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():
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 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 cyprus_setup(self):
global servo_state
servo_state = 0
cyprus.initialize()
cyprus.setup_servo(1)
cyprus.set_servo_position(1, 0)
sleep(0.2)
self.start_cyprus_thread()
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_switch(self):
cyprus.initialize()
cyprus.setup_servo(1)
def isGPIO_P6_HIGH(self):
return (cyprus.read_gpio() & 0b0001) == 1
if isGPIO_P6_HIGH(self):
cyprus.set_servo_speed(1, 0)
else:
cyprus.set_servo_speed(1, 1)
def limit_switch(self):
cyprus.initialize()
cyprus.setup_servo(1)
def isGPIO_P6_HIGH(self):
return (cyprus.read_gpio() & 0b0001) == 1
if isGPIO_P6_HIGH(self):
cyprus.set_servo_position(1, 0)
else:
cyprus.set_servo_position(1, 1)
def talonDCMotorSpeedUp(self):
# cyprus.initialize()
cyprus.setup_servo(1)
cyprus.set_servo_position(1, 0.5)
for i in range(60, 100, 1):
cyprus.set_servo_position(1, i / 100.0)
sleep(0.5)
cyprus.set_servo_position(1, 0.5)
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 talonDCMotorFullSpeedWhenPressed(self): # talon motor is in 1 (port 4)
cyprus.setup_servo(1)
cyprus.set_servo_position(1, 0.5)
while True:
if cyprus.read_gpio() & 0b0001:
sleep(0.05)
if cyprus.read_gpio() & 0b0001:
cyprus.set_servo_position(1, 0.5)
else:
cyprus.set_servo_position(1, 1)
def talonDCMotor(self):
cyprus.initialize()
cyprus.setup_servo(1)
cyprus.set_servo_position(1, 1)
sleep(5)
cyprus.set_servo_position(1, 0.5)
sleep(5)
cyprus.set_servo_position(1, 0)
sleep(5)
cyprus.set_servo_position(1, 0.5)
def servoMotorBinaryState(self):
cyprus.initialize()
cyprus.setup_servo(2)
while True:
if cyprus.read_gpio() & 0b0001:
cyprus.set_servo_position(2, 0) # close gate
sleep(1)
else:
cyprus.set_servo_position(2, .7) # open gate
sleep(1)
def servoPressed(self):
global pos
cyprus.initialize(
) # initialize the RPiMIB and establish communication
cyprus.setup_servo(
2) # sets up P4 on the RPiMIB as a RC servo style output
if pos:
cyprus.set_servo_position(1, 0)
pos = False
else:
cyprus.set_servo_position(1, 1)
pos = True
def moveServo(self, param):
global servoPos
if param == "move":
cyprus.setup_servo(1)
if servoPos == 1:
cyprus.set_servo_position(1, 0)
servoPos = 0
else:
cyprus.set_servo_position(1, 1)
servoPos = 1
else:
cyprus.set_servo_position(1, .5)
servoPos = 0
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 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 tickArrows(self, way):
cyprus.initialize()
cyprus.setup_servo(2)
num = self.ids.PWM_slider.value
if way == "up":
if self.ids.talon_label.text == "Neutral":
num = 55
elif num == 45:
num = 50
elif num == 100:
num = 100
else:
num += 1
elif way == "down":
if self.ids.talon_label.text == "Neutral":
num = 45
elif num == 55:
num = 50
elif num == 0:
num = 0
else:
num -= 1
spd = num / 100
if (num > 45) and (num < 55):
self.ids.talon_label.text = "Neutral"
self.ids.talon_label.color = (1, .65, 0, .8)
self.ids.PWM_slider.value = 50
spd = .5
elif num > 54:
s = "Forward " + str(num - 50)
self.ids.talon_label.text = s
self.ids.talon_label.color = (0, 1, 0, .8)
self.ids.PWM_slider.value = num
spd = spd - .03
else:
s = "Backward " + str(num - 50)
