class MainScreen(Screen):
version = cyprus.read_firmware_version()
#Slider.value = 0
lastClick = time.clock()
#Slider.value = ObjectProperty(None)
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
# self.initialize()
def wiggle(self):
s1.home(1)
s1.relative_move(-3)
s0.relative_move(-1)
s0.relative_move(1)
s0.relative_move(-2)
s0.relative_move(2)
s0.relative_move(-3)
s0.relative_move(3)
# if s0.get_position_in_units > 3.0 & s0.get_position_in_units < 112.0:
def test_sticking(self):
s0.get_position_in_units()
pos_s0 = s0.get_position_in_units()
pos_s1 = s1.get_position_in_units()
if pos_s0 > 4.0:
if pos_s0 < 109.0:
self.wiggle()
print("not home")
s1.home(1)
s1.relative_move(-3)
s0.home(1)
print("went home")
s0.go_to_position(-28)
self.wiggle()
s0.go_to_position(-56)
self.wiggle()
s0.go_to_position(-84)
self.wiggle()
s0.go_to_position(-112)
sleep(0.5)
s0.go_to_position(-84)
self.wiggle()
s0.go_to_position(-56)
self.wiggle()
s0.go_to_position(-28)
self.wiggle()
s0.home(1)
def reset(self):
x = s0.get_position_in_units()
s1.home(1)
s1.start_relative_move(-3)
if x > 3.0:
if x < 112.0:
self.wiggle()
s0.home(1)
s1.home(1)
class MainScreen(Screen):
version = cyprus.read_firmware_version()
armPosition = 0
lastClick = time.clock()
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
def debounce(self):
processInput = False
currentTime = time.clock()
if ((currentTime - self.lastClick) > DEBOUNCE):
processInput = True
self.lastClick = currentTime
return processInput
def toggleArm(self):
print("Process arm movement here")
self.setArmPosition()
def toggleMagnet(self):
print("Process magnet here")
def auto(self):
print("Run the arm automatically here")
def setArmPosition(self):
print("Move arm here")
global DOWN
if DOWN:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("robotic arm up")
DOWN = False
else:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("robotic arm down")
DOWN = True
def homeArm(self):
arm.home(self.homeDirection)
def isBallOnTallTower(self):
print("Determine if ball is on the top tower")
def isBallOnShortTower(self):
print("Determine if ball is on the bottom tower")
def initialize(self):
print("Home arm and turn off magnet")
def resetColors(self):
self.ids.armControl.color = YELLOW
self.ids.magnetControl.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
MyApp().stop()
class MainScreen(Screen):
version = cyprus.read_firmware_version()
staircaseSpeedText = '0'
rampSpeed = INIT_RAMP_SPEED
staircaseSpeed = 40
gate = False
staircase = False
ramp = False
s0 = stepper(port=0,
micro_steps=32,
hold_current=20,
run_current=20,
accel_current=20,
deaccel_current=20,
steps_per_unit=200,
speed=8)
s0.set_speed(3.75)
staircase_speed = 100000
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
def thread_flip(self):
y = threading.Thread(target=self.auto, daemon=True)
y.start()
def toggleGate(self):
self.gate = not self.gate
if self.gate:
cyprus.set_servo_position(2, .48)
else:
cyprus.set_servo_position(2, 0)
print("Open and Close gate here")
def toggleStaircase(self):
self.staircase = not self.staircase
if self.staircase:
print(self.staircase)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=self.staircase_speed,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
else:
print(self.staircase)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("Turn on and off staircase here")
def toggleRamp(self):
self.ramp = not self.ramp
if self.ramp:
self.s0.start_relative_move(29)
else:
self.s0.start_relative_move(-29)
print("Move ramp up and down here")
def auto(self):
"""""
while True:
if cyprus.read_gpio() and 0B0010:
pass
else:
self.s0.start_relative_move(29)
if cyprus.read_gpio() and 0B001:
pass
else:
""" ""
self.toggleRamp()
time.sleep(7.75)
self.s0.set_speed(4)
self.toggleRamp()
time.sleep(1)
self.toggleStaircase()
time.sleep(5.25)
self.toggleGate()
time.sleep(1.75)
self.toggleStaircase()
time.sleep(.5)
self.toggleGate()
print("Run through one cycle of the perpetual motion machine")
def setRampSpeed(self, speed):
self.s0.set_speed(speed)
self.ids.rampSpeedLabel.text = "Ramp Speed: " + "{:.1f}".format(speed)
print("Set the ramp speed and update slider text")
