def handleSignal(signal):
signal_type = signal['type']
if signal_type == 'start':
print('start')
driver.init()
elif signal_type == 'shutdown':
print('shutdown')
driver.destroy()
elif signal_type == 'load':
payload = signal['payload']
if payload == 'load':
print('start load balls')
driver.loadBalls()
driver.startLoadMotor()
elif payload == 'unload':
print('start unload balls')
driver.unloadBalls()
driver.startLoadMotor()
elif payload == 'pause':
print('pause load motor')
driver.stopLoadMotor()
else:
print('wrong action {}'.format(payload))
elif signal_type == 'position':
pos = signal['payload']
if type(pos) == int and 0 <= pos <= 9:
print('move to position {}'.format(pos))
driver.changeUpDutyCycle(positionTypes[pos][1])
driver.changeDownDutyCycle(positionTypes[pos][1])
driver.movePWM(positionTypes[pos][0])
else:
print('wrong position {}'.format(pos))
else:
print('wrong signal type {}'.format(signal_type))
def reachPosition(position):
if not(0 <= position <= 9):
return 'out of bounds {}'.format(position)
driver.changeUpDutyCycle(positionTypes[position][1])
driver.changeDownDutyCycle(positionTypes[position][1])
driver.movePWM(positionTypes[position][0])
return 'move to position %d' % position
def parseDataAndExecute(data):
# 0xxxx postition:x
# 100xx load load:0 unload:1 pause:2
# 1010x start:0 shutdown:1
if not data[0]:
position = binary2Dec(booleanArray2Str(data[1:]))
if not (0 <= position <= 9):
print('out of bounds {}'.format(position))
return
driver.changeUpDutyCycle(positionTypes[position][1])
driver.changeDownDutyCycle(positionTypes[position][1])
driver.movePWM(positionTypes[position][0])
print('move to position %d' % position)
elif binary2Dec(booleanArray2Str(data[0:3])) == 4:
loadType = binary2Dec(booleanArray2Str(data[3:]))
if loadType == 0:
driver.loadBalls()
driver.startLoadMotor()
print('start load balls')
elif loadType == 1:
driver.unloadBalls()
driver.startLoadMotor()
print('start unload balls')
elif loadType == 2:
driver.stopLoadMotor()
print('pause load motor')
else:
print('bad action : {}'.format(loadType))
elif binary2Dec(booleanArray2Str(data[0:4])) == 10:
if data[4]:
print('shutdown')
driver.destroy()
else:
print('start')
driver.init()
def changPosition(position):
print('change to position {}'.format(position))
driver.changeUpDutyCycle(positionTypes[position][1])
driver.changeDownDutyCycle(positionTypes[position][1])
driver.movePWM(positionTypes[position][0])
def changeUpDutyCycle(self):
dc = int(self.upInput.get())
driver.changeUpDutyCycle(dc)