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 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 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 proximitySensorCytronController(self):
cyprus.setup_servo(1)
# cyprus.set_servo_position(1, 0.5)
print("function is working")
while True:
if cyprus.read_gpio(
) & 0b0010: # HIGH (True) means not detecting metal
sleep(1)
if cyprus.read_gpio() & 0b0010:
print("Metal not detected")
cyprus.set_pwm_values(
1,
period_value=100000,
compare_value=50000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
if not (cyprus.read_gpio() & 0b0010):
sleep(1)
if not (cyprus.read_gpio() & 0b0010):
cyprus.set_pwm_values(
1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
print("Metal detected")
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 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 exit_ui(self):
s1.free()
cyprus.initialize()
#cyprus.set_servo_position(1, 0.5)
cyprus.set_pwm_values(2,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
#cyprus.close()
exit()
def set_staircase_speed(speed):
if ON:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=speed * 1000,
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 toggle_staircase(speed):
global ON
if ON:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
else:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=speed * 1000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
ON = not ON
def bs2(self):
global x2
while x2:
if (cyprus.read_gpio() & 0b0001):
sleep(.1)
if (cyprus.read_gpio() & 0b0001):
cyprus.set_pwm_values(1, period_value=100000, compare_value=50000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.set_servo_position(1, 1)
print("r")
else:
cyprus.set_servo_position(1, .5)
print("b")
def gamerrise(self):
global b
b = 1
global speder
speder = 0
cyprus.set_servo_position(1,.5)
while(b<=200):
speder = .5 + .5 * b/200
print("%s" % speder)
cyprus.set_pwm_values(1, period_value=100000, compare_value=50000, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.set_servo_position(1, speder)
sleep(.1)
b = b + 1
def toggle_arm():
global UP
if UP:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=100000,
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)
UP = not UP
def cytronControllerFN(self):
cyprus.setup_servo(1)
# cyprus.set_servo_position(1, 0.5)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=50000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
sleep(5)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
sleep(5)
def talonThread(self):
global talon
while talon:
if (cyprus.read_gpio() & 0b0001):
sleep(.1)
if (cyprus.read_gpio() & 0b0001):
cyprus.set_pwm_values(
1,
period_value=100000,
compare_value=50000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.set_servo_position(1, 1)
else:
cyprus.set_servo_position(1, .5)
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 flip(self):
while True:
if cyprus.read_gpio() & 0b0010:
cyprus.set_pwm_values(1,
period_value=10000,
compare_value=5000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
self.ids.flip.text = "180 Degrees"
print("I hear this")
else:
cyprus.set_pwm_values(1,
period_value=10000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
self.ids.flip.text = "0 Degrees"
print("I am so bad")
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 pressedF(self):
"""
Function called on button touch event for button with id: testButton
:return: None
"""
cyprus.set_pwm_values(1, period_value=100000, compare_value=50000, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.set_servo_position(1, 0)
sleep(5)
print("a")
cyprus.set_servo_position(1, .5)
sleep(5)
print("b")
cyprus.set_pwm_values(1, period_value=100000, compare_value=50000, compare_mode=cyprus.LESS_THAN_OR_EQUAL)
cyprus.set_servo_position(1, 1)
sleep(5)
cyprus.set_servo_position(1, .5)
print("c")
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 cytronThread(self):
global cytron
while cytron:
if (cyprus.read_gpio() & 0b0010):
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=50000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
sleep(.1)
print("yeepie")
else:
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
sleep(.1)
print("yeepie 1")
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 tickArrows(self, way):
cyprus.initialize()
cyprus.setup_servo(2)
num = self.ids.PWM_slider.value
if way == "up":
if self.ids.cytron_label.text == "Neutral":
num = 55
elif num == 45:
num = 50
elif num == 100:
num = 100
else:
num += 1
elif way == "down":
if self.ids.cytron_label.text == "Neutral":
num = 45
elif num == 55:
num = 50
elif num == 0:
num = 0
else:
num -= 1
if (num > 45) and (num < 55):
self.ids.cytron_label.text = "Neutral"
self.ids.cytron_label.color = (1, .65, 0, .8)
self.ids.PWM_slider.value = 50
val = 0
elif num > 54:
s = "Forward " + str(num - 50)
self.ids.cytron_label.text = s
self.ids.cytron_label.color = (0, 1, 0, .8)
self.ids.PWM_slider.value = num
val = (self.ids.PWM_slider.value - 50) * 200
direction = 1
else:
s = "Backward " + str(num - 50)
self.ids.cytron_label.text = s
self.ids.cytron_label.color = (1, 0, 0, .8)
self.ids.PWM_slider.value = num
val = (50 - self.ids.PWM_slider.value) * 200
direction = 0
cyprus.set_pwm_values(2, period_value=10000, compare_value=val,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
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 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 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 updateLabel(self):
cyprus.initialize()
if (self.ids.PWM_slider.value < 55) and (self.ids.PWM_slider.value > 45):
self.ids.cytron_label.text = "Neutral"
self.ids.cytron_label.color = (1, .65, 0, .8)
val = 0
elif self.ids.PWM_slider.value > 54:
s = "Forward " + str(abs(self.ids.PWM_slider.value) - 50)
self.ids.cytron_label.text = s
self.ids.cytron_label.color = (0, 1, 0, .8)
val = (self.ids.PWM_slider.value - 50) * 200
direction = 1
else:
s = "Backward " + str(abs(self.ids.PWM_slider.value) - 50)
self.ids.cytron_label.text = s
self.ids.cytron_label.color = (1, 0, 0, .8)
val = (50 - self.ids.PWM_slider.value) * 200
direction = 0
cyprus.set_pwm_values(2, period_value=10000, compare_value=val,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
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 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 buttonControl(self, cmd):
if cmd == "forward":
self.ids.cytron_label.text = "Forward 50.0"
self.ids.PWM_slider.value = 100
self.ids.cytron_label.color = (0, 1, 0, .8)
cyprus.set_pwm_values(2, period_value=10000, compare_value=10000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
elif cmd == "back":
self.ids.cytron_label.text = "Backward 50.0"
self.ids.PWM_slider.value = 0
self.ids.cytron_label.color = (1, 0, 0, .8)
cyprus.set_pwm_values(2, period_value=10000, compare_value=10000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
else:
self.ids.cytron_label.text = "Neutral"
self.ids.PWM_slider.value = 50
self.ids.cytron_label.color = (1, .65, 0, .8)
cyprus.set_pwm_values(2, period_value=10000, compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
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
# the following command will set up port 2 (P5) to put out a 100000HZ (100KHz) signal with a 50% high time or duty cycle
cyprus.set_pwm_values(2,
period_value=100000,
compare_value=50000,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
# Motor controller Ex. Cytron MD10C connected to P5, the connected motor would be running ~50% max rpm
cyprus.set_pwm_values(2,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL) # Motor OFF
cyprus.close()
# To get sensors and other I/O to work with RPiMIB
# The RPiMIB has four multipurpose I/O ports. Ports P6, P7, P8 and P9
#
# The command to read is cyprus.read_gpio() which will return 4 bits which represents ALL GPIO pins (P6-P9)
# To get the actual value of a particular port one needs to do a bitwise AND as per example below
from pidev.Cyprus_Commands import Cyprus_Commands_RPi as cyprus