def __init__(self):
super().__init__()
self.kicker = Kicker()
self.auto = Autonomous(self.kicker)
class MyRobot(wpilib.SimpleRobot):
def __init__(self):
super().__init__()
self.kicker = Kicker()
self.auto = Autonomous(self.kicker)
def RobotInit(self):
wpilib.Wait(0.25)
winchControl.SetOutputRange(-1.0, 1.0)
kickerEncoder.Start()
leftDriveEncoder.Start()
rightDriveEncoder.Start()
compressor.Start()
def Disabled(self):
rPrevious = False
lPrevious = False
self.auto.DisplayMode()
while self.IsDisabled():
CheckRestart()
self.auto.SelectMode(lstick.GetTrigger() and not lPrevious,
rstick.GetTrigger() and not rPrevious)
rPrevious = rstick.GetTrigger()
lPrevious = lstick.GetTrigger()
wpilib.Wait(0.01)
def Autonomous(self):
self.auto.Run()
def OperatorControl(self):
dog = self.GetWatchdog()
dog.SetEnabled(True)
dog.SetExpiration(0.25)
shiftTime = wpilib.Timer()
haveTime = wpilib.Timer()
shiftTime.Start()
haveTime.Start()
intakeVelocity = -0.75
while self.IsOperatorControl() and self.IsEnabled():
dog.Feed()
CheckRestart()
if not HaveBall():
haveTime.Reset()
# Reset pneumatics
if shiftTime.Get() > 0.3:
shifter1.Set(False)
shifter2.Set(False)
# Kicker control
self.kicker.OperatorControl()
# Drive control
drive.TankDrive(lstick, rstick)
# Shifter control
if rstick.GetTrigger():
shifter1.Set(True)
shifter2.Set(False)
shiftTime.Reset()
elif lstick.GetTrigger():
shifter1.Set(False)
shifter2.Set(True)
shiftTime.Reset()
# Intake motor
if stick3.GetRawButton(6):
intakeVelocity = 1.0
elif stick3.GetRawButton(7):
intakeVelocity = -0.75
elif stick3.GetRawButton(8):
intakeVelocity = 0.0
#elif rstick.GetRawButton(11):
# intakeVelocity = 0.75
# The motors are stopped when kicking; start them up again after
# timeout
if self.kicker.kickTime.Get() > 0.1:
if (haveTime.Get() > 2.0 and intakeVelocity < 0.0
and lstick.GetY() <= 0.0 and rstick.GetY() <= 0.0):
intakeMotor.Set(-0.35)
else:
intakeMotor.Set(intakeVelocity)
wpilib.Wait(0.01)
def Initialize(self, deltaTime):
self.lives = 3
self.score = 0
self.state = 2
self.firstBall = True
#flippers, disabled on startup
GPIO.setup(21, GPIO.OUT, initial=self.LOW)
GPIO.setup(16, GPIO.OUT, initial=self.LOW)
self.middleHole = Hole("middleHole", 7, self.upperHoleSwitch)
GPIO.setup(self.middleHole.coilPin, GPIO.OUT, initial=self.LOW)
self.rightHole = Hole("rightHole", 1, self.rightHoleSwitch)
GPIO.setup(self.rightHole.coilPin, GPIO.OUT, initial=self.LOW)
self.leftHole = Hole("leftHole", 8, self.leftHoleSwitch)
GPIO.setup(self.leftHole.coilPin, GPIO.OUT, initial=self.LOW)
self.rightKicker = Kicker("rightKicker", 13,
self.upperRightKickerBallDetectionSwitch,
self.lowerRightKickerBallDetectionSwitch,
self.rightKickerCoilEnabledSwitch)
GPIO.setup(self.rightKicker.coilPin, GPIO.OUT, initial=self.LOW)
self.leftKicker = Kicker("leftKicker", 6,
self.upperLeftKickerBallDetectionSwitch,
self.lowerLeftKickerBallDetectionSwitch,
self.leftKickerCoilEnabledSwitch)
GPIO.setup(self.leftKicker.coilPin, GPIO.OUT, initial=self.LOW)
self.lowerLeftBumper = Bumper("lowerLeftBumper", 9,
self.lowerLeftBumperBallDetectionSwitch,
self.lowerLeftBumperCoilEnabledSwitch)
GPIO.setup(self.lowerLeftBumper.coilPin, GPIO.OUT, initial=self.LOW)
self.topLeftBumper = Bumper("topLeftBumper", 0,
self.upperLeftBumperBallDetectionSwitch,
self.upperLeftBumperCoilEnabledSwitch)
GPIO.setup(self.topLeftBumper.coilPin, GPIO.OUT, initial=self.LOW)
self.lowerRightBumper = Bumper(
"lowerRightBumper", 11, self.lowerRightBumperBallDetectionSwitch,
self.lowerRightBumperCoilEnabledSwitch)
GPIO.setup(self.lowerRightBumper.coilPin, GPIO.OUT, initial=self.LOW)