def setStaircaseSpeed(self, speed):
self.staircase_speed = speed * 1000
self.ids.staircaseSpeedLabel.text = "StairCase Speed: " + str(
speed) + "%"
if self.staircase:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=(speed * 1000),
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("Set the staircase speed and update slider text")
def initialize(self):
cyprus.setup_servo(2)
cyprus.setup_servo(1)
print("Close gate, stop staircase and home ramp here")
def resetColors(self):
self.ids.gate.color = YELLOW
self.ids.staircase.color = YELLOW
self.ids.ramp.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
print("Exit")
MyApp().stop()
class MainScreen(Screen):
version = cyprus.read_firmware_version()
armPosition = 0
lastClick = time.clock()
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
def debounce(self):
processInput = False
currentTime = time.clock()
if (currentTime - self.lastClick) > DEBOUNCE:
processInput = True
self.lastClick = currentTime
return processInput
def toggleArm(self):
toggle_arm()
if UP:
self.ids.armControl.text = "Lower Arm"
else:
self.ids.armControl.text = "Raise Arm"
def toggleMagnet(self):
toggle_magnet()
if ON:
self.ids.magnetControl.text = "Drop Ball"
else:
self.ids.magnetControl.text = "Hold Ball"
def auto(self):
global ON
global UP
temp_on = ON
temp_up = UP
ON = True
toggle_magnet()
UP = False
toggle_arm()
for i in range(0, 50):
if is_ball_on_upper():
break
print("Please place ball on higher tower.")
sleep(1)
else:
return
try_lift(is_ball_on_upper, upperTowerPositions, False)
try_lift(is_ball_off_lower, lowerTowerPositions, True)
ON = not temp_on
toggle_magnet()
UP = not temp_up
toggle_arm()
move_arm_final(self.armPosition)
def setArmPosition(self, position):
self.armPosition = position
move_arm(self.armPosition)
self.ids.armControlLabel.text = 'Arm Position: ' + str(
int(self.armPosition))
def initialize(self):
toggle_arm()
toggle_magnet()
home_arm()
def resetColors(self):
self.ids.armControl.color = YELLOW
self.ids.magnetControl.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
print("Exit")
arm.free_all()
GPIO.cleanup()
GPIO.cleanup()
cyprus.close()
MyApp().stop()
class MainScreen(Screen):
version = cyprus.read_firmware_version()
armPosition = 0
lastClick = time.clock()
armHeight = False
magnet = False
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
def debounce(self):
processInput = False
currentTime = time.clock()
if ((currentTime - self.lastClick) > DEBOUNCE):
processInput = True
self.lastClick = currentTime
return processInput
def toggleArm(self):
print("Process arm movement here")
self.armHeight = not self.armHeight
if self.armHeight:
cyprus.set_pwm_values(1, period_value=100000, compare_value=50000, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
else:
cyprus.set_pwm_values(1, period_value=100000, compare_value=0, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
def toggleMagnet(self):
print("Process magnet here")
self.magnet = not self.magnet
if self.magnet:
cyprus.set_servo_position(2, 1)
else:
cyprus.set_servo_position(2, .5)
def auto(self):
print("Run the arm automatically here")
shortTower = 30.25
tallTower = 38.9
if self.isBallOnTallTower():
shortTower = 38.9
tallTower = 30.25
arm.home(1)
arm.go_to_position(shortTower)
self.toggleMagnet()
time.sleep(.5)
self.toggleArm()
time.sleep(1)
self.toggleArm()
time.sleep(.5)
arm.go_to_position(tallTower)
time.sleep(.5)
self.toggleArm()
time.sleep(.7)
self.toggleMagnet()
time.sleep(.5)
self.toggleArm()
time.sleep(.5)
arm.home(1)
def setArmPosition(self, position):
if arm.get_position_in_units() == 0:
self.ids.moveArm.value = 0
self.ids.armControlLabel.text = str(position)
arm.go_to_position(position)
print(arm.get_position_in_units())
print("Move arm here")
def homeArm(self):
arm.home(0)
def isBallOnTallTower(self):
print("Determine if ball is on the top tower")
if cyprus.read_gpio() & 0b0001:
sleep(.05)
if cyprus.read_gpio() & 0b0001:
print("proximity sensor off")
return False
return True
def isBallOnShortTower(self):
print("Determine if ball is on the bottom tower")
if cyprus.read_gpio() & 0B0010:
print("Nope!")
