def prox_sensor(self): cyprus.initialize() if (cyprus.read_gpio() & 0b0010): cyprus.set_pwm_values(2, period_value=100000, compare_value=100000, compare_mode=cyprus.LESS_THAN_OR_EQUAL) else: cyprus.set_pwm_values(2, period_value=100000, compare_value=0, compare_mode=cyprus.LESS_THAN_OR_EQUAL) cyprus.close()
def quit(self): print("Exit") arm.free_all() GPIO.cleanup() GPIO.cleanup() cyprus.close() MyApp().stop()
def start_talon(self): cyprus.initialize() cyprus.set_servo_position(1, 1) sleep(5) cyprus.set_servo_position(1, 0) sleep(5) cyprus.set_servo_position(1, 0.5) cyprus.close()
def ramp_up(self): cyprus.initialize() cyprus.setup_servo(1) for i in range(2, 4, 6, 8, 10): cyprus.set_servo_speed(1, i/10.0) sleep(4) cyprus.set_servo_position(1, 0.5) cyprus.close()
def talon_spup(self): cyprus.initialize() cyprus.set_servo_position(1, 0.5) for i in range(6, 11, 1): print(i) cyprus.set_servo_position(1, i / 10.0) sleep(4) cyprus.set_servo_position(1, 0.5) cyprus.close()
def cytron_dc(self): cyprus.initialize() cyprus.set_pwm_values(2, period_value=100000, compare_value=100000, compare_mode=cyprus.LESS_THAN_OR_EQUAL) sleep(.5) cyprus.set_pwm_values(2, period_value=100000, compare_value=0, compare_mode=cyprus.LESS_THAN_OR_EQUAL) sleep(5) cyprus.set_pwm_values(2, period_value=100000, compare_value=-100000, compare_mode=cyprus.LESS_THAN_OR_EQUAL) sleep(.5) cyprus.set_pwm_values(2, period_value=100000, compare_value=0, compare_mode=cyprus.LESS_THAN_OR_EQUAL) cyprus.close()
def exit_program(): """ Quit the program. This should free all steppers and do any cleanup necessary :return: None """ cyprus.set_servo_position(1, .5) cyprus.close() spi.close() GPIO.cleanup() quit()
def talon_dc(self): cyprus.initialize() cyprus.setup_servo(1) cyprus.set_servo_speed(1, 1) sleep(1) cyprus.set_servo_speed(1, 0) sleep(5) cyprus.set_servo_speed(1, -1) sleep(1) cyprus.set_servo_speed(1, 0) cyprus.close()
def servo_binary(self): global bcount cyprus.initialize() if bcount % 2 == 0: self.servooo.text = "0 Deg" cyprus.set_servo_position(1, 0) sleep(0.1) else: self.servooo.text = "180 Deg" cyprus.set_servo_position(1, 1) sleep(0.1) bcount += 1 cyprus.close()
def switch_button(self): global switch_boolean cyprus.initialize() while switch_boolean: if cyprus.read_gpio() & 0b0001: sleep(0.1) if (cyprus.read_gpio() & 0b0001) == 1: cyprus.set_pwm_values( 2, period_value=100000, compare_value=100000, compare_mode=cyprus.LESS_THAN_OR_EQUAL) else: sleep(0.1) if (cyprus.read_gpio() & 0b0001) == 0: cyprus.set_pwm_values( 2, period_value=100000, compare_value=0, compare_mode=cyprus.LESS_THAN_OR_EQUAL) cyprus.close()
def free_mtrs(self): s1.free() cyprus.initialize() cyprus.set_servo_position(1, 0.5) cyprus.close()
def quit(): print("Exit") ramp.free() cyprus.close() MyApp().stop()
def cleanup(self): cyprus.set_servo_position(1, .5) cyprus.close() spi.close() GPIO.cleanup() quit()
def exit_program(): s0.free_all() spi.close() GPIO.cleanup() cyprus.close() quit()
# # To get a RC servo motor signal out of P4 of the RPiMIB do the following: cyprus.initialize() # initialize the RPiMIB and establish communication cyprus.setup_servo(1) # sets up P4 on the RPiMIB as a RC servo style output cyprus.set_servo_position( 1, 0 ) # 1 specifies port P4, 0 is a float from 0-1 that specifies servo position ~(0-180deg) sleep( 1 ) # wait one second for the servo to get there... minimum here should be about sleep(0.05) cyprus.set_servo_position( 1, .5 ) # 1 specifies port P4, 0.5 specifies servo position ~(0-180deg) range of (0-1) # when done disconnect the RPiMIB communication cyprus.close() # To get a RC servo motor CONTROLLER signal out of P5 of the RPiMIB do the following: cyprus.initialize() # initialize the RPiMIB and establish communication cyprus.setup_servo( 2) # sets up P5 on the RPiMIB as a RC servo motor controller style output # for loop will set speed all the way from 0-full reverse to 0.5-halt to 1-full forward then halt with half second delays for i in range(5, 10, 1): cyprus.set_servo_position( 2, i / 10.0) # 2 specifies port P5, i is a float that specifies speed sleep(0.5) cyprus.set_servo_position(1, 0.5) # halt the motor cyprus.close() # when done disconnect the RPiMIB communication # To get a Industrial PWM output on P5 to control something like a Cytron Motor Controller do the following: cyprus.initialize() # initialize the RPiMIB and establish communication
def transition_back(): SCREEN_MANAGER.current = MAIN_SCREEN cyprus.close()
hold_current=20, run_current=20, accel_current=20, deaccel_current=20, steps_per_unit=200, speed=8) dire = 0 mcount = 1 dcount = 0 bcount = 1 switch_boolean = False cyprus.initialize() cyprus.setup_servo(1) cyprus.set_servo_position(1, 0.5) cyprus.close() class ProjectNameGUI(App): """ Class to handle running the GUI Application """ def build(self): """ Build the application :return: Kivy Screen Manager instance """ return SCREEN_MANAGER Window.clearcolor = (1, 1, 1, 1) # White