self.topRightBumper = Bumper("topRightBumper", 5,
self.upperRightBumperBallDetectionSwitch,
self.upperRightBumperCoilEnabledSwitch)
GPIO.setup(self.topRightBumper.coilPin, GPIO.OUT, initial=self.LOW)
self.scrubMode = Scrubmode("Scrubmode", 19, 26, self.lowerRightTarget,
self.middleRightTarget,
self.lowerLeftTarget, self.middleLeftTarget,
self.scrubModePositionDetectionSwitch)
GPIO.setup(self.scrubMode.coilPinOne, GPIO.OUT, initial=self.LOW)
GPIO.setup(self.scrubMode.coilPinTwo, GPIO.OUT, initial=self.LOW)
self.noobGate = Noobgate("Noobgate", 20, self.lowerRightBallGate,
self.ballLaunchBallGate)
GPIO.setup(self.noobGate.coilPin, GPIO.OUT, initial=self.LOW)
self.coilList = [
self.rightKicker, self.leftKicker, self.lowerLeftBumper,
self.topLeftBumper, self.lowerRightBumper, self.topRightBumper,
self.middleHole, self.rightHole, self.leftHole
]
class FlipperGame(Widget):
GPIO.setmode(GPIO.BCM) # set up BCM GPIO numbering
#MCP I2C adresses
CHIPONE = 0x20
CHIPTWO = 0x21
CHIPTHREE = 0x22
#relais are turned off at a high signal
HIGH = 0
LOW = 1
#Switch creation
print ("Creating Switches")
lowerRightScoreSwitch = Switch("Lower Right Score Switch", CHIPONE, 0)
upperRightScoreSwitch = Switch("Upper Right Score Switch", CHIPONE, 1)
upperLeftScoreSwitch = Switch("Upper Left Score Switch", CHIPONE, 2)
upperLeftBallGate = Switch("Upper Left Ball Gate", CHIPONE, 3)
tiltSwitch = Switch("Tilt Switch", CHIPONE, 4)
hPointsSwitch = Switch("100 Points Switch", CHIPONE, 11)
upperRightBallGate = Switch("Upper Right Ball Gate", CHIPONE, 12)
middleLeftScoreSwitch = Switch("Middle Left Score Switch", CHIPONE, 13)
middleRightScoreSwitch = Switch("Middle Right Score Switch", CHIPONE, 14)
lowerLeftScoreSwitch = Switch("Lower Left Score Switch", CHIPONE, 15)
print ("Chip One Done")
lowerRightBallGate = Switch("Lower Right Ball Gate", CHIPTWO, 0)
ballLaunchBallGate = Switch("Ball Launch Ball Gate", CHIPTWO, 1)
upperHoleSwitch = Switch("Upper Hole Ball Detection Switch", CHIPTWO, 2)
rightHoleSwitch = Switch("Right Hole Ball Detection Switch", CHIPTWO, 3)
lowerLeftBumperCoilEnabledSwitch = Switch("Lower Left Bumper Coil Enabled Switch", CHIPTWO, 4)
upperRightBumperCoilEnabledSwitch = Switch("Upper Right Bumper Coil Enabled Switch", CHIPTWO, 5)
lowerRightBumperCoilEnabledSwitch = Switch("Lower Right Bumper Coil Enabled Switch", CHIPTWO, 6)
upperLeftBumperCoilEnabledSwitch = Switch("Upper Left Bumper Coil Enabled Switch", CHIPTWO, 7)
upperLeftBumperBallDetectionSwitch = Switch("Upper Left Bumper Ball Detection Switch", CHIPTWO, 8)
lowerRightBumperBallDetectionSwitch = Switch("Lower Right Bumper Ball Detection Switch", CHIPTWO, 9)
upperRightBumperBallDetectionSwitch = Switch("Upper Right Bumper Ball Detection Switch", CHIPTWO, 10)
lowerLeftBumperBallDetectionSwitch = Switch("Lower Left Bumper Ball Detection Switch", CHIPTWO, 11)
leftHoleSwitch = Switch("Left Hole Ball Detection Switch", CHIPTWO, 12)
scrubModePositionDetectionSwitch = Switch("Scrub Mode Position Detection Switch", CHIPTWO, 13)
gameOverBallGate = Switch("Game Over Ball Gate", CHIPTWO, 14)
lowerLeftBallGate = Switch("Lower Left Ball Gate", CHIPTWO, 15)
print ("Chip Two Done")
upperRightKickerBallDetectionSwitch = Switch("Upper Right Kicker Ball Detection Switch", CHIPTHREE, 2)
lowerRightKickerBallDetectionSwitch = Switch("Lower Right Kicker Ball Detection Switch", CHIPTHREE, 3)
rightKickerCoilEnabledSwitch = Switch("Right Kicker Coil Enabled Switch", CHIPTHREE, 4)
upperLeftTarget = Switch("Upper Left Target", CHIPTHREE, 5)
middleLeftTarget = Switch("Middle Left Target", CHIPTHREE, 6)
