def __init__(self,
config,
xaxis=DEFAULT_XYZ_AXIS,
yaxis=DEFAULT_XYZ_AXIS,
zaxis=DEFAULT_XYZ_AXIS,
paxis=DEFAULT_P_AXIS,
saxis=DEFAULT_S_AXIS):
'''Initialize parts of robot'''
self.cmdMng = CommandManager.from_config(config)
self.x = Axis(self.cmdMng.X, xaxis['mm_per_step'], xaxis['min'],
xaxis['max'])
self.y = Axis(self.cmdMng.Y, yaxis['mm_per_step'], yaxis['min'],
yaxis['max'])
self.z = Axis(self.cmdMng.Z, zaxis['mm_per_step'], zaxis['min'],
zaxis['max'])
self.xy = MultiAxis(self.x, self.y)
self.xyz = MultiAxis(self.x, self.y, self.z)
self.p = Pipette(
Axis(self.cmdMng.P, paxis['ul_per_step'], paxis['min'],
paxis['max']), paxis['min'], paxis['max'])
self.s = Shaker(self.cmdMng.S, saxis['deg_per_step'], saxis['min'],
saxis['max'])
'''Initialize arena'''
self.arena = self.arena_from_configfile()
self.tools = self.extract_dict_from_dict(self.arena, 'tools')
self.wellplates = self.extract_rack_from_dict(self.arena, 'wellplates')
if 'tipracks' in self.arena:
self.tipracks = self.extract_rack_from_dict(self.arena, 'tipracks')
'''Tracking parameters'''
self.liquid_height = 0
'''Home robot axes'''
self.home()
def __init__(self, config, xaxis=DEFAULT_XYZ_AXIS, yaxis=DEFAULT_XYZ_AXIS, zaxis=DEFAULT_XYZ_AXIS, p=DEFAULT_P_PARAMS):
'''Initialize parts of robot'''
self.cmdMng = CommandManager.from_config(config)
self.x = Axis(self.cmdMng.X, xaxis['mm_per_step'], xaxis['min'], xaxis['max'])
self.y = Axis(self.cmdMng.Y, yaxis['mm_per_step'], yaxis['min'], yaxis['max'])
self.z = Axis(self.cmdMng.Z, zaxis['mm_per_step'], zaxis['min'], zaxis['max'])
self.xy = MultiAxis(self.x, self.y)
self.xyz = MultiAxis(self.x, self.y, self.z)
#self.p = Pipette(p['ul_per_incr'], p['min'], p['max'])
self.p = Pipette.from_config(config)
def load_arduino(self):
# for communication to arduino
self.cmdMng = CommandManager.from_configfile(ARDUINO_CONFIG)
# cooling fan
self.Fan = self.cmdMng.Fan
# each axis with Arduino communication, movement rate, min position, max position define
self.X = Axis(self.cmdMng.X, 0.00937, 0, 510)
self.Y = Axis(self.cmdMng.Y, 0.00937, 0, 270)
self.Z = Axis(self.cmdMng.Z, 0.00253, 0, 100)
self.CX = Axis(self.cmdMng.CX, 0.00937, 0, 510)
self.CY = Axis(self.cmdMng.CY, 0.00937, 0, 270)
# create multiaxes for concurrent movement
self.XY = MultiAxis(self.X, self.Y)
self.CXY = MultiAxis(self.CX, self.CY)
self.XY_CXY = MultiAxis(self.X, self.Y, self.CX, self.CY)
self.BOT = MultiAxis(self.X, self.Y, self.Z, self.CX, self.CY)
self.BOT.home()
from commanduino import CommandManager
import logging
logging.basicConfig(level=logging.INFO)
# in your two board please load the arduino example OF:
# - CommandServo
# - CommandLinearAccelStepper
cmdMng = CommandManager.from_configfile('./two_boards.json')
s1 = cmdMng.devices['servo1']
s2 = cmdMng.devices['servo2']
m1 = cmdMng.devices['stepper1']
from commandruino.devices.axis import Axis
a = Axis(m1, 0.1)
import time
import logging
from commanduino import CommandManager
logging.basicConfig(level=logging.INFO)
cmdMng = CommandManager.from_configfile(
'./examples/commanddevices/commandlinearaccelstepper/demo.json')
stepper = cmdMng.stepper
stepper.set_current_position(0)
stepper.enable_acceleration()
stepper.set_acceleration(1000)
stepper.set_max_speed(10000)
print('Moving to 20000 with acceleration 1000')
stepper.move_to(20000, wait=True)
print('Moving back to 0 with acceleration 5000...')
print('Should turn in the opposite direction no?')