return False
print("Here")
return True
def initialize(self):
print("Home arm and turn off magnet")
cyprus.initialize()
cyprus.setup_servo(1)
cyprus.setup_servo(2)
cyprus.set_servo_position(2, .5)
cyprus.set_pwm_values(1, period_value=100000, compare_value=0, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
self.homeArm()
def resetColors(self):
self.ids.armControl.color = YELLOW
self.ids.magnetControl.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
MyApp().stop()
class MainScreen(Screen):
version = cyprus.read_firmware_version()
staircaseSpeedText = '0'
rampSpeed = INIT_RAMP_SPEED
staircaseSpeed = 40
staircase = ObjectProperty(None)
rampSpeed = ObjectProperty(None)
staircaseSpeed = ObjectProperty(None)
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
def toggleGate(self):
print("Open and Close gate here")
self.openGate()
def openGate(self):
global CLOSE
if CLOSE:
cyprus.set_servo_position(2, 0.5)
CLOSE = False
else:
cyprus.set_servo_position(2, 0)
CLOSE = True
def toggleStaircase(self):
print("Turn on and off staircase here")
self.turnOnStaircase()
def turnOnStaircase(self):
global OFF
global STAIRCASE_SPEED
if OFF:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=STAIRCASE_SPEED,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("staircase moving")
OFF = False
else:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("staircase stopped")
# self.staircase.text = "Staircase Off"
OFF = True
def toggleRamp(self):
print("Move ramp up and down here")
self.moveRamp()
#def isBallAtBottomOfRamp(self):
#this function is on the exercise thing but do we need it?
# ramp.set_as_home()
def isBallAtTopOfRamp(self):
global OFF
global STAIRCASE_SPEED
if OFF:
while True:
if ((cyprus.read_gpio() & 0b0001) == 0):
print("GPIO on port P6 is LOW")
print(" ramp moving")
cyprus.set_pwm_values(
1,
period_value=100000,
compare_value=STAIRCASE_SPEED,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("staircase moving")
time.sleep(5)
OFF = False
break
else:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("staircase stopped")
# self.staircase.text = "Staircase Off"
OFF = True
def moveRamp(self):
#cyprus.set_pwm_values(1, period_value=100000, compare_value=0, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
#cyprus.set_servo_position(2, 0)
global HOME
#global TOP
#if ((cyprus.read_gpio() & 0b0010)==0):
# print("GPIO on port P7 is LOW")
# print(" ramp moving")
# ramp.start_relative_move(-228)
#print("at top")
# self.isBallAtTopOfRamp()
# ramp.set_speed(40)
# ramp.relative_move(228)
# print("at home")
# ramp.stop()
#ramp.get_position_in_units()
global INIT_RAMP_SPEED
#ramp.go_until_press(1, 1)
#ramp.set_as_home()
# global TOP
while True:
#ramp.goHome()
#ramp.softStop()
if HOME:
#ramp.get_position_in_units()
ramp.set_as_home()
print(" ramp moving")
ramp.start_relative_move(-226)
print("at top")
self.isBallAtTopOfRamp()
ramp.set_speed(INIT_RAMP_SPEED)
#ramp.goHome()
ramp.start_relative_move(226)
print("at home")
#ramp.stop()
#HOME = False
break
# TOP = True
else:
ramp.go_until_press(1, 1)
# ramp.goHome()
print(" now at home")
HOME = True
break
def auto(self):
print("Run through one cycle of the perpetual motion machine")
global HOME
# global TOP
ramp.goHome()
sleep(5)
cyprus.set_servo_position(2, 0.5)
sleep(0.5)
cyprus.set_servo_position(2, 0)
while True:
if ((cyprus.read_gpio() & 0b0010) == 0):
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
ramp.set_speed(40)
print("GPIO on port P7 is LOW")
ramp.start_relative_move(-226)
print(" ramp moving")
while True:
if ((cyprus.read_gpio() & 0b0001) == 0):
ramp.stop()
print("GPIO on port P6 is LOW")
cyprus.set_pwm_values(
1,
period_value=100000,
compare_value=50000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("staircase moving")
break
#ramp.start_relative_move(226)
ramp.goHome()
print("going home")
time.sleep(8)
print("turning ramp off")
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.set_servo_position(2, 0.5)