lowerLeftTarget = Switch("Lower Left Target", CHIPTHREE, 7)
lowerRightTarget = Switch("Lower Right Target", CHIPTHREE, 8)
middleRightTarget = Switch("Middle Right Target", CHIPTHREE, 9)
upperRightTarget = Switch("Upper Right Target", CHIPTHREE, 10)
leftKickerCoilEnabledSwitch = Switch("Left Kicker Coil Enabled Switch", CHIPTHREE, 11)
lowerLeftKickerBallDetectionSwitch = Switch("Lower Left Kicker Ball Detection Switch", CHIPTHREE, 12)
upperLeftKickerBallDetectionSwitch = Switch("Upper Left Kicker Ball Detection Switch", CHIPTHREE, 13)
startResetSwitch = Switch("Start Switch", CHIPTHREE, 15)
leftFlipperSwitch = Switch("Left Flipper Switch", CHIPTHREE, 14)
print ("Chip Three Done")
#Coils Creation
print ("Creating Coils" )
#flippers
GPIO.setup(6, GPIO.OUT,initial=LOW)
#ball pusher
GPIO.setup(24, GPIO.OUT,initial=LOW)
middleHole = Hole("middleHole",19,upperHoleSwitch)
GPIO.setup(middleHole.coilPin, GPIO.OUT,initial=LOW)
rightHole = Hole("rightHole",18,rightHoleSwitch)
GPIO.setup(rightHole.coilPin, GPIO.OUT,initial=LOW)
leftHole = Hole("leftHole",17,leftHoleSwitch)
GPIO.setup(leftHole.coilPin, GPIO.OUT,initial=LOW)
rightKicker = Kicker("rightKicker",11,upperRightKickerBallDetectionSwitch,lowerRightKickerBallDetectionSwitch,rightKickerCoilEnabledSwitch)
GPIO.setup(rightKicker.coilPin, GPIO.OUT,initial=LOW)
leftKicker = Kicker("leftKicker",5,upperLeftKickerBallDetectionSwitch,lowerLeftKickerBallDetectionSwitch,leftKickerCoilEnabledSwitch)
GPIO.setup(leftKicker.coilPin, GPIO.OUT,initial=LOW)
lowerLeftBumper = Bumper("lowerLeftBumper",26,lowerLeftBumperBallDetectionSwitch,lowerLeftBumperCoilEnabledSwitch)
GPIO.setup(lowerLeftBumper.coilPin, GPIO.OUT,initial=LOW)
topLeftBumper = Bumper("topLeftBumper",13,upperLeftBumperBallDetectionSwitch,upperLeftBumperCoilEnabledSwitch)
GPIO.setup(topLeftBumper.coilPin, GPIO.OUT,initial=LOW)
lowerRightBumper = Bumper("lowerRightBumper",19,lowerRightBumperBallDetectionSwitch,lowerRightBumperCoilEnabledSwitch)
GPIO.setup(lowerRightBumper.coilPin, GPIO.OUT,initial=LOW)
topRightBumper = Bumper("topRightBumper",21,upperRightBumperBallDetectionSwitch,upperRightBumperCoilEnabledSwitch)
GPIO.setup(topRightBumper.coilPin, GPIO.OUT,initial=LOW)
scrubMode = Scrubmode("Scrubmode",10,9,lowerRightTarget,middleRightTarget,lowerLeftTarget,middleLeftTarget,scrubModePositionDetectionSwitch)
GPIO.setup(scrubMode.coilPinOne, GPIO.OUT,initial=LOW)
GPIO.setup(scrubMode.coilPinTwo, GPIO.OUT,initial=LOW)
noobGate = Noobgate("Noobgate",12,lowerRightBallGate,ballLaunchBallGate)
GPIO.setup(noobGate.coilPin, GPIO.OUT,initial=LOW)
coilList = [rightKicker, leftKicker, lowerLeftBumper, topLeftBumper, lowerRightBumper, topRightBumper, middleHole, rightHole, leftHole]
state = 0
resetSwitchDuration = 0.0
resetMaxDuration = 2.0
firstBall = True
score = 0
lives = 0
screenScore = NumericProperty(score)
screenLives = NumericProperty(lives)
#scoreChanger = ScoreChanger()
filename="highscore.txt"
file=open(filename,'r')
plaats1=file.readline()
plaats2=file.readline()
plaats3 = file.readline()
isRunning = True
high_score1 = plaats1.split()
highscore1 = high_score1[1]
high_score2 = plaats2.split()
highscore2 = high_score2[1]
high_score3 = plaats3.split()
highscore3 = high_score3[1]
elapsedTime = 0.0
scoreActive = False
#STATES:
#0 - Not Active
#1 - Initializing
#2 - New Ball
#3 - Game Logic
#4 - Tilt
#5 - Game Over
#-1 - Reset
#State 0
def notActive(self, deltaTime):
#print ("STATE 000000000000000000000000")
if self.startResetSwitch.getState() == 1:
#print ("STATE 000000000000000000000000 iiiiiiiiiiiiffffffffffff statement")
