def checkErr(* flag):
for index in range(len(flag)):
if flag[index] != 0:
SerialManager.read_existing() #clear rx_buffer
if SerialManager.write('O000'+'\r'):
relayStatus=SerialManager.read_to('\r')
print 'relay status is:',relayStatus
def sendCommand(command):
#clear rx_buffer
SerialManager.read_existing()
if SerialManager.write(command + '\r'):
return SerialManager.read_to('\r')
else:
return 'error'
def sendCommand(command):
#clear rx_buffer
SerialManager.read_existing()
if SerialManager.write(command + '\r'):
return SerialManager.read_to('\r')
else:
return 'error'
def stopBalancing(stackNum,cellNum):
balanceCommand='S'+str(stackNum)+str(cellNum)
SerialManager.read_existing() #clear rx_buffer
if SerialManager.write( balanceCommand +'\r'):
balanceStopTime=SerialManager.read_to('\r')
print 'balance stop time is:',balanceStopTime
balanceStopTime=SerialManager.read_to('\r')
print 'balance stop time is:',balanceStopTime
if __name__ == '__main__':
#if not SERIAL_PORT:
# SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX, BITSPERSECOND)
commandGenerator();
flag=[]
voltage=[]
temperature=[]
relayStatus=0
SerialManager.connect(SERIAL_PORT, BITSPERSECOND)
#while SerialManager.is_connected():
SerialManager.read_existing() #clear rx_buffer
if SerialManager.write('C000'+'\r'):
relayStatus=SerialManager.read_to('\r')
print 'relay status is:',relayStatus
SerialManager.read_existing() #clear rx_buffer
if SerialManager.write('R000'+'\r'):
totalVoltage=SerialManager.read_to('\r')
print 'total voltage is:',totalVoltage
SerialManager.read_existing() #clear rx_buffer
if SerialManager.write('I000'+'\r'):
totalCurrent=SerialManager.read_to('\r')
print 'total current is:', totalCurrent
SerialManager.read_existing() #clear rx_buffer
if SerialManager.write('F800'+'\r'):
def serialProcessor():
global quitFlag
RelayStatus=0
'''
process serial command and send response.
'V' // UART-command for receiving
'T' //UART-command for read temperature
'F' //UART-command for read flag
'R' //UART-command for read total voltage
'I' //UART-command for read total current
'C' //UART-command for close the relay
'O' //UART-command for open the relay
'P' //UART-command for receiving the PWM rate
'J' //UART-command for read time
'K' //UART-command for kill the simulation
'''
while True:
try:
chars = SerialManager.read_to('\r')
if len(chars) > 0:
print('Processing Command:' + chars)
stackNum = int(chars[1])
cellNum = int(chars[2:4])
#cellNum=int(chars[2])*10 + int(chars[3])
index = stackNum*tm.NumberOfCells+cellNum
#print "stackNum %d, cellNum %d, index %d" %(stackNum,cellNum,index)
if chars[0] == 'V':
SerialManager.write(str(tm.status['voltageList'][index])+ '\r')
elif chars[0] == 'B':
tm.bg[index].balanceRate = 1.0 * int(chars[4:])/100.0
#print 'balcenRate is:', tm.bg[index].balanceRate
elif chars[0] == 'T':
SerialManager.write(str(0)+ '\r')
elif chars[0] == 'R':
totalVoltage=sum(tm.status['voltageList'][:])
SerialManager.write(str(totalVoltage)+ '\r')
elif chars[0] == 'I':
totalCurrent=sum(tm.status['voltageList'][:])/tm.load
SerialManager.write(str(totalCurrent)+ '\r')
elif chars[0] == 'C':
RelayStatus=1
SerialManager.write(str(RelayStatus)+ '\r')
elif chars[0] == 'O':
RelayStatus=0
SerialManager.write(str(RelayStatus)+ '\r')
elif chars[0] == 'J':
SerialManager.write(str(tm.clock)+ '\r')
elif chars[0] == 'K':
quitFlag = True
else:
print 'Command Not Defined'
SerialManager.write('Command Not Defined'+ '\r')
time.sleep(0.08)
except:
print("error when processing command")
time.sleep(0.1)
SERIAL_PORT = args.port
print "Using serial device '" + SERIAL_PORT + "' from command line."
