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
from time import sleep
stepper = Stepper()
try:
print "start"
stepper.start()
for i in range(1, 5):
stepper.setSpeed(i * 200)
print i * 200
sleep(1)
print "stop"
stepper.stop()
sleep(.2)
print "flip"
stepper.flipDirection()
stepper.start()
sleep(5)
print "stop"
stepper.stop()
except KeyboardInterrupt:
print("\nCtrl-C pressed. Stopping PIGPIO and exiting...")
finally:
stepper.stop()
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)
class Turret(object):
left = 1
right = -1
def __init__(self, tilt_min=0, tilt_max=180):
self.min_angle = tilt_min
self.max_angle = tilt_max
self._init_servos()
self._init_stepper()
self._init_led()
def _init_servos(self):
#init global PWM
self.pwm = Adafruit_PCA9685.PCA9685()
#init servos
self.servos = ServoPair(self.pwm,
chan_a=0,
chan_b=1,
min=self.min_angle,
max=self.max_angle)
#calibrate
self.servos.set_angle(90)
self.tilt_angle = 90
self.tilt_speed = 45 # Default tilt speed, in degrees per second
self.tilt_delay = 1.0 / 60.0 # time between step increments; servo pulses are only 60hz
self.tilt_loop = None
self.tilt_dir = 0 # Angle increment per step
def _init_stepper(self):
#init steppers
self.stepper = Stepper()
self.pan_angle = 0 # angle
def _init_led(self):
self.status_led = DimmerRGB(self.pwm, 8, 9, 10)
self.status_led.set_color(1, .4, 0)
def tilt_to(self, angle):
self.tilt_angle = max(self.min_angle, min(self.max_angle, angle))
print("tilt:{}".format(self.tilt_angle))
self.servos.set_angle(self.tilt_angle)
return self.tilt_angle == self.max_angle or self.tilt_angle == self.min_angle
def pan(self, d_angle):
self.pan_angle += d_angle
self.pan_angle %= 360
self.stepper.step_to_angle(d_angle)
def pan_forever(self, direction):
""" Direction is 1 or -1 """
self.stepper.step_forever(-direction)
def stop_pan(self):
self.stepper.stop()
def _tilt_loop(self):
maxed = self.tilt_to(self.tilt_angle - self.tilt_dir)
if maxed:
self.stop_tilt()
def tilt(self, speed=None):
""" Tilt up until told to stop
"""
if speed == None: speed = self.tilt_speed
self.tilt_dir = speed * self.tilt_delay
if self.tilt_loop: self.stop_tilt()
self.tilt_loop = task.LoopingCall(f=self._tilt_loop)
self.tilt_loop.start(self.tilt_delay)
def tilt_down(self, speed=None):
if speed == None: speed = self.tilt_speed
self.tilt(-speed)
def stop_tilt(self):
try:
self.tilt_loop.stop()
except:
pass
self.tilt_loop = None
def fire(self):
print("bang")
def calibrate(self):
print("Calibrating... DING")
def __del__(self):
IO.cleanup()
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)
