def _BuildPhidgetsMotorController(serial_number): #Create an motorcontrol object try: motorControl = MotorControl() motorControl.setOnErrorhandler(motorControlError) motorControl.openPhidget(serial_number) motorControl.waitForAttach(10000) print("Serial number: %i" % motorControl.getSerialNum()) return motorControl except RuntimeError as e: motorControl.closePhidget() print("Runtime Exception: %s" % e.details) return None
try: motorControl.openPhidget() except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) print("Exiting....") exit(1) print("Waiting for attach....") try: motorControl.waitForAttach(10000) except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) try: motorControl.closePhidget() except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) print("Exiting....") exit(1) print("Exiting....") exit(1) else: displayDeviceInfo() #Control the motor a bit. print("Will now simulate motor operation....") print("Step 1: increase acceleration to 50, set target speed at 100") try: motorControl.setAcceleration(0, 50.00) motorControl.setVelocity(0, 100.00)
class IOTools: def __init__(self, onRobot): self.onRobot = onRobot # Camera self._openCam=False # Motor Control self._snMot=-1 self._openMot=False self._attachedMot=False self._cur = [0, 0] # Servo self._snSer=-1 self._openSer=False self._attachedSer=False self._limits = [0, 0] # IF Kit self._snIF=-1 self._openIF=False self._attachedIF=False self._inp = [0, 0, 0, 0, 0, 0, 0, 0] self._sen = [0, 0, 0, 0, 0, 0, 0, 0] # LEDs self._fistTime = True self._status = [0,0,0] self._mod = [8, 1, 1] self._rep = [-1, 5, 6] self._val = [True, False, False] self._ofs = [0, 0, 0] self._updaterThread = threading.Thread(target=self.__updateLED) self._stop = False self._updaterThread.setDaemon(True) self._updaterThread.start() def destroy(self): # LEDs self._stop = True if self._attachedIF: self._interfaceKit.setOutputState(0, 0) self._interfaceKit.setOutputState(1, 0) self._interfaceKit.setOutputState(2, 0) # Servo self.servoDisengage() # Camera self._openCam = False if self._openCam: self._cap.release() def open(self): self.__openIF() self.__openMot() self.__openSer() self.__openCam() ###################### Camera ###################### def __openCam(self): if not os.path.exists('/dev/video0'): return False self._cap = cv2.VideoCapture() if not self._cap.open(-1): return False self._openCam = True def cameraGrab(self): if self._openCam: return self._cap.grab() else: return False def cameraRead(self): if self._openCam: (ret, img)=self._cap.retrieve() return img else: return False def cameraSetResolution(self, sz): """ :rtype : object """ if self._openCam: sz=sz.lower() if sz=='low': self._cap.set(3,160) self._cap.set(4,120) if sz=='medium': self._cap.set(3,640) self._cap.set(4,480) if sz=='high': self._cap.set(3,800) self._cap.set(4,600) if sz=='full': self._cap.set(3,1280) self._cap.set(4,720) def imshow(self, wnd, img): if not self.onRobot: if img.__class__ != numpy.ndarray: print "imshow - invalid image" return False else: cv2.imshow(wnd,img) cv2.waitKey(5) ####################### Servo ###################### def __openSer(self): try: self._advancedServo = AdvancedServo() except RuntimeError as e: print("Servo - Runtime Exception: %s" % e.details) return False try: self._advancedServo.setOnAttachHandler(self.__onAttachedSer) self._advancedServo.setOnDetachHandler(self.__onDetachedSer) self._advancedServo.setOnErrorhandler(self.