self.state = 1
#state 1
def Initialize(self, deltaTime):
#print ("STATE 11111111111111111111")
self.lives = 3
self.score = 0
self.state = 2
self.firstBall = True
def disableCoils(self, disableFlippers):
for x in self.coilList:
#print ("disablecoils functie, for x in self.coilList:")
x.disable()
if disableFlippers == True:
#print ("disablecoils functie, if disableFlippers == TRUE")
#self.scrubMode.disable()
#self.noobGate.disable()
GPIO.output(6, self.LOW)
#state 2
def NewBall(self, deltaTime):
#print ("STATE 2222222222222222222222222")
self.disableCoils(True)
if self.gameOverBallGate.getState() == 1:
print ("eerste if is geactiveerd")
if self.firstBall == False:
self.lives-=1
print ("tweede if is geactiveerd")
if self.lives <= 0:
self.state = -1
print ("derde if is geactiveerd")
return
print ("BALL PUSHER IS AAN")
GPIO.output(24, self.HIGH)
sleep(0.2)
GPIO.output(24, self.LOW)
sleep(0.5)
if self.ballLaunchBallGate.getState() == 0:
print ("ballLaunchBallGate is gelijk aan 0")
self.state=3
self.firstBall = False
self.noobGate.reset()
#GPIO.output(12, self.HIGH)
#Turn on Flippers
GPIO.output(6, self.HIGH)
def CheckOtherInputs(self):
if(self.hPointsSwitch.getState() == 1 or self.upperLeftBallGate.getState() == 1 or self.upperRightBallGate.getState() == 1):
if self.scoreActive == False:
self.score += 100
self.scoreActive == True;
else:
self.scoreActive = False
if(self.lowerLeftScoreSwitch.getState() == 1 or self.lowerRightScoreSwitch.getState() == 1 or self.middleLeftScoreSwitch.getState() == 1 or self.middleRightScoreSwitch.getState() == 1 or self.upperLeftScoreSwitch.getState() == 1 or self.upperRightScoreSwitch.getState() == 1):
if self.scoreActive == False:
self.score += 2
self.scoreActive == True;
else:
self.scoreActive = False
if(self.lowerLeftBallGate.getState() == 1 or self.lowerRightBallGate.getState() == 1):
if self.scoreActive == False:
self.score += 15
self.scoreActive == True;
else:
self.scoreActive = False
#state 3
def GameLogic(self, deltaTime):
#print ("STATE 3333333333333333333333333333")
for x in self.coilList:
self.score += x.update(deltaTime)
self.scrubMode.update(deltaTime)
self.noobGate.update(deltaTime)
self.CheckOtherInputs()
if self.gameOverBallGate.getState() == 1:
self.state = 2
#elif self.tiltSwitch.getState() == 1:
#self.state = 4
#state 4
def Tilt(self, deltaTime):
#print ("STATE 4444444444444444444444")
#Zet alle Coils even aan
self.disableCoils(True)
if self.gameOverBallGate.getState() == 1 or self.ballLaunchBallGate.getState() == 0:
self.state = 2
#state 5
def GameOver(self, deltaTime):
#print ("STATE 555555555555555555555555")
self.disableCoils(True)
#handle topscoreshizzle
print("haat piraat")
if self.score >= FlipperGame.highscore3:
high = Highscore()
#Clock.schedule_interval(high.update, 1.0/60)
if self.score >= FlipperGame.highscore2:
if self.score >= FlipperGame.highscore1:
print("plek 3 gekomen")
high.deplaats =1
high.setScores()
else:
high.deplaats =2
print("plek 2 gekomen")
high.setScores()
else:
high.deplaats =3
print("plek 3 gekomen")
high.setScores()
self.state = -1
#state -1
def Reset(self, deltaTime):
#print ("STATE -------------11111111111111111111")
self.disableCoils(True)
#self.scoreChanger.resetScoreReels
self.scrubMode.disable()
self.state = 0
#creation of state dictionary
stateFunctionsDict = {0: notActive, 1: Initialize, 2:NewBall, 3:GameLogic, 4:Tilt, 5:GameOver, -1:Reset}
oldDebugMessage = ""
#########################################
#main function. called every 1/60 second#
#########################################
def update(self, dt):
