def toggleMagnet(self):
print("Process magnet here")
self.magnet = not self.magnet
if self.magnet:
cyprus.set_servo_position(2, 1)
else:
cyprus.set_servo_position(2, .5)
def auto(self):
print("Run through one cycle of the perpetual motion machine")
if axis1.isBusy():
s0.softStop()
if s0.get_position_in_units() == 56.5:
s0.goHome()
elif s0.get_position_in_units() != 0.0:
axis1.goUntilPress(0, 0, 5000)
elif s0.get_position_in_units() == 0.0:
cyprus.set_servo_position(2, 0.5)
sleep(2)
cyprus.set_servo_position(2, 0)
self.toggleRamp()
while 1:
if cyprus.read_gpio() == 6:
print("metal detector signal read")
cyprus.set_motor_speed(1, self.staircaseSpeed.value)
self.toggleRamp()
while 1:
if s0.read_switch() == True:
sleep(5 / self.staircaseSpeed.value)
cyprus.set_motor_speed(1, 0)
s0.free_all()
return
return
def toggle_magnet():
global ON
if ON:
cyprus.set_servo_position(2, 0.5)
else:
cyprus.set_servo_position(2, 1)
ON = not ON
def toggle_gate():
global OPEN
if OPEN:
cyprus.set_servo_position(2, 0.05)
else:
cyprus.set_servo_position(2, 0.5)
OPEN = not OPEN
def is_it_on():
if cyprus.read_gpio() & 0b0001:
cyprus.set_servo_speed(1, 0)
sleep(0.05)
else:
cyprus.set_servo_position(1, 0)
sleep(0.05)
def initialize():
ramp.free()
ramp.set_speed(3.5)
cyprus.initialize()
cyprus.setup_servo(2)
cyprus.set_motor_speed(1, 0)
cyprus.set_servo_position(2, 0)
def auto(self):
ramp.set_speed(3.5)
cyprus.set_servo_position(2, 0)
cyprus.set_motor_speed(1, 0)
Clock.schedule_once(lambda dt: self.move_ramp(), 0.01)
Clock.schedule_once(lambda dt: self.part2(), 9)
Clock.schedule_once(lambda dt: self.part3(), 18)
def toggle_gate(self):
if self.check_text('gate') == 'Off':
self.gate.text = "Close Gate"
cyprus.set_servo_position(2, 0.5)
elif self.check_text('gate') == 'On':
self.gate.text = "Open Gate"
cyprus.set_servo_position(2, 0)
def cyprus_setup(self):
global servo_state
servo_state = 0
cyprus.initialize()
cyprus.setup_servo(1)
cyprus.set_servo_position(1, 0)
sleep(0.2)
self.start_cyprus_thread()
def ramp_up(self):
cyprus.initialize()
cyprus.setup_servo(1)
for i in range(2, 4, 6, 8, 10):
cyprus.set_servo_speed(1, i/10.0)
sleep(4)
cyprus.set_servo_position(1, 0.5)
cyprus.close()
def toggleGate(self):
self.gate = not self.gate
if self.gate:
cyprus.set_servo_position(2, .48)
else:
cyprus.set_servo_position(2, 0)
print("Open and Close gate here")
def initialize(self):
print("Home arm and turn off magnet")
cyprus.initialize()
cyprus.setup_servo(1)
cyprus.setup_servo(2)
cyprus.set_servo_position(2, .5)
cyprus.set_pwm_values(1, period_value=100000, compare_value=0, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
self.homeArm()
def toggleGate(self):
global pos
if pos == 0:
pos = 0.5
cyprus.set_servo_position(2, pos)
else:
pos = 0
cyprus.set_servo_position(2, pos)
print("Open and Close gate here")
def servoThread(self):
global servo
while servo:
if (cyprus.read_gpio() & 0b0001):
sleep(.1)
if (cyprus.read_gpio() & 0b0001):
cyprus.set_servo_position(1, 0)
else:
cyprus.set_servo_position(1, 1)
def openGate(self):
global CLOSE
if CLOSE:
cyprus.set_servo_position(2, 0.5)
CLOSE = False
else:
cyprus.set_servo_position(2, 0)
CLOSE = True
def flip(self):
if cyprus.read_gpio() & 0B0001:
time.sleep(.05)
if cyprus.read_gpio() & 0B0001:
cyprus.set_servo_position(1, 1)
self.ids.flip.text = "180 Degrees"
else:
cyprus.set_servo_position(1, 0)
self.ids.flip.text = "0 Degrees"
def limit_switch(self):
cyprus.initialize()
