def proximitySensorCytronController(self):
cyprus.setup_servo(1)
# cyprus.set_servo_position(1, 0.5)
print("function is working")
while True:
if cyprus.read_gpio(
) & 0b0010: # HIGH (True) means not detecting metal
sleep(1)
if cyprus.read_gpio() & 0b0010:
print("Metal not detected")
cyprus.set_pwm_values(
1,
period_value=100000,
compare_value=50000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
if not (cyprus.read_gpio() & 0b0010):
sleep(1)
if not (cyprus.read_gpio() & 0b0010):
cyprus.set_pwm_values(
1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("Metal detected")
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 isBallOnTallTower(self):
print("Determine if ball is on the top tower")
if cyprus.read_gpio() & 0b0001:
sleep(.05)
if cyprus.read_gpio() & 0b0001:
print("proximity sensor off")
return False
return 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 talonDCMotorFullSpeedWhenPressed(self): # talon motor is in 1 (port 4)
cyprus.setup_servo(1)
cyprus.set_servo_position(1, 0.5)
while True:
if cyprus.read_gpio() & 0b0001:
sleep(0.05)
if cyprus.read_gpio() & 0b0001:
cyprus.set_servo_position(1, 0.5)
else:
cyprus.set_servo_position(1, 1)
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 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 talonThread(self):
global talon
while talon:
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)
else:
cyprus.set_servo_position(1, .5)
def auto(self):
print("Run through one cycle of the perpetual motion machine")
global HOME
# global TOP
ramp.goHome()
sleep(5)
cyprus.set_servo_position(2, 0.5)
sleep(0.5)
cyprus.set_servo_position(2, 0)
while True:
if ((cyprus.read_gpio() & 0b0010) == 0):
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
ramp.set_speed(40)
print("GPIO on port P7 is LOW")
ramp.start_relative_move(-226)
print(" ramp moving")
while True:
if ((cyprus.read_gpio() & 0b0001) == 0):
ramp.stop()
print("GPIO on port P6 is LOW")
cyprus.set_pwm_values(
1,
period_value=100000,
compare_value=50000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("staircase moving")
break
#ramp.start_relative_move(226)
ramp.goHome()
print("going home")
time.sleep(8)
print("turning ramp off")
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.set_servo_position(2, 0.5)
sleep(0.5)
cyprus.set_servo_position(2, 0)
break
def prox_sensor(self):
cyprus.initialize()
if (cyprus.read_gpio() & 0b0010):
cyprus.set_pwm_values(2, period_value=100000, compare_value=100000, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
else:
cyprus.set_pwm_values(2, period_value=100000, compare_value=0, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.close()
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 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 isBallAtTopOfRamp(self):
global OFF
global STAIRCASE_SPEED
if OFF:
while True:
if ((cyprus.read_gpio() & 0b0001) == 0):
print("GPIO on port P6 is LOW")
print(" ramp moving")
cyprus.set_pwm_values(
1,
period_value=100000,
compare_value=STAIRCASE_SPEED,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("staircase moving")
time.sleep(5)
OFF = False
break
else:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("staircase stopped")
# self.staircase.text = "Staircase Off"
OFF = True
def isBallOnShortTower(self):
print("Determine if ball is on the bottom tower")
if cyprus.read_gpio() & 0B0010:
print("Nope!")