__onErrorSer) except PhidgetException as e: print("Servo - Phidget Exception %i: %s" % (e.code, e.details)) return False try: self._advancedServo.openPhidget() except PhidgetException as e: print("Servo - Phidget Exception %i: %s" % (e.code, e.details)) return False self._openSer=True return True def __onAttachedSer(self,e): self._snSer = e.device.getSerialNum() self._advancedServo.setServoType(0, ServoTypes.PHIDGET_SERVO_HITEC_HS322HD) self._advancedServo.setAcceleration(0, self._advancedServo.getAccelerationMax(0)) self._advancedServo.setVelocityLimit(0, self._advancedServo.getVelocityMax(0)) self._limits[0] = self._advancedServo.getPositionMin(0) self._limits[1] = self._advancedServo.getPositionMax(0) print("Servo %i Attached! Range: %f - %f" % (self._snSer, self._limits[0], self._limits[1])) self._attachedSer=True def __onDetachedSer(self,e ): print("Servo %i Detached!" % (self._snSer)) self._snSer = -1 self._attachedSer=False def __onErrorSer(self, e): try: source = e.device print("Servo %i: Phidget Error %i: %s" % (source.getSerialNum(), e.eCode, e.description)) except PhidgetException as e: print("Servo - Phidget Exception %i: %s" % (e.code, e.details)) def __closeSer(self): if self._openSer==True: self.servoDisengage() self._advancedServo.closePhidget() def servoEngage(self): if self._attachedSer==True: self._advancedServo.setEngaged(0, True) def servoDisengage(self): if self._attachedSer==True: self._advancedServo.setEngaged(0, False) def servoSet(self, pos): if self._attachedSer==True: self._advancedServo.setPosition(0, min(max(pos,self._limits[0]),self._limits[1])) ############### Motor Control ###################### def __openMot(self): try: self._motorControl = MotorControl() except RuntimeError as e: print("Motor Control - Runtime Exception: %s" % e.details) return False try: self._motorControl.setOnAttachHandler(self.__onAttachedMot) self._motorControl.setOnDetachHandler(self.__onDetachedMot) self._motorControl.setOnErrorhandler(self.__onErrorMot) self._motorControl.setOnCurrentChangeHandler(self.__onCurrentChangedMot) except PhidgetException as e: print("Motor Control - Phidget Exception %i: %s" % (e.code, e.details)) return False try: self._motorControl.openPhidget() except PhidgetException as e: print("Motor Control - Phidget Exception %i: %s" % (e.code, e.details)) return False self._openMot=True return True def __onAttachedMot(self,e): self._snMot = e.device.getSerialNum() print("Motor Control %i Attached!" % (self._snMot)) self._attachedMot=True def __onDetachedMot(self,e ): print("Motor Control %i Detached!" % (self._snMot)) self._snMot = -1 self._attachedMot=False def __onErrorMot(self, e): try: source = e.device print("Motor Control %i: Phidget Error %i: %s" % (source.getSerialNum(), e.eCode, e.description)) except PhidgetException as e: print("Motor Control - Phidget Exception %i: %s" % (e.code, e.details)) def __onCurrentChangedMot(self, e): self._cur[e.index] = e.current def __closeMot(self): if self._openMot==True: self._motorControl.closePhidget() def setMotors(self, speed1=0.0, speed2=0.0, acceleration1=100.0, acceleration2=100.0 ): if self._openMot==True: self._motorControl.setAcceleration(0, acceleration1) self._motorControl.setVelocity(0, speed1) self._motorControl.setAcceleration(1, acceleration2) self._motorControl.setVelocity(1, speed2) ############### Interface Kit ###################### def __closeIF(self): if self._openIF==True: self._interfaceKit.closePhidget() def __openIF(self): try: self._interfaceKit = InterfaceKit() except RuntimeError as e: print("IF Kit - Runtime Exception: %s" % e.details) return False try: self._interfaceKit.setOnAttachHandler(self.__onAttachedIF) self._interfaceKit.setOnDetachHandler(self.__onDetachedIF) self._interfaceKit.setOnErrorhandler(self.__onErrorIF) self._interfaceKit.setOnInputChangeHandler(self.__onInputChangedIF) self._interfaceKit.setOnSensorChangeHandler(self.