cyprus.setup_servo(1)
def isGPIO_P6_HIGH(self):
return (cyprus.read_gpio() & 0b0001) == 1
if isGPIO_P6_HIGH(self):
cyprus.set_servo_position(1, 0)
else:
cyprus.set_servo_position(1, 1)
def toggleGate(self):
print("Open and Close gate here")
global onGate
if not onGate:
cyprus.set_servo_position(2, 0.5)
onGate = True
else:
cyprus.set_servo_position(2, 0)
onGate = False
def newFlip(self):
global cyprusState
if cyprusState:
cyprus.set_servo_position(1, 1)
print(cyprusState)
cyprusState = False
else:
cyprus.set_servo_position(1, 0)
cyprusState = True
print(cyprusState)
def exit_program():
"""
Quit the program. This should free all steppers and do any cleanup necessary
:return: None
"""
cyprus.set_servo_position(1, .5)
cyprus.close()
spi.close()
GPIO.cleanup()
quit()
def toggleGate(self):
global gate_count
if gate_count % 2 == 0:
self.gate.text = "Close Gate"
cyprus.set_servo_position(2, 0.5)
sleep(0.1)
else:
self.gate.text = "Open Gate"
cyprus.set_servo_position(2, 0.25)
sleep(0.1)
gate_count += 1
def servo_change(self):
if self.get_servo_state() == 0:
global servo_state
servo_state = 0
cyprus.set_servo_position(1, 0)
sleep(0.05)
elif self.get_servo_state() == 1:
global servo_state
servo_state = 1
cyprus.set_servo_position(1, 1)
sleep(0.05)
def bs(self):
global x
while x:
if(cyprus.read_gpio() & 0b0001):
sleep(.1)
if (cyprus.read_gpio() & 0b0001):
cyprus.set_servo_position(1, 0)
print("a")
else:
cyprus.set_servo_position(1, 1)
print("f")
def servoMotorBinaryState(self):
cyprus.initialize()
cyprus.setup_servo(2)
while True:
if cyprus.read_gpio() & 0b0001:
cyprus.set_servo_position(2, 0) # close gate
sleep(1)
else:
cyprus.set_servo_position(2, .7) # open gate
sleep(1)
def servoPressed(self):
global pos
cyprus.initialize(
) # initialize the RPiMIB and establish communication
cyprus.setup_servo(
2) # sets up P4 on the RPiMIB as a RC servo style output
if pos:
cyprus.set_servo_position(1, 0)
pos = False
else:
cyprus.set_servo_position(1, 1)
pos = True
def pressed(self):
"""
Function called on button touch event for button with id: testButton
:return: None
"""
global togServo
if (togServo == 1):
cyprus.set_servo_position(1, 0)
togServo = 0
# 2 specifies port P5, i is a float that specifies speed
else:
cyprus.set_servo_position(1, 1)
togServo = 1
def gamerrise(self):
global b
b = 1
global speder
speder = 0
cyprus.set_servo_position(1,.5)
while(b<=200):
speder = .5 + .5 * b/200
print("%s" % speder)
cyprus.set_pwm_values(1, period_value=100000, compare_value=50000, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.set_servo_position(1, speder)
sleep(.1)
b = b + 1
def bs2(self):
global x2
while x2:
if (cyprus.read_gpio() & 0b0001):
sleep(.1)
if (cyprus.read_gpio() & 0b0001):
cyprus.set_pwm_values(1, period_value=100000, compare_value=50000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.set_servo_position(1, 1)
print("r")
else:
cyprus.set_servo_position(1, .5)
print("b")
def servo_binary(self):
global bcount
cyprus.initialize()
if bcount % 2 == 0:
self.servooo.text = "0 Deg"
cyprus.set_servo_position(1, 0)
sleep(0.1)
else:
self.servooo.text = "180 Deg"
cyprus.set_servo_position(1, 1)
sleep(0.1)
bcount += 1
cyprus.close()
def setMagnet(self):
global OFF
if OFF:
cyprus.set_servo_position(2, 1)
print("magnet has grabbed")
self.ids.magnetControl.text = "Magnet Off"
OFF = False
else:
cyprus.set_servo_position(2, 0.5)
print("magnet has released")
self.ids.magnetControl.text = "Magnet On"
OFF = True