sleep(0.5)
cyprus.set_servo_position(2, 0)
break
def setRampSpeed(self, speed):
print("Set the ramp speed and update slider text")
ramp.set_speed(self.rampSpeed.value)
def setStaircaseSpeed(self, speed):
global STAIRCASE_SPEED
print("Set the staircase speed and update slider text")
STAIRCASE_SPEED = self.staircaseSpeed.value
cyprus.set_motor_speed(4, self.staircaseSpeed.value)
def initialize(self):
print("Close gate, stop staircase and home ramp here")
def resetColors(self):
self.ids.gate.color = YELLOW
self.ids.staircase.color = YELLOW
self.ids.ramp.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
print("Exit")
MyApp().stop()
class MainScreen(Screen):
version = cyprus.read_firmware_version()
#Slider.value = 0
lastClick = time.clock()
#Slider.value = ObjectProperty(None)
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
def debounce(self):
processInput = False
currentTime = time.clock()
if ((currentTime - self.lastClick) > DEBOUNCE):
processInput = True
self.lastClick = currentTime
return processInput
def toggleArmV(self):
print("Process vertical arm movement here")
self.setArmPositionV()
def setArmPositionV(self):
print("Move arm vertically here")
global DOWN
if DOWN:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("robotic arm up")
self.ids.armControl.text = "Raise Arm"
DOWN = False
else:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("robotic arm down")
self.ids.armControl.text = "Lower Arm"
DOWN = True
def toggleArmH(self):
print("Process horizontal arm movement here")
self.setArmPositionH()
def setArmPositionH(self):
print("Move arm horizontally here")
global HOME
global position
position = self.ids.moveArm.value * -1
while True:
if HOME:
#arm.set_as_home()
print("arm moving")
arm.go_to_position(position)
#print(self.Slider.value)
print("moved")
#arm.softStop()
break
else:
arm.goHome()
print(" now at home")
HOME = True
break
x = self.ids.moveArm.value
#self.isBallOnTallTower()
#if tall_OFF == False:
#arm.start_relative_move(14)
#else:
# if short_OFF == False:
# arm.start_relative_move(5)
def toggleMagnet(self):
print("Process magnet here")
#talon motor
self.setMagnet()
def setMagnet(self):
global OFF
if OFF:
cyprus.set_servo_position(2, 1)
print("magnet has grabbed")
self.ids.magnetControl.text = "Magnet Off"
OFF = False
else:
cyprus.set_servo_position(2, 0.5)
print("magnet has released")
self.ids.magnetControl.text = "Magnet On"
OFF = True
def auto(self):
print("Run the arm automatically here")
self.isBallOnTallTower()
if tall_OFF == False:
print("ball in on top tower")
arm.go_to_position(-12)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("lowered")
sleep(0.5)
cyprus.set_servo_position(2, 1)
print("grabbed")
sleep(0.5)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("raised")
sleep(0.5)
arm.go_to_position(-20)
print("at final location")
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("lowered")
sleep(1)
cyprus.set_servo_position(2, 0.5)
print("released")
sleep(0.5)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("raised")
sleep(0.5)
arm.go_to_position(0)
else:
self.isBallOnShortTower()
if short_OFF == False:
print("ball is at short tower")
arm.go_to_position(-20)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("lowered")
sleep(0.5)
cyprus.set_servo_position(2, 1)
print("grabbed")
sleep(0.5)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("raised")
sleep(0.5)
arm.go_to_position(-12)
print("at final location")
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("lowered")
sleep(1)
cyprus.set_servo_position(2, 0.5)
print("released")
sleep(0.5)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("raised")
sleep(0.5)
arm.go_to_position(0)
def homeArm(self):
global homeDirection
arm.home(1)
def isBallOnTallTower(self):
print("Determine if ball is on the top tower")
global tall_OFF
if ((cyprus.read_gpio() & 0b0001) == 0):
print("GPIO on port P6 is LOW")
tall_OFF = False
else:
tall_OFF = True
def isBallOnShortTower(self):