self.ids.talon_label.text = s
self.ids.talon_label.color = (1, 0, 0, .8)
self.ids.PWM_slider.value = num
spd = spd + .03
cyprus.set_servo_position(2, spd)
def updateLabel(self):
cyprus.initialize()
cyprus.setup_servo(2)
spd = self.ids.PWM_slider.value / 100
if (self.ids.PWM_slider.value > 45) and (self.ids.PWM_slider.value < 55):
self.ids.talon_label.text = "Neutral"
self.ids.talon_label.color = (1, .65, 0, .8)
spd = .5
elif self.ids.PWM_slider.value > 54:
s = "Forward " + str(self.ids.PWM_slider.value - 50)
self.ids.talon_label.text = s
self.ids.talon_label.color = (0, 1, 0, .8)
spd = spd - .03
else:
s = "Backward " + str(self.ids.PWM_slider.value - 50)
self.ids.talon_label.text = s
self.ids.talon_label.color = (1, 0, 0, .8)
spd = spd + .03
cyprus.set_servo_position(2, spd)
def setup():
cyprus.initialize()
cyprus.setup_servo(1)
cyprus.set_servo_speed(1, 0)
sleep(0.05)
#
# As mentioned, the Software library is in RaspberryPiCommon/pidev/Cyprus_Commands/Cyprus_Commands.py
# The code is readable - and there is a very well written README.md with example usage in the same folder as the library.
#
# The PWM Ports on the RPiMIB are P4 and P5. The software library can be used to control both servo motors and motor
# controllers like the Talon that use a servo motor input and convert that to a high current drive that can control
# large motors.
#
# In addition to creating PWM that is used to control servo motors and servo motor style motor controllers the software
# library has been designed to also create non servo specific PWM for controlling industry standard motor controllers.
# Basically the Servo PWM is a special case of industry standard PWM, hopefully we will get to more on this later.
#
# 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(
#MOTOR 2 SETUP
motor_2 = stepper(port=0, speed=10, micro_steps=128)
motor_2.home(0)
print("homed motor 2")
sleep(.5)
home_pos_2 = 24.123
motor_2.go_to_position(home_pos_2)
increment = .035
current_pos_x = home_pos_2
current_pos_y = home_pos_1
ccrpi.open_spi()
print("opened spi")
##ccrpi.write_gpio(0)
####
ccrpi.setup_servo()
ccrpi.write_pwm(6, 1, .5)
clamp = lambda n, min_n, max_n: max(min(max_n, n), min_n)
try:
while True:
pygame.event.pump()
joy_val_x = joystick.get_axis(HORIZONTAL_AXIS)
joy_val_y = joystick.get_axis(VERTICAL_AXIS)
current_pos_y = current_pos_y + joy_val_y * increment
current_pos_x = current_pos_x + joy_val_x * increment
current_pos_y = clamp(current_pos_y, home_pos_1 - 13, home_pos_1 + 13)
current_pos_x = clamp(current_pos_x, home_pos_2 - 15.77,
home_pos_2 + 15.77)
motor_1.start_go_to_position(current_pos_y)
def initialize(self):
cyprus.setup_servo(2)
cyprus.setup_servo(1)
print("Close gate, stop staircase and home ramp here")
Builder.load_file('main.kv')
Window.clearcolor = (.1, .1, .1, 1) # (WHITE)
cyprus.open_spi()
ballOnTallTower = False
# ////////////////////////////////////////////////////////////////
# // SLUSH/HARDWARE SETUP //
# ////////////////////////////////////////////////////////////////
sm = ScreenManager()
arm = stepper(port=0, speed=10)
cyprus.initialize()
cyprus.setup_servo(1) # cytron
cyprus.setup_servo(2) # talon
"""
Port 4: Cytron
Port 5: Talon
Port 6: Tall Tower Sensor
Port 7: Short Tower Sensor