#calculate the time since the last call and update the elapsed time
deltaTime = dt - self.elapsedTime
self.elapsedTime = dt
deltaTime = 1.0 / 60
#print "State: -1 " + " Score: 0" + " Lives: " + str(self.lives)
#print ("State: ")+ str(self.state) + (" Score: ") + str(self.score) + (" Lives: ") + str(self.lives)
debugMessage = "State: "+ str(self.state) + (" Score: ") + str(self.score) + (" Lives: ") + str(self.lives)
if(debugMessage != self.oldDebugMessage):
print(debugMessage)
self.oldDebugMessage = debugMessage
#reset the game if the resetswitch is pressed for 5 seconds
if self.startResetSwitch.getState() == 1 and self.state > 1:
self.resetSwitchDuration+=deltaTime
if self.resetSwitchDuration>self.resetMaxDuration:
self.state = -1
self.resetSwitchDuration = 0.0
else:
self.resetSwitchDuration = 0.0
#call the state function
func = self.stateFunctionsDict[self.state]
func(self, deltaTime)
self.screenScore=self.score
self.screenLives=self.lives
class FlipperGame(Widget):
GPIO.setmode(GPIO.BCM) # set up BCM GPIO numbering
#MCP I2C adresses
CHIPONE = 0x20
CHIPTWO = 0x21
CHIPTHREE = 0x22
#relais are turned off at a high signal
HIGH = 0
LOW = 1
#Switch creation
print "Creating Switches"
# MCP23017 1
GPA0_R_OND5_S4_RUBBERBAND_KICKER_RECHTS_MIDDEN = Switch(
"GPA0_R_OND5_S4_RUBBERBAND_KICKER_RECHTS_MIDDEN", CHIPONE, 0)
GPA1_R_OND6_S9_2_RUBBERBAND_KICKER_RECHTS_BOVEN_BOVENSTE = Switch(
"GPA1_R_OND6_S9_2_RUBBERBAND_KICKER_RECHTS_BOVEN_BOVENSTE", CHIPONE, 1)
GPA2_R_OND7_S12_2_RUBBERBAND_KICKER_LINKS_BOVEN_ONDERSTE = Switch(
"GPA2_R_OND7_S12_2_RUBBERBAND_KICKER_LINKS_BOVEN_ONDERSTE", CHIPONE, 2)
GPA3_R_OND8_S13_PADDRAAD_LINKS_BOVEN = Switch(
"GPA3_R_OND8_S13_PADDRAAD_LINKS_BOVEN", CHIPONE, 3)
GPA4_R_OND5_S27_TILT_SENSOR = Switch("GPA4_R_OND5_S27_TILT_SENSOR",
CHIPONE, 4)
GPA5_LEEG = 5
GPA6_LEEG = 6
GPA7_LEEG = 7
GPB0_LEEG = 8
GPB1_LEEG = 9
GPB2_LEEG = 10
GPB3_R_BVN9_S100_SWITCH_WIT_BOVENAAN = Switch(
"GPB3_R_BVN9_S100_SWITCH_WIT_BOVENAAN", CHIPONE, 11)
GPB4_R_BVN8_S8_PADDRAAD_RECHTS_BOVEN = Switch(
"GPB4_R_BVN8_S8_PADDRAAD_RECHTS_BOVEN", CHIPONE, 12)
GPB5_R_BVN7_S21_RUBBERBAND_KICKER_LINKS_BOVEN_BOVENSTE = Switch(
"GPB5_R_BVN7_S21_RUBBERBAND_KICKER_LINKS_BOVEN_BOVENSTE", CHIPONE, 13)
GPB6_R_BVN6_S9_1_RUBBERBAND_KICKER_RECHTS_BOVEN_ONDERSTE = Switch(
"GPB6_R_BVN6_S9_1_RUBBERBAND_KICKER_RECHTS_BOVEN_ONDERSTE", CHIPONE,
14)
GPB7_R_BVN5_S16_RUBBERBAND_KICKER_LINKS_MIDDEN = Switch(
"GPB7_R_BVN5_S16_RUBBERBAND_KICKER_LINKS_MIDDEN", CHIPONE, 15)
print("Chip One Done")
# MCP23017 2
GPA0_R_OND1_S26_PADDRAAD_RECHTS_BENEDEN = Switch(
"GPA0_R_OND1_S26_PADDRAAD_RECHTS_BENEDEN", CHIPTWO, 0)
GPA1_R_OND2_S24_PADDRAAD_START_BALSCHIETEN = Switch(
"GPA1_R_OND2_S24_PADDRAAD_START_BALSCHIETEN", CHIPTWO, 1)
GPA2_R_OND3_S10_WHEEL_MIDDLE = Switch("GPA2_R_OND3_S10_WHEEL_MIDDLE",
CHIPTWO, 2)
GPA3_R_OND4_S2_WHEEL_RIGHT = Switch("GPA3_R_OND4_S2_WHEEL_RIGHT", CHIPTWO,
3)
GPA4_L_OND1_S17_BUMPER_METAAL_LINKS_BENEDEN = Switch(
"GPA4_L_OND1_S17_BUMPER_METAAL_LINKS_BENEDEN", CHIPTWO, 4)
GPA5_L_OND2_S5_BUMPER_METAAL_RECHTS_BOVEN = Switch(
"GPA5_L_OND2_S5_BUMPER_METAAL_RECHTS_BOVEN", CHIPTWO, 5)
GPA6_L_OND3_S6_BUMPER_METAAL_RECHTS_BENEDEN = Switch(
"GPA6_L_OND3_S6_BUMPER_METAAL_RECHTS_BENEDEN", CHIPTWO, 6)
GPA7_L_OND4_S15_BUMPER_METAAL_LINKS_BOVEN = Switch(
"GPA7_L_OND4_S15_RUBBERBAND_KICKER_RECHTS_MIDDEN", CHIPTWO, 7)
GPB0_L_BVN4_S15_BUMPER_PLASTIC_LINKS_BOVEN = Switch(
"GPB0_L_BVN4_S15_BUMPER_METAAL_LINKS_BOVEN", CHIPTWO, 8)
GPB1_L_BVN3_S6_BUMPER_PLASTIC_RECHTS_BENEDEN = Switch(
"GPB1_L_BVN3_S6_BUMPER_PLASTIC_RECHTS_BENEDEN", CHIPTWO, 9)