print("Determine if ball is on the bottom tower")
global short_OFF
if ((cyprus.read_gpio() & 0b0010) == 0):
print("GPIO on port P7 is LOW")
short_OFF = False
else:
short_OFF = True
def initialize(self):
print("Home arm and turn off magnet")
cyprus.set_servo_position(2, 0.5)
self.homeArm()
def resetColors(self):
self.ids.armControl.color = YELLOW
self.ids.magnetControl.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
MyApp().stop()
class MainScreen(Screen):
version = cyprus.read_firmware_version()
staircaseSpeedText = '0'
rampSpeed = INIT_RAMP_SPEED
staircaseSpeed = 40
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
global pos
pos = 0
def toggleGate(self):
global pos
if pos == 0:
pos = 0.5
cyprus.set_servo_position(2, pos)
else:
pos = 0
cyprus.set_servo_position(2, pos)
print("Open and Close gate here")
def toggleRamp(self):
s0.set_speed(self.rampSpeed.value)
if s0.read_switch() == 1:
print("hi")
s0.go_to_position(56.5)
elif s0.get_position_in_units() == 56.5:
axis1.goTo(0)
print("bye")
else:
while (axis1.isBusy()):
continue
axis1.goUntilPress(
0, 0, 5000
) #spins until hits a NO limit at speed 1000 and direction 1
while (axis1.isBusy()):
continue
axis1.setAsHome() #set the position for 0 for all go to commands
print("Move ramp up and down here")
def auto(self):
print("Run through one cycle of the perpetual motion machine")
if axis1.isBusy():
s0.softStop()
if s0.get_position_in_units() == 56.5:
s0.goHome()
elif s0.get_position_in_units() != 0.0:
axis1.goUntilPress(0, 0, 5000)
elif s0.get_position_in_units() == 0.0:
cyprus.set_servo_position(2, 0.5)
sleep(2)
cyprus.set_servo_position(2, 0)
self.toggleRamp()
while 1:
if cyprus.read_gpio() == 6:
print("metal detector signal read")
cyprus.set_motor_speed(1, self.staircaseSpeed.value)
self.toggleRamp()
while 1:
if s0.read_switch() == True:
sleep(5 / self.staircaseSpeed.value)
cyprus.set_motor_speed(1, 0)
s0.free_all()
return
return
def setRampSpeed(self, speed):
s0.set_speed(speed)
print("Set the ramp speed and update slider text")
def setStaircaseSpeed(self, speed):
if self.staircase.text == "Staircase Off":
cyprus.set_motor_speed(1, speed)
else:
pass
print("Set the staircase speed and update slider text")
def toggleStaircase(self):
if self.staircase.text == "Staircase Off":
cyprus.set_motor_speed(1, 0)
self.staircase.text = "Staircase On"
else:
self.staircase.text = "Staircase Off"
self.setStaircaseSpeed(self.staircaseSpeed.value)
def initialize(self):
print("Close gate, stop staircase and home ramp here")
cyprus.set_servo_position(2, 0)
cyprus.set_motor_speed(1, 0)
if (axis1.isBusy()):
s0.softStop()
print("s0 motor stopped")
if s0.get_position_in_units != 0.0:
axis1.goUntilPress(
0, 0,
5000) #spins until hits a NO limit at speed 1000 and direction
axis1.setAsHome()
else:
pass
print("initialized.")
def resetColors(self):
self.ids.gate.color = YELLOW
self.ids.staircase.color = YELLOW
self.ids.ramp.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
print("Exit")
MyApp().stop()
class MainScreen(Screen):
version = cyprus.read_firmware_version()
rampSpeed = INIT_RAMP_SPEED
staircaseSpeed = INIT_SC_SPEED
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
def toggleGate(self):
toggle_gate()
if OPEN:
self.ids.gate.text = "Close Gate"
else:
self.ids.gate.text = "Open Gate"
def toggleStaircase(self):
toggle_staircase(self.staircaseSpeed)
if ON:
self.ids.staircase.text = "Staircase Off"
else:
self.ids.staircase.text = "Staircase On"
def toggleRamp(self):
move_ramp()
if TOP:
self.ids.ramp.text = "Ramp to Home"
else:
self.ids.ramp.text = "Ramp to Top"
def auto(self):
global ON
global OPEN
global TOP
ON = True
OPEN = True
TOP = True
sc_temp = self.staircaseSpeed
ramp_temp = self.rampSpeed
self.staircaseSpeed = INIT_SC_SPEED
self.rampSpeed = INIT_RAMP_SPEED
set_staircase_speed(self.staircaseSpeed)
set_ramp_speed(self.rampSpeed)
self.initialize()
while not debounce(False):
print("Please place ball at home.")