return False
print("Here")
return True
def isBallOnShortTower(self):
print("Determine if ball is on the bottom tower")
global short_OFF
if ((cyprus.read_gpio() & 0b0010) == 0):
print("GPIO on port P7 is LOW")
short_OFF = False
else:
short_OFF = True
def isBallOnTallTower(self):
print("Determine if ball is on the top tower")
global tall_OFF
if ((cyprus.read_gpio() & 0b0001) == 0):
print("GPIO on port P6 is LOW")
tall_OFF = False
else:
tall_OFF = True
def checkBottom(self):
global bottom
while bottom:
if (cyprus.read_gpio() & 0b0010) == 0:
self.toggleGate()
self.toggleStaircase()
bottom = False
sleep(0.1)
def switchThread(self):
global switchPort
global checking
while checking:
if switchPort == 6:
val = 0b0001
elif switchPort == 7:
val = 0b0010
elif switchPort == 8:
val = 0b0100
if (cyprus.read_gpio() & val):
sleep(.1)
if (cyprus.read_gpio() & val):
self.ids.toggle_sensing_label.text = "Not Sensing"
self.ids.toggle_sensing_label.color = (1, 0, 0, .8)
else:
self.ids.toggle_sensing_label.text = "Sensing"
self.ids.toggle_sensing_label.color = (0, 1, 0, .8)
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 switch_button(self):
global switch_boolean
cyprus.initialize()
while switch_boolean:
if cyprus.read_gpio() & 0b0001:
sleep(0.1)
if (cyprus.read_gpio() & 0b0001) == 1:
cyprus.set_pwm_values(
2,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
else:
sleep(0.1)
if (cyprus.read_gpio() & 0b0001) == 0:
cyprus.set_pwm_values(
2,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.close()
def flip(self):
while True:
if cyprus.read_gpio() & 0b0010:
cyprus.set_pwm_values(1,
period_value=10000,
compare_value=5000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
self.ids.flip.text = "180 Degrees"
print("I hear this")
else:
cyprus.set_pwm_values(1,
period_value=10000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
self.ids.flip.text = "0 Degrees"
print("I am so bad")
def cytronThread(self):
global cytron
while cytron:
if (cyprus.read_gpio() & 0b0010):
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=50000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
sleep(.1)
print("yeepie")
else:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
sleep(.1)
print("yeepie 1")
def isGPIO_P6_HIGH(self):
return (cyprus.read_gpio() & 0b0001) == 1
def button_down(self):
self.goSwitch.color = 0, 0.588, 0.637, 1
sleep(0.05)
if cyprus.read_gpio() & 0b0001:
self.goSwitch.color = 0.0, 0.84, 0.91, 1
self.servo_change()
def get_trigger_button_state():
if cyprus.read_gpio() & 0b0001:
return 'up'
cyprus.set_pwm_values(2,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL) # Motor OFF
cyprus.close()
# To get sensors and other I/O to work with RPiMIB
# The RPiMIB has four multipurpose I/O ports. Ports P6, P7, P8 and P9
#
# The command to read is cyprus.read_gpio() which will return 4 bits which represents ALL GPIO pins (P6-P9)
# To get the actual value of a particular port one needs to do a bitwise AND as per example below
from pidev.Cyprus_Commands import Cyprus_Commands_RPi as cyprus
cyprus.initialize()
if (cyprus.read_gpio()
& 0b0001): # binary bitwise AND of the value returned from read.gpio()
print("GPIO on port P6 is HIGH")
elif (cyprus.read_gpio() & 0b0010):
print("GPIO on port P7 is HIGH")
elif (cyprus.read_gpio() & 0b0100):
print("GPIO on port P8 is HIGH")
elif (cyprus.read_gpio() & 0b1000):
print("GPIO on port P9 is HIGH")
cyprus.close()
# To get the status of a GPIO pin one could create a method like this:
# def isGPIO_P6_HIGH(self):
# return (cyprus.read_gpio() & 0b0001) == 1
#
# Checks to see if gpio read and bitwise AND are equal to 1. If so returns TRUE otherwise returns FALSE
# the following command will set up port 2 (P5) to put out a 100000HZ (100KHz) signal with a 50% high time or duty cycle
cyprus.set_pwm_values(2, period_value=100000, compare_value=50000, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
# Motor controller Ex. Cytron MD10C connected to P5, the connected motor would be running ~50% max rpm
cyprus.set_pwm_values(2, period_value=100000, compare_value=0, compare_mode=cyprus.LESS_THAN_OR_EQUAL) # Motor OFF
cyprus.close()
# To get sensors and other I/O to work with RPiMIB
# The RPiMIB has four multipurpose I/O ports. Ports P6, P7, P8 and P9
#
# The command to read is cyprus.read_gpio() which will return 4 bits which represents ALL GPIO pins (P6-P9)
# To get the actual value of a particular port one needs to do a bitwise AND as per example below
from pidev.Cyprus_Commands import Cyprus_Commands_RPi as cyprus
cyprus.initialize()
if (cyprus.read_gpio() & 0b0001): # binary bitwise AND of the value returned from read.gpio()
print("GPIO on port P6 is HIGH")
elif (cyprus.read_gpio() & 0b0010):
print("GPIO on port P7 is HIGH")
elif (cyprus.read_gpio() & 0b0100):
print("GPIO on port P8 is HIGH")
else (cyprus.read_gpio() & 0b1000):
print("GPIO on port P9 is HIGH")
cyprus.close()
# To get the status of a GPIO pin one could create a method like this:
# def isGPIO_P6_HIGH(self):
# return (cyprus.read_gpio() & 0b0001) == 1
#
# Checks to see if gpio read and bitwise AND are equal to 1. If so returns TRUE otherwise returns FALSE
def is_ball_on_upper():
return (cyprus.read_gpio() & 0b0001) == 0
def is_ball_off_lower():
return (cyprus.read_gpio() & 0b0010) != 0
def is_ball_at_top():
return (cyprus.read_gpio() & 0b0001) == 0