * schritte pro umdrehung / gewindesteigung
self.stepsValveToValve = int(
self.config["valveToValve"] *
((4075.7728395061727 / 2) / self._m5_steigung))
print(self.stepsValveToValve)
self.stepshomePosToValve = int(
self.config["homePosToValve"] *
((4075.7728395061727 / 2) / self._m5_steigung))
self.homingIsrunning = False
self.valveReachedCB = None
self.homingCB = None
self.homepin = Pin(self.config["homeSencePin"], Pin.IN)
pin = self.config["stepperPins"]
self.valveStepper = Stepper(pin[0], pin[1], pin[2], pin[3],
self.config["steps-s"],
self.config["maxSteps"])
def setValveReachedCB(self, cb):
"""set callback that was calles if the actuator reached the wanted valve"""
self.valveReachedCB = cb
def setHomeFinishedCB(self, cb):
"""set callback that was calles if the actuator reached the homing sensor"""
self.homingCB = cb
def _internalHomingCallback(self, e):
"""called from interrupt(see homing()) if homingpoint is arrived """
if self.homingIsrunning == True:
self.homingIsrunning = False
self.valveStepper.stop()
self.valveStepper.resetPos()
if self.homingCB is not None:
self.homingCB()
def homing(self, speed=None):
"""starts the homing procedure"""
self.homingIsrunning = True
#
#print(self.homepin.value())
#todo: test if homepin is triggered
#if true go in postitive direction and home after
#if false home
self.homepin.irq(trigger=Pin.IRQ_RISING,
handler=self._internalHomingCallback)
self.valveStepper.run(-1000000, 1, speed)
def openValve(self, valve):
"""drive the actor to the right valve"""
if valve > self.config["valveAmmount"]:
return False
stepsToRun = self.stepshomePosToValve + (
(valve - 1) * self.stepsValveToValve) - self.valveStepper.getPos()
self.valveStepper.setMotionEndCB(self.valveReachedCB)
self.valveStepper.run(stepsToRun)
def run(self, steps, dire=1, speed=None):
"""run a specifiv amount of steps"""
self.valveStepper.run(steps, dire, speed)
def closeAll(self):
"""run the aktor behind the homingpoint to close all valves"""
self.valveStepper.setMotionEndCB(self.valveReachedCB)
self.valveStepper.run(self.config["valveToValve"] / 2)
def readHomePin(self):
"""manual read the input pin of the homing sensor (vor testing and homingstart)"""
return self.homepin.value()
def closeInHome(self):
"""the same as closeAll()"""
stepsToRun = -(self.stepshomePosToValve + self.valveStepper.getPos())
print("stepsToRun")
print(stepsToRun)
class valvecontrol:
# ============================================================================
# ===( Constants )============================================================
# ============================================================================
_m5_steigung = 0.8
# ============================================================================
# ===( Class globals )=======================================================
# ============================================================================
# ============================================================================
# ===( Utils )===============================================================
# ============================================================================
# ============================================================================
# ===( Constructor )==========================================================
# ============================================================================
def __init__(self, configFile = "hardware.cfg",config = None):
if config == None:
f = open('hardware.cfg')
hardconfobj = ujson.loads(f.read())
self.config = hardconfobj["valve"]
f.close()
else:
self.config = config
#self.config["homeSencePin"]
#self.config["homePosToValve"] in mm
#self.config["valveToValve"] in mm
#self.config["valveAmmount"]
#self.config["maxSteps"]
# mm von ventil zu ventil * schritte pro umdrehung / gewindesteigung
self.stepsValveToValve = int(self.config["valveToValve"] * ((4075.7728395061727/2)/self._m5_steigung) )
print(self.stepsValveToValve)
self.stepshomePosToValve = int(self.config["homePosToValve"] * ((4075.7728395061727/2)/self._m5_steigung) )
self.homingIsrunning = False
self.valveReachedCB = None
self.homingCB = None
self.homepin = Pin(self.config["homeSencePin"], Pin.IN)
pin = self.config["stepperPins"]
self.valveStepper = Stepper(pin[0],pin[1],pin[2],pin[3],self.config["steps-s"],self.config["maxSteps"])
def setValveReachedCB(self,cb):
self.valveReachedCB = cb
def setHomeFinishedCB(self,cb):
self.homingCB = cb
def _internalHomingCallback(self,e):
if self.homingIsrunning == True:
self.homingIsrunning = False
self.valveStepper.stop()
self.valveStepper.resetPos()
print("internal call")
if self.homingCB is not None:
self.homingCB()
def homing(self,speed = None):
#triggerflanke noch bestimmen!!!
self.homingIsrunning = True
#
#print(self.homepin.value())
#todo: test if homepin is triggered
#if true go in postitive direction and home after
#if false home
self.homepin.irq(trigger=Pin.IRQ_RISING , handler=self._internalHomingCallback)
self.valveStepper.run(-1000000,1,speed)
def openValve(self,valve):
if valve > self.config["valveAmmount"]:
return False
stepsToRun = self.stepshomePosToValve + ((valve-1) * self.stepsValveToValve) - self.valveStepper.getPos()
print("stepsToRun")
print(stepsToRun)
self.valveStepper.setMotionEndCB(self.valveReachedCB)
self.valveStepper.run(stepsToRun)
def run(self , steps , dire = 1, speed = None):
self.valveStepper.run(steps,dire,speed)
def closeAll(self):
self.valveStepper.setMotionEndCB(self.valveReachedCB)
self.valveStepper.run(self.config["valveToValve"]/2)
def readHomePin(self):
print("pin")
print(self.homepin)
print(self.homepin.value())
def closeInHome(self):
stepsToRun = -(self.stepshomePosToValve + self.valveStepper.getPos())
print("stepsToRun")
print(stepsToRun)
# stepper.set_acceleration(500)
stepper = Stepper(pi, 16, 20, 21, 2000, 5000)
state = 0
#stepper2 = Stepper(pi, 13, 19, 26)
#stepper2.set_velocity_setpoint(4000)
pairs = [
(1000, 1),
(0, 5)]
prev_time = perf_counter()
while True:
v, t = pairs[state % len(pairs)]
stepper.set_velocity_setpoint(v)
curr_time = perf_counter()
if curr_time - prev_time >= t:
state += 1
prev_time = curr_time
stepper.run()
except KeyboardInterrupt:
print("\nExiting...")
# TODO: Switch ENA back to high
finally:
pi.write(16, 1)
print("done")