sleep(1)
move_ramp()
while ramp.is_busy():
sleep(0.1)
toggle_staircase(self.staircaseSpeed)
move_ramp()
toggle_staircase(self.staircaseSpeed)
toggle_gate()
self.staircaseSpeed = sc_temp
self.rampSpeed = ramp_temp
set_staircase_speed(self.staircaseSpeed)
set_ramp_speed(self.rampSpeed)
def setRampSpeed(self, speed):
self.rampSpeed = speed
set_ramp_speed(self.rampSpeed)
self.ids.rampSpeedLabel.text = 'Ramp Speed: ' + str(self.rampSpeed)
def setStaircaseSpeed(self, speed):
self.staircaseSpeed = speed
set_staircase_speed(self.staircaseSpeed)
self.ids.staircaseSpeedLabel.text = 'Staircase Speed: ' + str(
self.staircaseSpeed)
def initialize(self):
move_ramp()
toggle_gate()
toggle_staircase(self.staircaseSpeed)
def resetColors(self):
self.ids.gate.color = YELLOW
self.ids.staircase.color = YELLOW
self.ids.ramp.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
print("Exit")
ramp.free_all()
GPIO.cleanup()
GPIO.cleanup()
cyprus.close()
MyApp().stop()
class MainScreen(Screen):
version = cyprus.read_firmware_version()
staircaseSpeedText = '0'
global rspeed
global sspeed
sspeed = 0.5
rspeed = 2
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
def check_text(self, mod):
if mod == 'gate':
if self.gate.text == "Open Gate":
return 'Off'
elif self.gate.text == "Close Gate":
return 'On'
elif mod == 'staircase':
if self.staircase.text == "Start Staircase":
return 'Off'
elif self.staircase.text == "Stop Staircase":
return 'On'
elif mod == 'ramp':
if self.ramp.text == "Ramp Up":
return 'Off'
elif self.ramp.text == "Ramp Down":
return 'On'
# checks states
def toggle_gate(self):
if self.check_text('gate') == 'Off':
self.gate.text = "Close Gate"
cyprus.set_servo_position(2, 0.5)
elif self.check_text('gate') == 'On':
self.gate.text = "Open Gate"
cyprus.set_servo_position(2, 0)
# changes gate state
def toggle_staircase(self):
global sspeed
if self.check_text('staircase') == 'Off':
self.staircase.text = "Stop Staircase"
cyprus.set_motor_speed(1, sspeed)
elif self.check_text('staircase') == 'On':
self.staircase.text = "Start Staircase"
cyprus.set_motor_speed(1, 0)
# changes staircase state
def set_staircase_speed(self, speedy):
global sspeed
cyprus.set_motor_speed(1, 0)
if self.check_text('staircase') == 'Off':
pass
elif self.check_text('staircase') == 'On':
cyprus.set_motor_speed(1, speedy)
sspeed = speedy
# updates speed value based on slider
def toggle_ramp(self):
if self.check_text('ramp') == 'Off':
self.ramp.text = "Ramp Down"
self.move_ramp()
elif self.check_text('ramp') == 'On':
self.ramp.text = "Ramp Up"
self.move_ramp()
@staticmethod
def move_ramp():
ramp.free()
if ramp.read_switch() == 1:
ramp.go_to_position(29)
ramp.free()
elif ramp.get_position_in_units() == 29:
axis1.goTo(0)
else:
while axis1.isBusy():
continue
axis1.goUntilPress(0, 0, 5000)
while axis1.isBusy():
continue
axis1.setAsHome()
def set_ramp_speed(self, speedz):
global rspeed
cyprus.set_motor_speed(1, 0)
if self.check_text('ramp') == 'Off':
pass
elif self.check_text('ramp') == 'On':
cyprus.set_motor_speed(1, speedz)
rspeed = speedz
def auto(self):
ramp.set_speed(3.5)
cyprus.set_servo_position(2, 0)
cyprus.set_motor_speed(1, 0)
