import time
from api import Api
from motors import Servo, Motor
from remote import Remote
servo = Servo(port=1, min_pulse=750, max_pulse=2250, min_position=0.30, max_position=0.7)
motor = Motor(port=1, duty_cycle=0)
def wave(min=0.0, max=1.0, n=1, pause=0.4):
for x in range(n):
servo.set(min)
time.sleep(pause)
servo.set(max)
time.sleep(pause)
servo.set(0.5)
api = Api()
api.demonize()
remote = Remote()
while True:
# api events
for event, kwargs in api.events:
if event == "wave":
wave(**kwargs)
if event == "set":
servo.set(0.75-float(kwargs["position"])*0.5)
if event == "set_speed":
motor.duty_cycle = kwargs['position']
api.events = []
def __main__():
#Setup MQTT and Instantiate the Servo Motor
mqttc = mqtt.Client()
servoMotor = Servo(0, 500, 2500)
## Define the MQTT Callbacks
# The callback for when the client receives a response from the Server
def on_connect(client, userdata, flags, rc):
print("Connected with result code " + str(rc))
mqttc.subscribe("servoControl")
# Subscribe to the MQTT Topic
def on_subscribe(client, userdata, mid, granted_qos):
print("Subscribed: " + str(mid) + " " + str(granted_qos))
# The callback when a publish message is received from the Server
def on_message(client, userdata, msg):
if msg.payload:
print(msg.topic + ":: payload is " + str(msg.payload))
servoMotor.setAngle(int(msg.payload))
# The callback to disconnect and update the user
def on_disconnect(client, userdata, rc):
print("Disconnect From Server")
#Assign the callbacks
mqttc.on_message = on_message
mqttc.on_connect = on_connect
mqttc.on_subscribe = on_subscribe
mqttc.on_disconnect = on_disconnect
#Connects directly to the Omega
mqttc.connect('127.0.0.1')
# Continue the network infinite loop
mqttc.loop_forever()
def main():
# instantiate objects for the two servos
standardServo = Servo(0, 500, 2400)
microServo = Servo(1, 500, 2400)
# set both servos to the neutral position
standardServo.setAngle(90.0)
microServo.setAngle(90.0)
time.sleep(2)
# Turn servos to the 0 angle position
#standardServo.setAngle(0.0)
#microServo.setAngle(0.0)
#time.sleep(2)
# Turn servos to the neutral positiostandardServo.setAngle(90.0)
microServo.setAngle(90.0)
time.sleep(2)
def main():
# instantiate objects for the two servos
standardServo = Servo(0, 500, 2400)
microServo = Servo(1, 500, 2400)
# set both servos to the neutral position
standardServo.setAngle(90.0)
microServo.setAngle(90.0)
time.sleep(2)
# infinite loop
while (True):
# Turn servos to the 0 angle position
standardServo.setAngle(0.0)
microServo.setAngle(0.0)
time.sleep(2)
# Turn servos to the neutral position
standardServo.setAngle(90.0)
microServo.setAngle(90.0)
time.sleep(2)
# Turn servos to the 180 angle position
standardServo.setAngle(180.0)
microServo.setAngle(180.0)
time.sleep(2)
from motors import Servo
import onionGpio
import time
import subprocess
sleepTime = 2
gpio0 = onionGpio.OnionGpio(0)
gpio0.setOutputDirection(0)
microServo = Servo(1, 500, 2400)
microServo.setAngle(0.0)
gpio0.setValue(0)
while 1:
cmd = "nfc-list | grep UID | sed -e 's/ //g' -e 's/^.*://'"
uid = subprocess.check_output(cmd,shell=True).rstrip('\n')
if(uid != ""):
gpio0.setValue(1)
microServo.setAngle(180.0)
time.sleep(sleepTime)
gpio0.setValue(0)
microServo.setAngle(0.0)
time.sleep(sleepTime)
def main():
# instantiate objects for all servos
servoA = Servo(0, 500, 2400)
servoB = Servo(1, 500, 2400)
servoQa = Servo(2, 500, 2400)
servoA1 = Servo(3, 500, 2400)
