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 quit(self):
print("Exit")
arm.free_all()
GPIO.cleanup()
GPIO.cleanup()
cyprus.close()
MyApp().stop()
def start_talon(self):
cyprus.initialize()
cyprus.set_servo_position(1, 1)
sleep(5)
cyprus.set_servo_position(1, 0)
sleep(5)
cyprus.set_servo_position(1, 0.5)
cyprus.close()
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_spup(self):
cyprus.initialize()
cyprus.set_servo_position(1, 0.5)
for i in range(6, 11, 1):
print(i)
cyprus.set_servo_position(1, i / 10.0)
sleep(4)
cyprus.set_servo_position(1, 0.5)
cyprus.close()
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 exit_program():
"""
Quit the program. This should free all steppers and do any cleanup necessary
:return: None
"""
cyprus.set_servo_position(1, .5)
cyprus.close()
spi.close()
GPIO.cleanup()
quit()
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 servo_binary(self):
global bcount
cyprus.initialize()
if bcount % 2 == 0:
self.servooo.text = "0 Deg"
cyprus.set_servo_position(1, 0)
sleep(0.1)
else:
self.servooo.text = "180 Deg"
cyprus.set_servo_position(1, 1)
sleep(0.1)
bcount += 1
cyprus.close()
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 free_mtrs(self):
s1.free()
cyprus.initialize()
cyprus.set_servo_position(1, 0.5)
cyprus.close()
def quit():
print("Exit")
ramp.free()
cyprus.close()
MyApp().stop()
def cleanup(self):
cyprus.set_servo_position(1, .5)
cyprus.close()
spi.close()
GPIO.cleanup()
quit()
def exit_program():
s0.free_all()
spi.close()
GPIO.cleanup()
cyprus.close()
quit()
#
# 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(
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
def transition_back():
SCREEN_MANAGER.current = MAIN_SCREEN
cyprus.close()
hold_current=20,
run_current=20,
accel_current=20,
deaccel_current=20,
steps_per_unit=200,
speed=8)
dire = 0
mcount = 1
dcount = 0
bcount = 1
switch_boolean = False
cyprus.initialize()
cyprus.setup_servo(1)
cyprus.set_servo_position(1, 0.5)
cyprus.close()
class ProjectNameGUI(App):
"""
Class to handle running the GUI Application
"""
def build(self):
"""
Build the application
:return: Kivy Screen Manager instance
"""
return SCREEN_MANAGER
Window.clearcolor = (1, 1, 1, 1) # White