GPB2_L_BVN2_S5_BUMPER_PLASTIC_RECHTS_BOVEN = Switch(
"GPB2_L_BVN2_S5_BUMPER_PLASTIC_RECHTS_BOVEN", CHIPTWO, 10)
GPB3_L_BVN1_S17_BUMPER_PLASTIC_LINKS_BENEDEN = Switch(
"GPB3_L_BVN1_S17_BUMPER_PLASTIC_LINKS_BENEDEN", CHIPTWO, 11)
GPB4_R_BVN4_S17_WHEEL_LEFT = Switch("GPB4_R_BVN4_S17_WHEEL_LEFT", CHIPTWO,
12)
GPB5_R_BVN3_S101_RODE_KNOP_SCROBMODE = Switch(
"GPB5_R_BVN3_S101_RODE_KNOP_SCROBMODE", CHIPTWO, 13)
GPB6_R_BVN2_S23_PADDRAAD_BALLPUSHER = Switch(
"GPB6_R_BVN2_S23_PADDRAAD_BALLPUSHER", CHIPTWO, 14)
GPB7_R_BVN1_S21_PADDRAAD_LINKS_BENEDEN = Switch(
"GPB7_R_BVN1_S21_PADDRAAD_LINKS_BENEDEN", CHIPTWO, 15)
print("Chip Two Done")
# MCP23017 3
GPA0_LEEG = 0
GPA1_LEEG = 1
GPA2_L_OND5_S25_RUBBERBAND_KICKER_RECHTS_BENEDEN_BOVENSTE = Switch(
"GPA2_L_OND5_S25_RUBBERBAND_KICKER_RECHTS_BENEDEN_BOVENSTE", CHIPTHREE,
2)
GPA3_L_OND6_S25_RUBBERBAND_KICKER_RECHTS_BENEDEN_ONDERSTE = Switch(
"GPA3_L_OND6_S25_RUBBERBAND_KICKER_RECHTS_BENEDEN_ONDERSTE", CHIPTHREE,
3)
GPA4_L_OND7_S103_RUBBERBAND_KICKER_RECHTS_BENEDEN_SOLENOID = Switch(
"GPA4_L_OND7_S103_RUBBERBAND_KICKER_RECHTS_BENEDEN_SOLENOID",
CHIPTHREE, 4)
GPA5_L_OND8_S14_GELE_TARGET_LINKS_BOVEN = Switch(
"GPA5_L_OND8_S14_GELE_TARGET_LINKS_BOVEN", CHIPTHREE, 5)
GPA6_L_OND9_S18_GELE_TARGET_LINKS_MIDDEN = Switch(
"GPA6_L_OND9_S18_GELE_TARGET_LINKS_MIDDEN", CHIPTHREE, 6)
GPA7_L_OND10_S20_GELE_TARGET_LINKS_BENEDEN = Switch(
"GPA7_L_OND10_S20_GELE_TARGET_LINKS_BENEDEN", CHIPTHREE, 7)
GPB0_L_BVN10_S1_GELE_TARGET_RECHTS_BENEDEN = Switch(
"GPB0_L_BVN10_S1_GELE_TARGET_RECHTS_BENEDEN", CHIPTHREE, 8)
GPB1_L_BVN9_S3_GELE_TARGET_RECHTS_MIDDEN = Switch(
"GPB1_L_BVN9_S3_GELE_TARGET_RECHTS_MIDDEN", CHIPTHREE, 9)
GPB2_L_BVN8_S7_GELE_TARGET_RECHTS_BOVEN = Switch(
"GPB2_L_BVN8_S7_GELE_TARGET_RECHTS_BOVEN", CHIPTHREE, 10)
GPB3_L_BVN7_S105_RUBBERBAND_KICKER_LINKS_BENEDEN_BOVENSTE_SOLENOID = Switch(
"GPB3_L_BVN7_S105_RUBBERBAND_KICKER_LINKS_BENEDEN_BOVENSTE_SOLENOID",
CHIPTHREE, 11)
GPB4_L_BVN6_S104_RUBBERBAND_KICKER_LINKS_BENEDEN_ONDERSTE = Switch(
"GPB4_L_BVN6_S104_RUBBERBAND_KICKER_LINKS_BENEDEN_ONDERSTE", CHIPTHREE,
12)
GPB5_L_BVN5_S22_RUBBERBAND_KICKER_LINKS_BENEDEN_BOVENSTE = Switch(
"GPB5_L_BVN5_S22_RUBBERBAND_KICKER_LINKS_BENEDEN_BOVENSTE", CHIPTHREE,
13)
leftFlipperSwitch = Switch("Left Flipper Switch", CHIPTHREE, 14)
startResetSwitch = Switch("Start Switch", CHIPTHREE, 15)
print("Chip Three Done")
#Coils Creation
print("Creating Coils")
#flippers
GPIO.setup(6, GPIO.OUT, initial=LOW)
#ball pusher
#GPIO.setup(24, GPIO.OUT,initial=LOW)
SOLENOID_GPB6_R_BVN2_S23_PADDRAAD_BALLPUSHER = Hole(
"GPB6_R_BVN2_S23_PADDRAAD_BALLPUSHER", 24,
GPB6_R_BVN2_S23_PADDRAAD_BALLPUSHER)
GPIO.setup(SOLENOID_GPB6_R_BVN2_S23_PADDRAAD_BALLPUSHER.coilPin,
GPIO.OUT,
initial=LOW)
SOLENOID_GPA2_R_OND3_S10_WHEEL_MIDDLE = Hole(
"GPA2_R_OND3_S10_WHEEL_MIDDLE", 19, GPA2_R_OND3_S10_WHEEL_MIDDLE)
GPIO.setup(SOLENOID_GPA2_R_OND3_S10_WHEEL_MIDDLE.coilPin,
GPIO.OUT,
initial=LOW)
SOLENOID_GPA3_R_OND4_S2_WHEEL_RIGHT = Hole("GPA3_R_OND4_S2_WHEEL_RIGHT",
18, GPA3_R_OND4_S2_WHEEL_RIGHT)
GPIO.setup(SOLENOID_GPA3_R_OND4_S2_WHEEL_RIGHT.coilPin,
GPIO.OUT,
initial=LOW)
SOLENOID_GPB4_R_BVN4_S17_WHEEL_LEFT = Hole("GPB4_R_BVN4_S17_WHEEL_LEFT",
17, GPB4_R_BVN4_S17_WHEEL_LEFT)
GPIO.setup(SOLENOID_GPB4_R_BVN4_S17_WHEEL_LEFT.coilPin,
GPIO.OUT,
initial=LOW)
rightKicker = Kicker(
"rightKicker", 16,
GPA2_L_OND5_S25_RUBBERBAND_KICKER_RECHTS_BENEDEN_BOVENSTE,
GPA3_L_OND6_S25_RUBBERBAND_KICKER_RECHTS_BENEDEN_ONDERSTE,
GPA4_L_OND7_S103_RUBBERBAND_KICKER_RECHTS_BENEDEN_SOLENOID)
GPIO.setup(rightKicker.coilPin, GPIO.OUT, initial=LOW)
leftKicker = Kicker(
"leftKicker", 13,