servoB1 = Servo(4, 500, 2400)
servoQb = Servo(5, 500, 2400)
servoQ = Servo(6, 500, 2400)
# set all servos to the neutral position
servoA.setAngle(90.0)
servoB.setAngle(90.0)
servoQa.setAngle(90.0)
servoA1.setAngle(90.0)
servoB1.setAngle(90.0)
servoQb.setAngle(90.0)
servoQ.setAngle(90.0)
print('Enter Input 1 (0 or 1):')
a = int(input())
print('Enter Input 2 (0 or 1):')
b = int(input())
print('Enter Input 3 (0 or 1):')
a1 = int(input())
print('Enter Input 4 (0 or 1):')
b1 = int(input())
#standard setup: 1 AND, 2 OR, 3 NAND
operator1 = int(1)
operator2 = int(2)
operator3 = int(3)
#logic gate Qa evaluate
Qa = logic(operator1, a, b)
#logic gate Qb evaluate
Qb = logic(operator2, a1, b1)
#logic gate Q evaluate
Q = logic(operator3, Qa, Qb)
#open input gates
if(a == 1):
servoCTRL(servoA, 0, 500, 2400)
if(b == 1):
servoCTRL(servoB, 1, 500, 2400)
if(a1 == 1):
servoCTRL(servoA1, 3, 500, 2400)
if(b1 == 1):
servoCTRL(servoB1, 4, 500, 2400)
time.sleep(2)
#open output gates
if(Qa == 1):
servoCTRL(servoQa, 2, 500, 2400)
if(Qb == 1):
servoCTRL(servoQb, 5, 500, 2400)
time.sleep(2)
#open final gate
if(Q == 1):
servoCTRL(servoQ, 6, 500, 2400)
def servoCTRL(servo, channel, minPulse, maxPulse):
servo = Servo(channel, minPulse, maxPulse)
servo.setAngle(180.0)
time.sleep(0.1)
servo.setAngle(90.0)
def __init__(self):
self.pi = pigpio.pi()
self.c = 0
self.drawingMode = False
# pen input
self.pi.set_mode(Typer.PEN_INPUT, pigpio.INPUT)
self.pi.set_pull_up_down(Typer.PEN_INPUT, pigpio.PUD_UP)
self.pi.callback(Typer.PEN_INPUT, pigpio.FALLING_EDGE, self.cbf)
# x and y mins
self.pi.set_mode(Typer.X_MIN, pigpio.INPUT)
self.pi.set_pull_up_down(Typer.PEN_INPUT, pigpio.PUD_UP)
self.pi.set_mode(Typer.Y_MIN, pigpio.INPUT)
self.pi.set_pull_up_down(Typer.PEN_INPUT, pigpio.PUD_UP)
self.pi.callback(Typer.Y_MIN, pigpio.RISING_EDGE, self.yMinDown)
self.pi.callback(Typer.X_MIN, pigpio.RISING_EDGE, self.xMinDown)
self.xMin = False
self.yMin = False
self.goingHome = False
self.sleeping = False
#---
try:
keyboard.on_press(self.onKeyDown)
except AttributeError:
print("no keyboard detected")
self.keyPositions = {'k7': (112.0, 78.0), 'k3': (35.0, 78.0), 'k46': (80.0, 19.0), 'k45': (60.0, 17.0), 'k38': (184.0, 48.0), 'k23': (160.0, 60.0), 'k25': (200.0, 65.0), 'k48': (117.0, 24.0), 'k6': (95.0, 78.0), 'k20': (100.0, 57.0), 'k8': (132.0, 78.0), 'k51': (175.0, 25.0), 'k31': (50.0, 40.0), 'k9': (152.0, 78.0), 'k52': (195.0, 25.0), 'k28': (250.0, 47.0), 'k36': (145.0, 41.0), 'k37': (165.0, 45.0), 'k10': (170.0, 78.0), 'k15': (
1.0, 52.0), 'k4': (55.0, 78.0), 'k33': (90.0, 40.0), 'k29': (0.0, 1.0), 'k2': (15.0, 75.0), 'k42': (10.0, 17.0), 'k16': (25.0, 55.0), 'k17': (45.0, 60.0), 'k30': (30.0, 40.0), 'k50': (157.0, 21.0), 'k32': (70.0, 40.0), 'k18': (65.0, 65.0), 'k19': (80.0, 60.0), 'k34': (107.0, 40.0), 'k49': (137.0, 21.0), 'k24': (179.0, 60.0), 'k35': (127.0, 43.0), 'k22': (140.0, 60.0), 'k11': (186.0, 79.0), 'k5': (75.0, 78.0), 'k57': (100.0, 1.0), 'k58': (0.0, 35.0)}
self.pos = Vec(0, 0)
self.lastPos = self.pos
self.up = True
self.seq = Queue()
self.lastTick = 0
self.motion = Motion(self.pi, self)
self.motionWorker = MotionDataProcessThread(2, Queue(), self.motion)
self.motionWorker.start()
Motors = collections.namedtuple("Motors", "steppers, servos")
self.motors = Motors(
steppers=(
Stepper(self.pi, 200, 1 / 2, 20, 21, 12, 16),
Stepper(self.pi, 200, 1 / 2, 7, 24, 25, 8)
),
servos=(Servo(self.pi),)
)
self.goHome()