Clock.schedule_once(lambda dt: self.move_ramp(), 0.01)
Clock.schedule_once(lambda dt: self.part2(), 9)
Clock.schedule_once(lambda dt: self.part3(), 18)
@staticmethod
def part2():
ramp.set_speed(3.5)
ramp.goHome()
cyprus.set_motor_speed(1, 1)
@staticmethod
def part3():
cyprus.set_motor_speed(1, 0)
cyprus.set_servo_position(2, 0.5)
@staticmethod
def initialize():
ramp.free()
ramp.set_speed(3.5)
cyprus.initialize()
cyprus.setup_servo(2)
cyprus.set_motor_speed(1, 0)
cyprus.set_servo_position(2, 0)
def resetColors(self):
self.ids.gate.color = YELLOW
self.ids.staircase.color = YELLOW
self.ids.ramp.color = YELLOW
self.ids.auto.color = BLUE
@staticmethod
def quit():
print("Exit")
ramp.free()
cyprus.close()
MyApp().stop()
class MainScreen(Screen):
global rampSpeed
global staircaseSpeed
version = cyprus.read_firmware_version()
staircaseSpeedText = '0'
rampSpeed = INIT_RAMP_SPEED
staircaseSpeed = 40
def __init__(self, **kwargs):
super(MainScreen, self).__init__(**kwargs)
self.initialize()
gate = ObjectProperty(None)
staircase = ObjectProperty(None)
staircaseSpeedLabel = ObjectProperty(None)
rampSpeedLabel = ObjectProperty(None)
def toggleGate(self):
global gate_count
if gate_count % 2 == 0:
self.gate.text = "Close Gate"
cyprus.set_servo_position(2, 0.5)
sleep(0.1)
else:
self.gate.text = "Open Gate"
cyprus.set_servo_position(2, 0.25)
sleep(0.1)
gate_count += 1
def toggleStaircase(self):
global stair_count, staircaseSpeed
if stair_count % 2 == 0:
self.staircase.text = "Turn Off Staircase"
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=staircaseSpeed,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
sleep(0.1)
else:
self.staircase.text = "Turn On Staircase"
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
sleep(0.1)
stair_count += 1
def toggleRamp(self):
global s0, rampSpeed
s0.set_speed_in_steps(rampSpeed * 6)
s0.relative_move(28.5)
sleep(0.5)
s0.goHome()
while s0.isBusy() == True:
yurrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrr = 2
def auto_program(self):
global bottom
while True:
self.toggleRamp()
sleep(1)
self.toggleStaircase()
sleep(5)
self.toggleGate()
bottom = True
self.checkBottom()
def auto(self):
Thread(target=self.auto_program).start()
Thread.daemon = True
def setRampSpeed(self, speed):
global rampSpeed
rampSpeed = speed
self.rampSpeedLabel.text = "Ramp Speed: " + str(speed)
def setStaircaseSpeed(self, speed):
global staircaseSpeed
staircaseSpeed = speed * 10000
self.staircaseSpeedLabel.text = "Staircase Speed: " + str(speed)
def initialize(self):
global s0
cyprus.initialize()
cyprus.setup_servo(1)
cyprus.setup_servo(2)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.set_servo_position(2, 0.25)
s0 = stepper(port=0,
micro_steps=32,
hold_current=20,
run_current=20,
accel_current=20,
deaccel_current=20,
steps_per_unit=200,
speed=8)
s0.set_as_home()
def checkBottom(self):
global bottom
while bottom:
if (cyprus.read_gpio() & 0b0010) == 0:
self.toggleGate()
self.toggleStaircase()
bottom = False
sleep(0.1)
def resetColors(self):
self.ids.gate.color = YELLOW
self.ids.staircase.color = YELLOW
self.ids.ramp.color = YELLOW
self.ids.auto.color = BLUE
def quit(self):
print("Exit")
MyApp().stop()