class DaisyDriver(Serial):
def __init__(self, connected = True):
# check for connection bool to allow for dummy DaisyDriver object
# if not connected
if connected:
# initialise DaisyDriver serial object (hard code serial address for now)
super(DaisyDriver, self).__init__('/dev/ttyACM0')
# set initial speed (0,1,2 for low,medium,high respectively)
self.speedset(2)
# initialise jog lock
self.DDlock = Lock()
# initialise direction dictionary, f = forward, fl = forward left etc...
self.directions = {'l':(0, -1, 0),
'r':(0, 1, 0),
'f':(-1, 0, 0),
'fl':(-1, -1, 0),
'fr':(-1, 1, 0),
'b':(1, 0, 0),
'bl':(1, -1, 0),
'br':(1, 1, 0),
'u':(0, 0, -1),
'd':(0, 0, 1)}
elif not connected:
# just set default speedval for slider to read
self.speedval = 2
# state value of light, assumes on then switches off
self.lightval = 1
self.light_off()
self.lightAVG = [0]*5
self.lightAVGindx = 0
self.MOVAVGLEN = 50
self.MOVAVG = [0]*self.MOVAVGLEN
self.MOVAVGindx = 0
def speedset(self, val):
# speed val
self.speedval = val
# value from slider equals 0, 1 or 2. Use list for converting
# slider index to step motor speed
speeds = [50, 275, 500]
# serial command
command = 'STV 0 {V} {V} {V} \r'.format(V=speeds[self.speedval])
# convert to byte string
bytes_command = command.encode('utf-8')
# write command
self.write(bytes_command)
# flush buffer
self.flush()
def __jogdo(self, x, y, z):
# enable lock
with self.DDlock:
# flush buffer
self.flush()
# serial command
command = 'JOG 0 {x_} {y_} {z_} \r'.format(x_=x, y_=y, z_=z)
# convert to byte string
bytes_command = command.encode('utf-8')
# write command
self.write(bytes_command)
# read finish statement
self.readline()
def __jog(self, x, y, z, button_handle):
# count, button status dependent
count = 0
# upper limit on jog repeats
while count < 1000:
if (count == 0):
self.__jogdo(x, y, z)
elif button_handle.isDown():
self.__jogdo(x, y, z)
count+=1
def jog(self, direction, button_handle):
# if not locked then jog
if not self.DDlock.locked():
# get direction vector
dir_tuple = self.directions[direction]
# start jog
jogthread = Thread(target=self.__jog, args=(*dir_tuple, button_handle))
jogthread.start()
def light_on(self):
# switch light on, if not on already
if self.lightval==0:
# serial command
bytes_command = b'LON \r'
# write command
self.write(bytes_command)
# set light state as on
self.lightval = 1
# flush buffer
self.flush()
def light_off(self):
# switch light off, if not off already
if self.lightval==1:
# serial command
bytes_command = b'LOF \r'
# write command
self.write(bytes_command)
# set light state as off
self.lightval = 0
# flush buffer
self.flush()
def get_light_sensor_val(self, figure_update_function):
if self.DDlock.acquire(timeout=1.0):
self.flush()
command = 'NET 1 LTM \r'
print(command)
bytes_command = command.encode('utf-8')
self.write(bytes_command)
val = int(self.readline().decode("utf-8"))
if val>=50:
val=49
self.lightAVG[self.lightAVGindx] = val
self.lightAVGindx = (self.lightAVGindx + 1)%5
self.MOVAVG[self.MOVAVGindx] = val
self.MOVAVGindx = (self.MOVAVGindx + 1)%self.MOVAVGLEN
lightavg = sum(self.lightAVG)/5
movavg = sum(self.MOVAVG)/self.MOVAVGLEN
figure_update_function(lightavg)
if self.MOVAVGindx%25==0:
sleep(100e-3)
command = 'NET 2 MOV {x_} {x_} {x_} \r'.format(x_=int(movavg*80))
print(command)
bytes_command = command.encode('utf-8')
self.write(bytes_command)
#~ sleep(SOME TIME CALCULATED ACCORDING TO MOVE DISTANCE!)
self.DDlock.relase()
