def __call__(self, robot):
robot.Vent()
if self.oz_to_meter == 0:
logging.warning("oz_to_meter was zero, returning early.")
self.initial_reading = robot.load_cell.recent_summary(secs=.2).mean
tare = meter_common.tare(robot)
self.tare_reading = tare.mean
if not tare.healthy:
self.unhealthy = True
logging.error("UNHEALTHY TARE")
with robot.OpenValve(self.valve_to_actuate):
time.sleep(meter_common.SECONDS_PER_OZ * self.oz_to_meter)
return
self.target_reading = (tare.mean + meter_common.OZ_TO_ADC_VALUES * max(
self.oz_to_meter - METER_OZ_OFFSET, .1))
last_summary = tare
print "Metering to oz %f or %s" % (self.oz_to_meter, self.target_reading)
with robot.OpenValve(self.valve_to_actuate):
while last_summary.mean < self.target_reading:
time.sleep(.05)
last_summary = robot.load_cell.recent_summary(secs=.1)
self.current_reading = last_summary.mean
self.final_reading = self.current_reading
time.sleep(1)
r = robot.load_cell.recent(secs=time.time() - tare.timestamp + 5)
f = open('readings/readings_%s_%foz.csv' %
(time.strftime("%Y%m%d_%H%M%S"), self.oz_to_meter), 'w')
for ts, v in r:
print >> f, "%s,%s" % (ts, v)
f.close()
def __call__(self, robot):
#robot.Vent()
if self.oz_to_meter == 0:
logging.warning("oz_to_meter was zero, returning early.")
self.initial_reading = robot.load_cell.recent_summary(secs=.2).mean
tare = meter_common.tare(robot)
self.tare_reading = tare.mean
if not tare.healthy:
self.unhealthy = True
logging.error("UNHEALTHY TARE")
with robot.OpenValve(self.valve_to_actuate):
time.sleep(meter_common.SECONDS_PER_OZ * self.oz_to_meter)
return
self.target_reading = (tare.mean + meter_common.OZ_TO_ADC_VALUES * max(
self.oz_to_meter - METER_OZ_OFFSET, .1))
last_summary = tare
print "------------ Metering to oz %f or %s" % (self.oz_to_meter, self.target_reading)
with robot.OpenValve(self.valve_to_actuate):
while last_summary.mean < self.target_reading:
time.sleep(.05)
last_summary = robot.load_cell.recent_summary(n=1)
self.current_reading = last_summary.mean
self.final_reading = self.current_reading
def __call__(self, robot):
if self.oz_to_meter == 0:
logging.warning("oz_to_meter was zero, returning early.")
start_ts = time()
print "Waiting to tare"
self.tare = tare(robot)
print "Tared", _format_summary(start_ts, self.tare)
self.adc_units_to_meter = self.oz_to_meter * OZ_TO_ADC_VALUES
self.target_reading = self.adc_units_to_meter + self.tare.mean
print "target_reading=%s oz_to_meter=%s self.tare.mean=%s" % (
self.target_reading, self.oz_to_meter, self.tare.mean)
self.measured_actuation_delay = 2.
last_print = 0
self.last_readings = self.tare
while (self.last_readings.mean <
(self.adc_units_to_meter * .8) + self.tare.mean):
with robot.OpenValve(self.valve_to_actuate):
for info in _wait_until_filled(
tare=self.tare,
load_cell=robot.load_cell,
target_reading=self.target_reading,
deadline=self.tare.timestamp + MAX_METER_SECS):
self.info = info
self.elapsed = time() - self.tare.timestamp
self.time_remaining = info.target_ts - time()
self.measured_actuation_delay = info.m_actuation_delay
if time() - last_print > (1 if not info.m_actuation_delay else .2):
print "Info mad=%s target_ts=%s elapsed=%s time_remaining=%s slope=%s intercept=%s %s" % (
info.m_actuation_delay, info.target_ts, self.elapsed,
self.time_remaining, info.slope, info.intercept,
_format_summary(start_ts, info.summary))
last_print = time()
print "Valve was open for %s seconds." % (time() - self.tare.timestamp)
sleep(max(2 * (self.measured_actuation_delay or 0), 1))
self.last_readings = robot.load_cell.recent_summary(secs=.3)
print "Readings after sleep: %s" % (
_format_summary(start_ts, self.last_readings))
