def zap_weeds():
device.execute(weeder_tool_retrieve_sequence_id)
coord = Coordinate(device.get_current_position('x'),
device.get_current_position('y'))
for weed_point in weed_points:
coord.set_coordinate(z=Z_TRANSLATE) # move up to translate height
coord.set_coordinate(weed_point['x'] + LASER_OFFSET_X,
weed_point['y'] + LASER_OFFSET_Y) # move to point
coord.set_axis_position('z', ZAP_HEIGHT) # move down to zapping height
coord.set_offset(-(AREA_SIZE / 2),
-(AREA_SIZE / 2)) # offset x and y half of area
coord.set_speed(ZAP_SPEED)
device.write_pin(PIN_ZAPPER, 1, 0)
for i in range(AREA_SIZE):
if coord.get_offset_axis_position('x') > 0:
#coord.set_offset_axis_position('x', -(AREA_SIZE / 2))
for j in range(AREA_SIZE):
coord.set_offset_axis_position('x',
(AREA_SIZE / 2) - j - 1)
device.wait(ZAP_TIMEOUT)
else:
#coord.set_offset_axis_position('x', AREA_SIZE / 2)
for j in range(AREA_SIZE):
coord.set_offset_axis_position('x',
-(AREA_SIZE / 2) + j + 1)
device.wait(ZAP_TIMEOUT)
coord.set_offset_axis_position(
'y',
coord.get_offset_axis_position('y') + 1)
device.write_pin(PIN_ZAPPER, 0, 0)
coord.set_speed(100)
coord.set_offset(0, 0)
coord.set_coordinate(z=Z_TRANSLATE)
device.execute(weeder_tool_return_sequence_id)
def execute_watering(self, duration_ms):
pin = self.get_water_pin()
if Logger.LOGGER_LEVEL < 2:
log(
"Water ON, wait {}ms, OFF on PIN {}".format(duration_ms, pin),
title="execute_watering",
)
# water on, wait, water off
device.write_pin(pin, pin_value=1, pin_mode=0)
device.wait(duration_ms)
device.write_pin(pin, pin_value=0, pin_mode=0)
else:
log(
"FAKE: Water ON, wait {}ms, OFF on PIN {}".format(
duration_ms, pin),
title="execute_watering",
)
)
if sequenceAfter2ndGridMoveId > 0 :
device.log(message='Execute sequence: ' + sequenceAfter2ndGridMove, message_type='success')
device.execute(sequenceAfter2ndGridMoveId)
time.sleep(waitSeconds)
moveCount += 1
if canMove == True and movesPerCycle > 0 and movesPerCycle == moveCount: # Turn the moves off and save the index
device.log(message='Turn the moves off and save the index', message_type='success')
canMove = False
os.remove(configFileName) # Write the current position of the 2nd grids x,y co-ordinates to the config
configContents = {evName: str(plant)}
with open(configFileName, 'w') as f:
json.dump(configContents, f)
f.close()
if plant < numberOfPlants : # If we aren't at the end of the loop then break out of the loop
device.log(message='If we arent at the end of the loop then break out of the loop', message_type='success')
loopBreaked = True
break
elif canMove == False and savedMoveIndex == plant: # Turn the moves on if we have reached the saved index
device.log(message='Turn the moves on if we have reached the saved index', message_type='success')
canMove = True
# If loop finishes without breaking then signal that Grid2Grid has finished
if loopBreaked == False :
device.log(message='If loop finishes without breaking then signal that Grid2Grid has finished', message_type='success')
device.write_pin(3,0,0)
time.sleep(waitSeconds)
#!/usr/bin/env python ''' ' A farmware for a custom tool for Farmbot ''' import os, sys, json, Qualify from random import randint from farmware_tools import device, app, get_config_value from Coordinate import Coordinate PIN_LIGHTS = 7 PKG = 'Test Bed' input_errors = [] integer = Qualify.integer(PKG, 'integer') tools = app.get_toolslots() device.log(json.dumps(tools)) tool = Qualify.get_tool(4469) device.log(json.dumps(tool)) plants = app.get_plants() device.log(json.dumps(plants)) device.write_pin(PIN_LIGHTS, 0, 0)
moveAbs(seedToolX, seedToolY, seedToolZ)
moveAbs(toolExtractX, seedToolY, seedToolZ)
moveAbs(toolExtractX, seedToolY, toolExtractZ)
for i in range(len(plantLocation)):
#Get current location of arm
current_arm_x = device.get_current_position('x')
current_arm_y = device.get_current_position('y')
current_arm_z = device.get_current_position('z')
#Move to seed tray
moveAbs(current_arm_x, current_arm_y, toolExtractZ)
moveAbs(seedTrayX, current_arm_y, toolExtractZ)
moveAbs(seedTrayX, seedTrayY, toolExtractZ)
moveAbs(seedTrayX, seedTrayY, seedTrayDepth)
#Turn on vac pump
device.write_pin(10, 1, 0)
#Extract from seed tray
moveAbs(seedTrayX, seedTrayY, toolExtractZ)
#Move to seeding location
moveAbs(plantLocation[i][0] + pos_x, seedTrayY, toolExtractZ)
moveAbs(plantLocation[i][0] + pos_x, plantLocation[i][1] + pos_y,
toolExtractZ)
moveAbs(plantLocation[i][0] + pos_x, plantLocation[i][1] + pos_y,
pos_z - 10)
#Turn off vac pump
device.write_pin(10, 0, 0)
#Extract from seed hole
moveAbs(plantLocation[i][0] + pos_x, plantLocation[i][1] + pos_y, pos_z)
moveAbs(toolExtractX, seedToolY, seedToolZ)
moveAbs(seedToolX, seedToolY, seedToolZ)
#!/usr/bin/env python '''Farmware to reset encoder tracking on a v1.4 Farmduino.''' from farmware_tools import device device.set_pin_io_mode(1, 49) device.write_pin(49, 0, 0) device.write_pin(49, 1, 0) device.set_pin_io_mode(2, 49)