GPB3_L_BVN7_S105_RUBBERBAND_KICKER_LINKS_BENEDEN_BOVENSTE_SOLENOID,
GPB4_L_BVN6_S104_RUBBERBAND_KICKER_LINKS_BENEDEN_ONDERSTE,
GPA4_L_OND7_S103_RUBBERBAND_KICKER_RECHTS_BENEDEN_SOLENOID)
GPIO.setup(leftKicker.coilPin, GPIO.OUT, initial=LOW)
lowerLeftBumper = Bumper("lowerLeftBumper", 23,
GPB3_L_BVN1_S17_BUMPER_PLASTIC_LINKS_BENEDEN,
GPA4_L_OND1_S17_BUMPER_METAAL_LINKS_BENEDEN)
GPIO.setup(lowerLeftBumper.coilPin, GPIO.OUT, initial=LOW)
topLeftBumper = Bumper("topLeftBumper", 20,
GPB0_L_BVN4_S15_BUMPER_PLASTIC_LINKS_BOVEN,
GPA7_L_OND4_S15_BUMPER_METAAL_LINKS_BOVEN)
GPIO.setup(topLeftBumper.coilPin, GPIO.OUT, initial=LOW)
lowerRightBumper = Bumper("lowerRightBumper", 22,
GPB1_L_BVN3_S6_BUMPER_PLASTIC_RECHTS_BENEDEN,
GPA6_L_OND3_S6_BUMPER_METAAL_RECHTS_BENEDEN)
GPIO.setup(lowerRightBumper.coilPin, GPIO.OUT, initial=LOW)
topRightBumper = Bumper("topRightBumper", 21,
GPB2_L_BVN2_S5_BUMPER_PLASTIC_RECHTS_BOVEN,
GPA5_L_OND2_S5_BUMPER_METAAL_RECHTS_BOVEN)
GPIO.setup(topRightBumper.coilPin, GPIO.OUT, initial=LOW)
scrubMode = Scrubmode("Scrubmode", 4, 5,
GPA5_L_OND8_S14_GELE_TARGET_LINKS_BOVEN,
GPA6_L_OND9_S18_GELE_TARGET_LINKS_MIDDEN,
GPA7_L_OND10_S20_GELE_TARGET_LINKS_BENEDEN,
GPB0_L_BVN10_S1_GELE_TARGET_RECHTS_BENEDEN,
GPB1_L_BVN9_S3_GELE_TARGET_RECHTS_MIDDEN,
GPB2_L_BVN8_S7_GELE_TARGET_RECHTS_BOVEN,
GPB5_R_BVN3_S101_RODE_KNOP_SCROBMODE)
GPIO.setup(scrubMode.coilPinOne, GPIO.OUT, initial=LOW)
GPIO.setup(scrubMode.coilPinTwo, GPIO.OUT, initial=LOW)
noobGate = Noobgate("Noobgate", 12,
GPA0_R_OND1_S26_PADDRAAD_RECHTS_BENEDEN,
GPA1_R_OND2_S24_PADDRAAD_START_BALSCHIETEN)
GPIO.setup(noobGate.coilPin, GPIO.OUT, initial=LOW)
coilList = [
rightKicker, leftKicker, lowerLeftBumper, topLeftBumper,
lowerRightBumper, topRightBumper,
SOLENOID_GPA2_R_OND3_S10_WHEEL_MIDDLE, GPA3_R_OND4_S2_WHEEL_RIGHT,
GPB4_R_BVN4_S17_WHEEL_LEFT
]
state = 0
resetSwitchDuration = 0.0
resetMaxDuration = 2.0
firstBall = True
score = 0
lives = 0
screenScore = NumericProperty(score)
screenLives = NumericProperty(lives)
#scoreChanger = ScoreChanger()
filename = "highscore.txt"
file = open(filename, 'r')
plaats1 = file.readline()
plaats2 = file.readline()
plaats3 = file.readline()
isRunning = True
high_score1 = plaats1.split()
highscore1 = high_score1[1]
high_score2 = plaats2.split()
highscore2 = high_score2[1]
high_score3 = plaats3.split()
highscore3 = high_score3[1]
elapsedTime = 0.0
scoreActive = False
#STATES:
#0 - Not Active
#1 - Initializing
#2 - New Ball
#3 - Game Logic
#4 - Tilt
#5 - Game Over
#-1 - Reset
#State 0
def notActive(self, deltaTime):
#print ("STATE 000000000000000000000000")
if self.startResetSwitch.getState() == 1:
print(
"STATE 000000000000000000000000 iiiiiiiiiiiiffffffffffff statement"
)
self.state = 1
#state 1
def Initialize(self, deltaTime):
print("STATE 11111111111111111111")
self.lives = 3
self.score = 0
self.state = 2
self.firstBall = True
def disableCoils(self, disableFlippers):
#for x in self.coilList:
#print ("disablecoils functie, for x in self.coilList:")
# x.disable()
if disableFlippers == True:
print("disablecoils functie, if disableFlippers == TRUE")
self.scrubMode.disable()
self.noobGate.disable()
GPIO.output(6, self.LOW) #flippers
#state 2
def NewBall(self, deltaTime):
print("STATE 2222222222222222222222222")
self.disableCoils(True)
if self.GPB6_R_BVN2_S23_PADDRAAD_BALLPUSHER.getState() == 1:
print("eerste if is geactiveerd")
if self.firstBall == False:
self.lives -= 1
print("tweede if is geactiveerd")
if self.lives <= 0:
self.state = -1
print("derde if is geactiveerd")
return
print("BALL PUSHER ..........................")