__onSensorChangedIF) except PhidgetException as e: print("IF Kit - Phidget Exception %i: %s" % (e.code, e.details)) return False try: self._interfaceKit.openPhidget() except PhidgetException as e: print("IF Kit - Phidget Exception %i: %s" % (e.code, e.details)) return False self._openIF=True return True def __onAttachedIF(self,e): self._snIF = e.device.getSerialNum() print("InterfaceKit %i Attached!" % (self._snIF)) self._attachedIF=True if self._fistTime: for i in range(0,3): self._interfaceKit.setOutputState(0, 1) self._interfaceKit.setOutputState(1, 1) self._interfaceKit.setOutputState(2, 1) time.sleep(0.1) self._interfaceKit.setOutputState(0, 0) self._interfaceKit.setOutputState(1, 0) self._interfaceKit.setOutputState(2, 0) time.sleep(0.1) self._fistTime = False def __onDetachedIF(self,e ): print("InterfaceKit %i Detached!" % (self._snIF)) self._snIF = -1 self._inp = [0, 0, 0, 0, 0, 0, 0, 0] self._sen = [0, 0, 0, 0, 0, 0, 0, 0] self._attachedIF=False def __onErrorIF(self, e): try: source = e.device print("InterfaceKit %i: Phidget Error %i: %s" % (source.getSerialNum(), e.eCode, e.description)) except PhidgetException as e: print("IF Kit - Phidget Exception %i: %s" % (e.code, e.details)) def __onSensorChangedIF(self, e): self._sen[e.index] = e.value def __onInputChangedIF(self, e): self._inp[e.index] = e.state def getSensors(self): """ :rtype : object """ return self._sen; def getInputs(self): return self._inp; ################ LEDs ####################### def __updateLED(self): t=0 while self._stop==False: t=(t+1)%100 for i in range(0,3): self._status[i]=((t+self._ofs[i])%self._mod[i]==0) and self._val[i] and bool(self._rep[i]) self._rep[i]=self._rep[i]-int(self._rep[i]>0 and self._status[i]) if self._attachedIF: self._interfaceKit.setOutputState(i, self._status[i]) time.sleep(0.15) def __setModeLED(self, i, mode, hz=2, cnt=1, ofs=0): if mode=='on': self._rep[i]=-1 self._val[i]=True self._ofs[i]=0 self._mod[i]=1 if mode=='off': self._rep[i]=-1 self._val[i]=False self._ofs[i]=0 self._mod[i]=1 if mode=='flash': hz=min(max(hz,1),100) self._rep[i]=min(max(cnt,1),20) self._val[i]=True self._ofs[i]=min(max(ofs,0),hz) self._mod[i]=hz def setStatus(self, mode, hz=2, cnt=1, ofs=0): self.__setModeLED(1,mode, hz, cnt, ofs) def setError(self, mode, hz=2, cnt=1, ofs=0): self.__setModeLED(2,mode, hz, cnt, ofs) def setSemaphor(self): self.__setModeLED(1,'flash', 2, 6, 0) self.__setModeLED(2,'flash', 2, 6, 1)
if not motorControlL.isAttachedToServer(): sleep(2) print('motorControlL attached to server status: %s' % motorControlL.isAttachedToServer() ) print('motorControlR attached to server status: %s' % motorControlR.isAttachedToServer() ) print("Waiting for attach....") try: motorControlL.waitForAttach(10000) motorControlR.waitForAttach(10000) except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) try: motorControlL.closePhidget() motorControlR.closePhidget() except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) print("Exiting....") exit(1) print("Exiting....") exit(1) else: displayDeviceInfo() #print(motorControlL.getAccelerationMin(0)) #print(motorControlR.getAccelerationMin(0)) #print(motorControlL.getAccelerationMax(0)) #print(motorControlR.getAccelerationMax(0))
try: motorControl.openPhidget() except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) print("Exiting....") exit(1) print("Waiting for attach....") try: motorControl.waitForAttach(10000) except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) try: motorControl.closePhidget() except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) print("Exiting....") exit(1) print("Exiting....") exit(1) else: displayDeviceInfo() #Control the motor a bit. print("Will now simulate motor operation....") print("Step 1: increase acceleration to 50, set target speed at 100") try: motorControl.setAcceleration(0, 50.00) motorControl.setVelocity(0, 100.00)
