def gpio_config(self):
log_and_print("Configuring GPIO...")
pi = pigpio.pi()
if not pi.connected:
raise Exception("Error while configuring RaspberryPI GPIO.")
self.pi = pi
# Stating outputs
pi.set_mode(self.ULTRASONIC_TRIGGER, pigpio.OUTPUT)
pi.set_mode(self.ULTRASONIC_ECHO, pigpio.INPUT)
pi.set_mode(self.HEATER, pigpio.OUTPUT)
pi.set_mode(self.H_PUMP0, pigpio.OUTPUT)
pi.set_mode(self.H_PUMP1, pigpio.OUTPUT)
pi.set_mode(self.MIXER, pigpio.OUTPUT)
pi.set_mode(self.LED, pigpio.OUTPUT)
pi.set_mode(self.SERVO0, pigpio.OUTPUT)
pi.set_mode(self.SERVO1, pigpio.OUTPUT)
pi.set_mode(self.SERVO2, pigpio.OUTPUT)
pi.set_mode(self.IR0, pigpio.OUTPUT)
pi.write(self.HEATER, 0)
pi.write(self.H_PUMP0, 0)
pi.write(self.H_PUMP1, 0)
pi.write(self.MIXER, 0)
pi.write(self.LED, 1)
pi.write(self.ULTRASONIC_TRIGGER, 0)
pi.write(self.IR0, 1)
pi.read(self.ULTRASONIC_ECHO)
log_and_print("GPIO Configured.")
return pi
def wait_for_mug(self):
mug_result = pi.gpio.light_sensor_control()
while True:
if mug_result == 1:
log_and_print("Your drink will be released ")
break
elif mug_result == 0:
log_and_print("Please, position your mug ")
time.sleep(3)
def servo2_control(self, spoons):
servoPIN = 19
GPIO.setmode(GPIO.BCM)
GPIO.setup(servoPIN, GPIO.OUT)
s2 = GPIO.PWM(servoPIN, 50) # GPIO 19 for PWM with 50Hz
s2.start(4.5) # Initialization of Servo0
s2.ChangeDutyCycle(4.5)
time.sleep(0.1)
s2.ChangeDutyCycle(3.0)
time.sleep(1 * spoons)
s2.ChangeDutyCycle(4.5)
time.sleep(0.1)
s2.stop()
GPIO.cleanup()
log_and_print("Servo2 test complete")
def servo0_control(self, spoons):
servoPIN = 12
GPIO.setmode(GPIO.BCM)
GPIO.setup(servoPIN, GPIO.OUT)
s0 = GPIO.PWM(servoPIN, 50) # GPIO 12 for PWM with 50Hz
s0.start(6) # Initialization of Servo0
s0.ChangeDutyCycle(5.3)
time.sleep(0.1)
s0.ChangeDutyCycle(3.8)
time.sleep(1 * spoons)
s0.ChangeDutyCycle(5.3)
time.sleep(0.1)
s0.stop()
GPIO.cleanup()
log_and_print("Servo0 test complete")
def coffee(send, receive):
log_and_print("")
log_and_print("Starting CO-FI...")
pi_gpio = piGPIO()
pi_gpio.gpio_config()
functions = state_functions()
while True:
order = receive.get()
user = order['user']
print("Received order")
functions.get_measures(order['chocolate'], order['coffee'],
order['milk'])
ingredients_ok = functions.verify_ingredients()
if not ingredients_ok:
functions.request_reposition()
result = {'user': user, 'status': False}
send.put(result)
elif ingredients_ok:
result = {'user': user, 'status': True}
send.put(result)
functions.separate_ingredients()
functions.heat()
functions.add_water()
functions.mix()
functions.wait_for_mug()
functions.release_drink()
log_and_print("Turning CO-FI off.")
def mixer_control(self):
log_and_print("Turning the mixer on ")
pi = self.pi
pi.write(self.MIXER, 1)
time.sleep(5)
log_and_print("Turning the mixer off ")
pi.write(self.MIXER, 0)
time.sleep(0.5)
log_and_print("Mixer function finished.")
def heater_control(self):
log_and_print("Turning the heater on ")
pi = self.pi
pi.write(self.HEATER, 1)
time.sleep(20)
log_and_print("Turning the heater off ")
pi.write(self.HEATER, 0)
time.sleep(0.5)
log_and_print("Heater function finished.")
def water_pump1_control(self):
pi = self.pi
log_and_print("Turning the water pump 1 on ")
pi.write(self.H_PUMP1, 1)
time.sleep(8)
log_and_print("Turning the water pump 1 off ")
pi.write(self.H_PUMP1, 0)
time.sleep(0.5)
log_and_print("Water pump 1 function finished.")
while True:
order = receive.get()
user = order['user']
print("Received order")
functions.get_measures(order['chocolate'], order['coffee'],
order['milk'])
ingredients_ok = functions.verify_ingredients()
if not ingredients_ok:
functions.request_reposition()
result = {'user': user, 'status': False}
send.put(result)
elif ingredients_ok:
result = {'user': user, 'status': True}
send.put(result)
functions.separate_ingredients()
functions.heat()
functions.add_water()
functions.mix()
functions.wait_for_mug()
functions.release_drink()
log_and_print("Turning CO-FI off.")
try:
main()
except Exception as exc:
log_and_print("Exception: {0}".format(exc))
exception_logger("cofi_app.py", "main",
getframeinfo(currentframe()).lineno, exc)
def request_reposition(self):
log_and_print("Water level is low, reposition required ")