Port 8: N/A
38.9 is the tall tower
30.25 is the short tower
"""
# ////////////////////////////////////////////////////////////////
# // MAIN FUNCTIONS //
# // SHOULD INTERACT DIRECTLY WITH HARDWARE //
# // SLUSH/HARDWARE SETUP //
# ////////////////////////////////////////////////////////////////
sm = ScreenManager()
ramp = stepper(port=0,
micro_steps=32,
hold_current=20,
run_current=20,
accel_current=20,
deaccel_current=20,
steps_per_unit=25,
speed=INIT_RAMP_SPEED)
ramp.go_until_press(0, 20000)
ramp.set_as_home()
cyprus.initialize()
cyprus.setup_servo(2)
cyprus.set_servo_position(2, 0)
cyprus.setup_servo(1)
cyprus.set_pwm_values(1,
period_value=100000,
compare_value=0,
compare_mode=cyprus.LESS_THAN_OR_EQUAL)
# ////////////////////////////////////////////////////////////////
# // MAIN FUNCTIONS //
# // SHOULD INTERACT DIRECTLY WITH HARDWARE //
# ////////////////////////////////////////////////////////////////
# ////////////////////////////////////////////////////////////////
def binary_state(self):
cyprus.initialize()
cyprus.setup_servo(1)
cyprus.set_servo_position(1, 0)
sleep(1)
cyprus.set_servo_position(1, 1)
class MainScreen(Screen):
"""
Class to handle the main screen and its associated touch events
"""
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)
cyprus.initialize()
cyprus.setup_servo(1)
go = False
direction_pin = 1
def thread_flip(self):
y = threading.Thread(target=self.flip, daemon=True)
y.start()
def flip(self):
if cyprus.read_gpio() & 0B0001:
time.sleep(.05)
if cyprus.read_gpio() & 0B0001:
cyprus.set_servo_position(1, 1)
self.ids.flip.text = "180 Degrees"
else:
cyprus.set_servo_position(1, 0)
self.ids.flip.text = "0 Degrees"
def pressed(self):
self.go = not self.go
if self.go:
self.s0.run(self.direction_pin, int(self.ids.slider.value))
self.ids.motor.text = "Motor On"
else:
self.s0.softStop()
self.ids.motor.text = "Motor Off"
def direction(self):
if self.go:
if self.direction_pin == 1:
self.direction_pin = 0
self.ids.direction.text = "Clockwise"
self.s0.run(self.direction_pin, int(self.ids.slider.value))
else:
self.direction_pin = 1
self.ids.direction.text = "Counter-Clockwise"
self.s0.run(self.direction_pin, int(self.ids.slider.value))
def motor_thread(self):
y = threading.Thread(target=self.motor, daemon=True)
y.start()
def motor(self):
self.s0.set_as_home()
print(self.s0.get_position_in_units())
self.ids.updates.text = str(self.s0.get_position_in_units())
self.s0.set_speed(1)
self.s0.go_to_position(15)
print(self.s0.get_position_in_units())
self.ids.updates.text = str(self.s0.get_position_in_units())
time.sleep(10)
self.s0.set_speed(5)
self.s0.relative_move(10)
self.ids.updates.text = str(self.s0.get_position_in_units())
time.sleep(8)
self.s0.relative_move(-25)
self.ids.updates.text = str(self.s0.get_position_in_units())
time.sleep(30)
self.s0.set_speed(8)
self.s0.relative_move(-100)
self.ids.updates.text = str(self.s0.get_position_in_units())
time.sleep(10)
self.s0.relative_move(100)
self.ids.updates.text = "Finished: " + str(
self.s0.get_position_in_units())
def admin_action(self):
"""
Hidden admin button touch event. Transitions to passCodeScreen.
This method is called from pidev/kivy/PassCodeScreen.kv
:return: None
"""
SCREEN_MANAGER.current = 'passCode'