class IOTools: def __init__(self, onRobot): self.onRobot = onRobot # Camera self._openCam = False # Motor Control self._snMot = -1 self._openMot = False self._attachedMot = False self._cur = [0, 0] # Servo self._snSer = -1 self._openSer = False self._attachedSer = False self._limits = [0, 0] # IF Kit self._snIF = -1 self._openIF = False self._attachedIF = False self._inp = [0, 0, 0, 0, 0, 0, 0, 0] self._sen = [0, 0, 0, 0, 0, 0, 0, 0] # LEDs self._fistTime = True self._status = [0, 0, 0] self._mod = [8, 1, 1] self._rep = [-1, 5, 6] self._val = [True, False, False] self._ofs = [0, 0, 0] self._updaterThread = threading.Thread(target=self.__updateLED) self._stop = False self._updaterThread.setDaemon(True) self._updaterThread.start() def destroy(self): # LEDs self._stop = True if self._attachedIF: self._interfaceKit.setOutputState(0, 0) self._interfaceKit.setOutputState(1, 0) self._interfaceKit.setOutputState(2, 0) # Servo self.servoDisengage() # Camera self._openCam = False if self._openCam: self._cap.release() def open(self): self.__openIF() self.__openMot() self.__openSer() self.__openCam() ###################### Camera ###################### def __openCam(self): if not os.path.exists('/dev/video0'): return False self._cap = cv2.VideoCapture() if not self._cap.open(-1): return False self._openCam = True def cameraGrab(self): if self._openCam: return self._cap.grab() else: return False def cameraRead(self): if self._openCam: (ret, img) = self._cap.retrieve() return img else: return False def cameraSetResolution(self, sz): if self._openCam: sz = sz.lower() if sz == 'low': self._cap.set(3, 160) self._cap.set(4, 120) if sz == 'medium': self._cap.set(3, 640) self._cap.set(4, 480) if sz == 'high': self._cap.set(3, 800) self._cap.set(4, 600) if sz == 'full': self._cap.set(3, 1280) self._cap.set(4, 720) def imshow(self, wnd, img): if not self.onRobot: if img.__class__ != numpy.ndarray: print "imshow - invalid image" return False else: cv2.imshow(wnd, img) cv2.waitKey(5) ####################### Servo ###################### def __openSer(self): try: self._advancedServo = AdvancedServo() except RuntimeError as e: print("Servo - Runtime Exception: %s" % e.details) return False try: self._advancedServo.setOnAttachHandler(self.__onAttachedSer) self._advancedServo.setOnDetachHandler(self.__onDetachedSer) self._advancedServo.setOnErrorhandler(self.__onErrorSer) except PhidgetException as e: print("Servo - Phidget Exception %i: %s" % (e.code, e.details)) return False try: self._advancedServo.openPhidget() except PhidgetException as e: print("Servo - Phidget Exception %i: %s" % (e.code, e.details)) return False self._openSer = True return True def __onAttachedSer(self, e): self._snSer = e.device.getSerialNum() self._advancedServo.setServoType( 0, ServoTypes.PHIDGET_SERVO_HITEC_HS322HD) self._advancedServo.setAcceleration( 0, self._advancedServo.getAccelerationMax(0)) self._advancedServo.setVelocityLimit( 0, self._advancedServo.getVelocityMax(0)) self._limits[0] = self._advancedServo.getPositionMin(0) self._limits[1] = self._advancedServo.getPositionMax(0) print("Servo %i Attached! Range: %f - %f" % (self._snSer, self._limits[0], self._limits[1])) self._attachedSer = True def __onDetachedSer(self, e): print("Servo %i Detached!" % (self._snSer)) self._snSer = -1 self._attachedSer = False def __onErrorSer(self, e): try: source = e.device print("Servo %i: Phidget Error %i: %s" % (source.getSerialNum(), e.eCode, e.description)) except PhidgetException as e: print("Servo - Phidget Exception %i: %s" % (e.code, e.details)) def __closeSer(self): if self._openSer == True: self.servoDisengage() self._advancedServo.closePhidget() def servoEngage(self): if self._attachedSer == True: self._advancedServo.setEngaged(0, True) def servoDisengage(self): if self._attachedSer == True: self._advancedServo.setEngaged(0, False) def servoSet(self, pos): if self._attachedSer == True: self._advancedServo.setPosition( 0, min(max(pos, self._limits[0]), self._limits[1])) ############### Motor Control ###################### def __openMot(self): try: self._motorControl = MotorControl() except RuntimeError as e: print("Motor Control - Runtime Exception: %s" % e.details) return False try: self._motorControl.setOnAttachHandler(self.