else:
print 'Please select a serialport via args'
if os.name == 'nt': #sys.platform == 'win32':
GUESS_PREFIX = "Arduino"
elif os.name == 'posix':
if sys.platform == "linux" or sys.platform == "linux2":
GUESS_PREFIX = "2341" # match by arduino VID
else:
GUESS_PREFIX = "tty.usbmodem"
else:
GUESS_PREFIX = "no prefix"
if __name__ == '__main__':
#if not SERIAL_PORT:
# SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX, BITSPERSECOND)
SerialManager.connect(SERIAL_PORT, BITSPERSECOND)
while SerialManager.is_connected():
command = raw_input("Input your command>>>")
if len(command) != 0:
SerialManager.read_existing() #clear rx_buffer
if SerialManager.write(command + '\r'):
str = SerialManager.read_to('\r')
print(str)
else:
print("write error!")
break
print("Port closed!")
def serialProcessor():
global quitFlag
RelayStatus = 0
'''
process serial command and send response.
'V' // UART-command for receiving
'T' //UART-command for read temperature
'F' //UART-command for read flag
'R' //UART-command for read total voltage
'I' //UART-command for read total current
'C' //UART-command for close the relay
'O' //UART-command for open the relay
'P' //UART-command for receiving the PWM rate
'J' //UART-command for read time
'K' //UART-command for kill the simulation
'''
while True:
try:
chars = SerialManager.read_to('\r')
if len(chars) > 0:
print('Processing Command:' + chars)
stackNum = int(chars[1])
cellNum = int(chars[2:4])
#cellNum=int(chars[2])*10 + int(chars[3])
index = stackNum * tm.NumberOfCells + cellNum
#print "stackNum %d, cellNum %d, index %d" %(stackNum,cellNum,index)
if chars[0] == 'V':
SerialManager.write(
str(tm.status['voltageList'][index]) + '\r')
elif chars[0] == 'B':
tm.bg[index].balanceRate = 1.0 * int(chars[4:]) / 100.0
#print 'balcenRate is:', tm.bg[index].balanceRate
elif chars[0] == 'T':
SerialManager.write(str(0) + '\r')
elif chars[0] == 'R':
totalVoltage = sum(tm.status['voltageList'][:])
SerialManager.write(str(totalVoltage) + '\r')
elif chars[0] == 'I':
totalCurrent = sum(tm.status['voltageList'][:]) / tm.load
SerialManager.write(str(totalCurrent) + '\r')
elif chars[0] == 'C':
RelayStatus = 1
SerialManager.write(str(RelayStatus) + '\r')
elif chars[0] == 'O':
RelayStatus = 0
SerialManager.write(str(RelayStatus) + '\r')
elif chars[0] == 'J':
SerialManager.write(str(tm.clock) + '\r')
elif chars[0] == 'K':
quitFlag = True
else:
print 'Command Not Defined'
SerialManager.write('Command Not Defined' + '\r')
time.sleep(0.08)
except:
print("error when processing command")
time.sleep(0.1)
print 'Setting up Pololu 1'
e_elev = PololuController(manager2, 2)
print 'Setting up Pololu 2'
e_elev.move_to(0)
time.sleep(1)
last_voltages = []
hold_counter = 0
s2_array = [2.5, 0.8, 2.5, 4]
s5_array = [2.0, 1, 2.0, 3]
e_rot_array = [0, 30, 0, -30]
e_elev_array = [0, 20, 0, -20]
while(alive):
manager1.write("@MARM?")
if marm.pack_into_received(manager1.serial_io.read(17)):
if not controlled(last_voltages, marm.voltages):
hold_counter += 1
else:
hold_counter = 0
if hold_counter < 50:
s5_angle = (marm.voltages[5] - 2550) / 900.0 + 2
s2_angle = (2350 - marm.voltages[6]) / 300.0 + 2.5
e_rot_angle = (marm.voltages[4] - 2600) / 20
e_elev_angle = (marm.voltages[1] - 2400) / 25
'''else:
if hold_counter >= 250: hold_counter = 50
print 'Starting auto routine'
arr_i = (hold_counter / 50) % 4
print arr_i
