def main():
platform = Platform()
recipe = Recipe()
# Step 0: Preform hard reset to calibrate platform position during startup
#platform.hard_Reset()
# Step 1: get recipe from user either from onboard gui or android app
#sampleRecipe = sys.argv[1]
sampleRecipe = "1,19.3,2,19.3,3,19.3,4,19.3,5,19.3,6,19.3,7,19.3,8,19.3,true"
# Step 2: split recipe string to a stack of seperate ingredients
recipe.initilize_Stack(sampleRecipe)
# Step 3: specify the order of the recipe
if recipe.isOrdered == True:
recipeOrder = recipe.recipeStack
else:
recipeOrder = platform.get_Shortest_Path(recipe)
hbridge.turnOff()
time.sleep(.3)
# Step 4: interate over each ingredient then move platform
for ingred in recipeOrder:
print "Getting %rmL of segment %r" %(ingred.mL, ingred.segNum)
#segNum is NOT 0 indexed
platform.move_To_Segment(platform.segList[ingred.segNum-1].name)
time.sleep(WAIT)
# Step 5: once platform reached its mark, pour amount
hbridge.turnOn()
time.sleep(.2)
Actuator.actuate(Actuator.actDict[ingred.segNum-1], float(ingred.mL))
hbridge.turnOff()
time.sleep(WAIT)
# Step 6: repeat step 4 till stack is empty
# Step 7: Move platform back to the middle
print "Final offset: %r " % Platform.offset
platform.reset()