__onAttachedMot) self._motorControl.setOnDetachHandler(self.__onDetachedMot) self._motorControl.setOnErrorhandler(self.__onErrorMot) self._motorControl.setOnCurrentChangeHandler( self.__onCurrentChangedMot) except PhidgetException as e: print("Motor Control - Phidget Exception %i: %s" % (e.code, e.details)) return False try: self._motorControl.openPhidget() except PhidgetException as e: print("Motor Control - Phidget Exception %i: %s" % (e.code, e.details)) return False self._openMot = True return True def __onAttachedMot(self, e): self._snMot = e.device.getSerialNum() print("Motor Control %i Attached!" % (self._snMot)) self._attachedMot = True def __onDetachedMot(self, e): print("Motor Control %i Detached!" % (self._snMot)) self._snMot = -1 self._attachedMot = False def __onErrorMot(self, e): try: source = e.device print("Motor Control %i: Phidget Error %i: %s" % (source.getSerialNum(), e.eCode, e.description)) except PhidgetException as e: print("Motor Control - Phidget Exception %i: %s" % (e.code, e.details)) def __onCurrentChangedMot(self, e): self._cur[e.index] = e.current def __closeMot(self): if self._openMot == True: self._motorControl.closePhidget() def setMotors(self, speed1=0.0, speed2=0.0, acceleration1=100.0, acceleration2=100.0): if self._openMot == True: self._motorControl.setAcceleration(0, acceleration1) self._motorControl.setVelocity(0, speed1) self._motorControl.setAcceleration(1, acceleration2) self._motorControl.setVelocity(1, speed2) ############### Interface Kit ###################### def __closeIF(self): if self._openIF == True: self._interfaceKit.closePhidget() def __openIF(self): try: self._interfaceKit = InterfaceKit() except RuntimeError as e: print("IF Kit - Runtime Exception: %s" % e.details) return False try: self._interfaceKit.setOnAttachHandler(self.__onAttachedIF) self._interfaceKit.setOnDetachHandler(self.__onDetachedIF) self._interfaceKit.setOnErrorhandler(self.__onErrorIF) self._interfaceKit.setOnInputChangeHandler(self.__onInputChangedIF) self._interfaceKit.setOnSensorChangeHandler( self.__onSensorChangedIF) except PhidgetException as e: print("IF Kit - Phidget Exception %i: %s" % (e.code, e.details)) return False try: self._interfaceKit.openPhidget() except PhidgetException as e: print("IF Kit - Phidget Exception %i: %s" % (e.code, e.details)) return False self._openIF = True return True def __onAttachedIF(self, e): self._snIF = e.device.getSerialNum() print("InterfaceKit %i Attached!" % (self._snIF)) self._attachedIF = True if self._fistTime: for i in range(0, 3): self._interfaceKit.setOutputState(0, 1) self._interfaceKit.setOutputState(1, 1) self._interfaceKit.setOutputState(2, 1) time.sleep(0.1) self._interfaceKit.setOutputState(0, 0) self._interfaceKit.setOutputState(1, 0) self._interfaceKit.setOutputState(2, 0) time.sleep(0.1) self._fistTime = False def __onDetachedIF(self, e): print("InterfaceKit %i Detached!" % (self._snIF)) self._snIF = -1 self._inp = [0, 0, 0, 0, 0, 0, 0, 0] self._sen = [0, 0, 0, 0, 0, 0, 0, 0] self._attachedIF = False def __onErrorIF(self, e): try: source = e.device print("InterfaceKit %i: Phidget Error %i: %s" % (source.getSerialNum(), e.eCode, e.description)) except PhidgetException as e: print("IF Kit - Phidget Exception %i: %s" % (e.code, e.details)) def __onSensorChangedIF(self, e): self._sen[e.index] = e.value def __onInputChangedIF(self, e): self._inp[e.index] = e.state def getSensors(self): return self._sen def getInputs(self): return self._inp ################ LEDs ####################### def __updateLED(self): t = 0 while self._stop == False: t = (t + 1) % 100 for i in range(0, 3): self._status[i] = ((t + self._ofs[i]) % self._mod[i] == 0) and self._val[i] and bool( self._rep[i]) self._rep[i] = self._rep[i] - int(self._rep[i] > 0 and self._status[i]) if self._attachedIF: self._interfaceKit.setOutputState(i, self._status[i]) time.sleep(0.15) def __setModeLED(self, i, mode, hz=2, cnt=1, ofs=0): if mode == 'on': self._rep[i] = -1 self._val[i] = True self._ofs[i] = 0 self._mod[i] = 1 if mode == 'off': self._rep[i] = -1 self._val[i] = False self._ofs[i] = 0 self._mod[i] = 1 if mode == 'flash': hz = min(max(hz, 1), 100) self._rep[i] = min(max(cnt, 1), 20) self._val[i] = True self._ofs[i] = min(max(ofs, 0), hz) self._mod[i] = hz def setStatus(self, mode, hz=2, cnt=1, ofs=0): self.__setModeLED(1, mode, hz, cnt, ofs) def setError(self, mode, hz=2, cnt=1, ofs=0): self.__setModeLED(2, mode, hz, cnt, ofs) def setSemaphor(self): self.__setModeLED(1, 'flash', 2, 6, 0) self.__setModeLED(2, 'flash', 2, 6, 1)
#mcL.openPhidget(serial=298857) #mcR.openPhidget(serial=298856) mcL.openRemote('odroid', serial=298857) mcR.openRemote('odroid', serial=298856) except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) print("Exiting....") exit(1) try: mcL.waitForAttach(10000) mcR.waitForAttach(10000) except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) try: mcL.closePhidget() mcR.closePhidget() except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) print("Exiting....") exit(1) print("Exiting....") exit(1) print("mcL attached to WebService: %s" % mcL.isAttachedToServer()) print("mcR attached to WebService: %s" % mcR.isAttachedToServer()) context = zmq.Context() bat_socket = context.socket(zmq.PUB) bat_socket.bind("ipc:///tmp/battery.ipc")
except PhidgetException as error: print ('Device error %i, %s' % (error.code, error.details)) exit(1) """ Step 3 - Detect when a device is attached """ try: # method has units of milliseconds, so wait for 5 seconds motor.waitForAttach(5000) encoder.waitForAttach(5000) torque_sensor.waitForAttach(5000) except PhidgetException as error: print ('Device Error %i: %s' % (error.code, error.details)) try: motor.closePhidget() encoder.closePhidget() torque_sensor.closePhidget() except PhidgetException as error: print ('Phidget Error %i: %s' % (error.code, error.details)) exit(1) exit(1) """ Step 4 - Main Control Program """ # Collect user inputs user_input_position_open = input('Enter the angle to rotate OPEN in degrees: ') user_input_speed_open = input('Enter the OPEN speed in degrees/second: ') user_input_position_close = input('Enter the angle to rotate CLOSE in degrees: ') user_input_speed_close = input('Enter the CLOSE speed in degrees/second: ')
sleep(2) print('motorControlL attached to server status: %s' % motorControlL.isAttachedToServer()) print('motorControlR attached to server status: %s' % motorControlR.isAttachedToServer()) print("Waiting for attach....") try: motorControlL.waitForAttach(10000) motorControlR.waitForAttach(10000) except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) try: motorControlL.closePhidget() motorControlR.closePhidget() except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) print("Exiting....") exit(1) print("Exiting....") exit(1) else: displayDeviceInfo() #print(motorControlL.getAccelerationMin(0)) #print(motorControlR.getAccelerationMin(0)) #print(motorControlL.getAccelerationMax(0)) #print(motorControlR.getAccelerationMax(0))