stepper.set_acceleration(5000)
stepper.move_to(0, wait=True)
print('Disabling acceleration')
stepper.disable_acceleration()
stepper.set_max_speed(10000)
print('Moving to 20000 with default speed 1000')
stepper.move_to(20000, wait=False)
import time
import logging
logging.basicConfig(level=logging.INFO)
from commanduino import CommandManager
cmdMng = CommandManager.from_configfile(
'./examples/commanddevices/commanddigitalwrite/demo.json')
for i in range(10):
cmdMng.D1.high()
time.sleep(1)
cmdMng.D1.low()
time.sleep(1)
from centripeta import Dispenser, Analyzer
from centripeta.utils import Logger
from pycont.controller import MultiPumpController
from commanduino import CommandManager
import pandas as pd
import logging
import time
import cv2
#Instantiate the command manager
mgr = CommandManager.from_configfile('platform_config_ports.json')
pumps = MultiPumpController.from_configfile('pycont_config.json')
a = Analyzer(mgr)
d = Dispenser(manager=mgr, pump_controller=pumps)
camera = cv2.VideoCapture(0)
for i in range(8):
return_value, image = camera.read()
cv2.imwrite('sample' + str(i) + '.png', image)
img = cv2.imread('sample' + str(i) + '.png')
cv2.namedWindow('sample' + str(i) + '.png')
cv2.imshow('sample' + str(i) + '.png', img)
cv2.waitKey(0)
a.turn_wheel(n_turns=1)
del (camera)
cv2.destroyAllWindows()
import time
import os
import logging
logging.basicConfig(level=logging.INFO)
from commanduino import CommandManager
script_dir = os.path.dirname(__file__)
abs_path = os.path.join(script_dir, 'demo.json')
cmdMng = CommandManager.from_configfile(abs_path)
stepper = cmdMng.stepper
print('Setting current position to 0')
stepper.set_current_position(0)
stepper.enable_acceleration()
stepper.set_acceleration(1000)
stepper.set_running_speed(5000)
stepper.set_max_speed(10000)
print('Moving to 20000 with acceleration 1000')
stepper.move_to(20000, wait=True)
print('Moving back to 0 with acceleration 5000')
stepper.set_acceleration(5000)
stepper.move_to(0, wait=True)
#
print('Disabling acceleration')
stepper.disable_acceleration()
import time
import logging
from commanduino import CommandManager
logging.basicConfig(level=logging.INFO)
cmdMng = CommandManager.from_configfile(
'./examples/commanddevices/commandservo/demo.json')
for i in range(2):
cmdMng.servo1.set_angle(60)
cmdMng.servo2.set_angle(60)
print(cmdMng.servo1.get_angle())
print(cmdMng.servo2.get_angle())
time.sleep(1)
cmdMng.servo1.set_angle(120)
cmdMng.servo2.set_angle(120)
print(cmdMng.servo1.get_angle())
print(cmdMng.servo2.get_angle())
time.sleep(1)
def __init__(self, config):
self.mgr = CommandManager.from_configfile(config)
self.config = json_utils.read(config)
# self.devices = self.config[DEVICES].keys()
self.devices = self.mgr.devices.keys()
import time
import logging
from commanduino import CommandManager
logging.basicConfig(level=logging.INFO)
cmdMng = CommandManager.from_configfile('./examples/commanddevices/commandanalogread/demo.json')
for i in range(10):
print(cmdMng.A1.get_level())
time.sleep(1)
def __init__(self, config, name):
self.mgr = CommandManager.from_config(config)
self.config = config
self._name = name
def __init__(self, config: str):
self.mgr = CommandManager.from_configfile(config)
self.config = json_utils.read(config)
from commanduino import CommandManager
import logging
logging.basicConfig(level=logging.INFO)
# in your two board please load the arduino example OF:
# - CommandServo
# - CommandLinearAccelStepper
cmdMng = CommandManager.from_configfile('./examples/commandmanager/two_boards/two_boards.json')
s1 = cmdMng.devices['servo1']
s2 = cmdMng.devices['servo2']
m1 = cmdMng.devices['stepper1']
from commanduino.devices.axis import Axis
a = Axis(m1, 0.1)
import time
import os
import logging
from commanduino import CommandManager
logging.basicConfig(level=logging.INFO)
script_dir = os.path.dirname(__file__)
cm_config = os.path.join(script_dir, 'demo.json')
cmdMng = CommandManager.from_configfile(cm_config)
stepper = cmdMng.stepper
stepper.set_current_position(0)
stepper.enable_acceleration()
stepper.set_acceleration(1000)
stepper.set_max_speed(10000)
print('Moving to 20000 with acceleration 1000')
stepper.move_to(-2000, wait=True)
print('Moving back to 0 with acceleration 5000...')
print('Should turn in the opposite direction no?')
stepper.set_acceleration(5000)
stepper.move_to(-1000, wait=True)
print('Disabling acceleration')
stepper.disable_acceleration()
stepper.set_max_speed(10000)
from commanduino import CommandManager
import logging
logging.basicConfig(level=logging.INFO)
cmdMng = CommandManager.from_configfile('./basics.json')
quit = False
while not quit:
msg = input()
if msg == "QUIT":
isRunning = False
quit = True
elif msg == "REQUEST":
print(cmdMng.devices['servo1'].get_angle())
else:
cmdMng.serialcommandhandlers[0].write(msg)
import time
import logging
logging.basicConfig(level=logging.INFO)
from commanduino import CommandManager
cmdMng = CommandManager.from_configfile('./demo.json')
for i in range(10):
F = cmdMng.sht15.get_fahrenheit()
C = cmdMng.sht15.get_celsius()
H = cmdMng.sht15.get_humidity()
print '###'
print 'Temperature = {} F / {} C'.format(F, C)
print 'Humidity = {}%'.format(H)
time.sleep(1)
from commanduino import CommandManager
import logging
logging.basicConfig(level=logging.INFO)
#cmdMng = CommandManager.from_configfile('./examples/commandmanager/basics/basics_serial.json')
cmdMng = CommandManager.from_configfile(
'./examples/commandmanager/basics/basics_tcpip.json')
p1, p2, p3 = True, True, True
while True:
msg = input()
if msg == "QUIT":
break
elif msg == "P1":
# Devices can be accessed through devices dictionary
cmdMng.devices['pin1'].set_level(int(p1))
# Invert next state for this pin
p1 = not p1
elif msg == "P2":
# Or directly as a CommandManager attribute
cmdMng.pin2.set_level(int(p2))
p2 = not p2
elif msg == "P3":
if p3 is True:
cmdMng.pin3.high()
else:
cmdMng.pin3.low()
p3 = not p3