GPIO.output(24, self.HIGH) #ball pusher
print("BALL PUSHER IS AAN")
sleep(0.2)
GPIO.output(24, self.LOW) #ball pusher
print("BALL PUSHER IS UIT")
sleep(0.5)
if self.GPA1_R_OND2_S24_PADDRAAD_START_BALSCHIETEN.getState() == 0:
print("GPA1_R_OND2_S24_PADDRAAD_START_BALSCHIETEN is gelijk aan 0")
self.state = 3
print("state wordt 3")
self.firstBall = False
print("firstbal is FALSE")
self.noobGate.reset()
print("noobGate resetten")
GPIO.output(12, self.HIGH) #hekje
print("hekje aan")
#Turn on Flippers
GPIO.output(6, self.HIGH) ##flippers
print("flippers aan")
def CheckOtherInputs(self):
if (self.GPB3_R_BVN9_S100_SWITCH_WIT_BOVENAAN.getState() == 1
or self.GPA3_R_OND8_S13_PADDRAAD_LINKS_BOVEN.getState() == 1
or self.upperRightBallGate.getState() == 1):
if self.scoreActive == False:
self.score += 100
self.scoreActive == True
else:
self.scoreActive = False
if (self.GPA2_L_OND5_S25_RUBBERBAND_KICKER_RECHTS_BENEDEN_BOVENSTE.
getState() == 1 or
self.GPA3_L_OND6_S25_RUBBERBAND_KICKER_RECHTS_BENEDEN_ONDERSTE.
getState() == 1 or
self.GPA2_R_OND7_S12_2_RUBBERBAND_KICKER_LINKS_BOVEN_ONDERSTE.
getState() == 1
or self.GPB5_R_BVN7_S21_RUBBERBAND_KICKER_LINKS_BOVEN_BOVENSTE.
getState() == 1 or
self.GPB6_R_BVN6_S9_1_RUBBERBAND_KICKER_RECHTS_BOVEN_ONDERSTE.
getState() == 1 or
self.GPB7_R_BVN5_S16_RUBBERBAND_KICKER_LINKS_MIDDEN.getState()
== 1):
if self.scoreActive == False:
self.score += 2
self.scoreActive == True
else:
self.scoreActive = False
if (self.GPB7_R_BVN1_S21_PADDRAAD_LINKS_BENEDEN.getState() == 1 or
self.GPA0_R_OND1_S26_PADDRAAD_RECHTS_BENEDEN.getState() == 1):
if self.scoreActive == False:
self.score += 15
self.scoreActive == True
else:
self.scoreActive = False
#state 3
def GameLogic(self, deltaTime):
print("STATE 3333333333333333333333333333")
for x in self.coilList:
self.score += x.update(deltaTime)
self.scrubMode.update(deltaTime)
self.noobGate.update(deltaTime)
#self.CheckOtherInputs()
if self.GPB6_R_BVN2_S23_PADDRAAD_BALLPUSHER.getState() == 1:
self.state = 2
#elif self.tiltSwitch.getState() == 1:
#self.state = 4
#state 4
def Tilt(self, deltaTime):
print("STATE 4444444444444444444444")
#Zet alle Coils even aan
self.disableCoils(True)
if self.GPB6_R_BVN2_S23_PADDRAAD_BALLPUSHER.getState(
) == 1 or self.GPA1_R_OND2_S24_PADDRAAD_START_BALSCHIETEN.getState(
) == 0:
self.state = 2
#state 5
def GameOver(self, deltaTime):
print("STATE 555555555555555555555555")
self.disableCoils(True)
#handle topscoreshizzle
print("haat piraat")
if self.score >= FlipperGame.highscore3:
high = Highscore()
#Clock.schedule_interval(high.update, 1.0/60)
if self.score >= FlipperGame.highscore2:
if self.score >= FlipperGame.highscore1:
print("plek 3 gekomen")
high.deplaats = 1
high.setScores()
else:
high.deplaats = 2
print("plek 2 gekomen")
high.setScores()
else:
high.deplaats = 3
print("plek 3 gekomen")
high.setScores()
self.state = -1
#state -1
def Reset(self, deltaTime):
print("STATE -------------11111111111111111111")
self.disableCoils(True)
#self.scoreChanger.resetScoreReels
self.scrubMode.disable()
self.state = 0
#creation of state dictionary
stateFunctionsDict = {
0: notActive,
1: Initialize,
2: NewBall,
3: GameLogic,
4: Tilt,
5: GameOver,
-1: Reset
}
oldDebugMessage = ""
#########################################
#main function. called every 1/60 second#
#########################################
def update(self, dt):
#calculate the time since the last call and update the elapsed time
deltaTime = dt - self.elapsedTime
self.elapsedTime = dt
deltaTime = 1.0 / 60
#print "State: -1 " + " Score: 0" + " Lives: " + str(self.lives)
#print ("State: ")+ str(self.state) + (" Score: ") + str(self.score) + (" Lives: ") + str(self.lives)
debugMessage = "State: " + str(self.state) + (" Score: ") + str(
self.score) + (" Lives: ") + str(self.lives)
if (debugMessage != self.oldDebugMessage):
print(debugMessage)
self.oldDebugMessage = debugMessage
#reset the game if the resetswitch is pressed for 5 seconds
if self.startResetSwitch.getState() == 1 and self.state > 1:
self.resetSwitchDuration += deltaTime
if self.resetSwitchDuration > self.resetMaxDuration:
self.state = -1
self.resetSwitchDuration = 0.0
else:
self.resetSwitchDuration = 0.0
#call the state function
func = self.stateFunctionsDict[self.state]
func(self, deltaTime)
self.screenScore = self.score
self.screenLives = self.lives