def __init__(self):
self.shutdown = False
self.flipper = LargeMotor(OUTPUT_A)
self.turntable = LargeMotor(OUTPUT_B)
self.colorarm = MediumMotor(OUTPUT_C)
self.color_sensor = ColorSensor()
self.color_sensor.mode = self.color_sensor.MODE_RGB_RAW
self.infrared_sensor = InfraredSensor()
self.cube = {}
self.init_motors()
self.state = ['U', 'D', 'F', 'L', 'B', 'R']
self.rgb_solver = None
signal.signal(signal.SIGTERM, self.signal_term_handler)
signal.signal(signal.SIGINT, self.signal_int_handler)
class Rubiks(object):
scan_order = [
5, 9, 6, 3, 2, 1, 4, 7, 8,
23, 27, 24, 21, 20, 19, 22, 25, 26,
50, 54, 51, 48, 47, 46, 49, 52, 53,
14, 10, 13, 16, 17, 18, 15, 12, 11,
41, 43, 44, 45, 42, 39, 38, 37, 40,
32, 34, 35, 36, 33, 30, 29, 28, 31]
hold_cube_pos = 85
rotate_speed = 400
flip_speed = 300
flip_speed_push = 400
corner_to_edge_diff = 60
def __init__(self):
self.shutdown = False
self.flipper = LargeMotor(OUTPUT_A)
self.turntable = LargeMotor(OUTPUT_B)
self.colorarm = MediumMotor(OUTPUT_C)
self.color_sensor = ColorSensor()
self.color_sensor.mode = self.color_sensor.MODE_RGB_RAW
self.infrared_sensor = InfraredSensor()
self.cube = {}
self.init_motors()
self.state = ['U', 'D', 'F', 'L', 'B', 'R']
self.rgb_solver = None
signal.signal(signal.SIGTERM, self.signal_term_handler)
signal.signal(signal.SIGINT, self.signal_int_handler)
def init_motors(self):
for x in (self.flipper, self.turntable, self.colorarm):
if not x.connected:
log.error("%s is not connected" % x)
sys.exit(1)
x.reset()
log.info("Initialize flipper %s" % self.flipper)
self.flipper.run_forever(speed_sp=-50, stop_action='hold')
self.flipper.wait_for_stop()
self.flipper.stop()
self.flipper.reset()
self.flipper.stop(stop_action='hold')
log.info("Initialize colorarm %s" % self.colorarm)
self.colorarm.run_forever(speed_sp=500, stop_action='hold')
self.colorarm.wait_for_stop()
self.colorarm.stop()
self.colorarm.reset()
self.colorarm.stop(stop_action='hold')
log.info("Initialize turntable %s" % self.turntable)
self.turntable.reset()
self.turntable.stop(stop_action='hold')
def shutdown_robot(self):
log.info('Shutting down')
self.shutdown = True
if self.rgb_solver:
self.rgb_solver.shutdown = True
for x in (self.flipper, self.turntable, self.colorarm):
x.shutdown = True
for x in (self.flipper, self.turntable, self.colorarm):
x.stop(stop_action='brake')
def signal_term_handler(self, signal, frame):
log.error('Caught SIGTERM')
self.shutdown_robot()
def signal_int_handler(self, signal, frame):
log.error('Caught SIGINT')
self.shutdown_robot()
def apply_transformation(self, transformation):
self.state = [self.state[t] for t in transformation]
def rotate_cube(self, direction, nb):
current_pos = self.turntable.position
final_pos = 135 * round((self.turntable.position + (270 * direction * nb)) / 135.0)
log.info("rotate_cube() direction %s, nb %s, current_pos %d, final_pos %d" % (direction, nb, current_pos, final_pos))
if self.flipper.position > 35:
self.flipper_away()
self.turntable.run_to_abs_pos(position_sp=final_pos,
speed_sp=Rubiks.rotate_speed,
stop_action='hold',
ramp_up_sp=0)
self.turntable.wait_for_running()
self.turntable.wait_for_position(final_pos)
self.turntable.wait_for_stop()
if nb >= 1:
for i in range(nb):
if direction > 0:
transformation = [0, 1, 5, 2, 3, 4]
else:
transformation = [0, 1, 3, 4, 5, 2]
self.apply_transformation(transformation)
def rotate_cube_1(self):
self.rotate_cube(1, 1)
def rotate_cube_2(self):
self.rotate_cube(1, 2)
def rotate_cube_3(self):
self.rotate_cube(-1, 1)
def rotate_cube_blocked(self, direction, nb):
# Move the arm down to hold the cube in place
self.flipper_hold_cube()
# OVERROTATE depends on lot on Rubiks.rotate_speed
current_pos = self.turntable.position
OVERROTATE = 18
final_pos = int(135 * round((current_pos + (270 * direction * nb)) / 135.0))
temp_pos = int(final_pos + (OVERROTATE * direction))
log.info("rotate_cube_blocked() direction %s nb %s, current pos %s, temp pos %s, final pos %s" %
(direction, nb, current_pos, temp_pos, final_pos))
self.turntable.run_to_abs_pos(position_sp=temp_pos,
speed_sp=Rubiks.rotate_speed,
stop_action='hold',
ramp_up_sp=0)
self.turntable.wait_for_running()
self.turntable.wait_for_position(temp_pos)
self.turntable.wait_for_stop()
self.turntable.run_to_abs_pos(position_sp=final_pos,
speed_sp=int(Rubiks.rotate_speed/4),
stop_action='hold',
ramp_up_sp=0)
self.turntable.wait_for_running()
self.turntable.wait_for_position(final_pos, stall_ok=True)
self.turntable.wait_for_stop()
def rotate_cube_blocked_1(self):
self.rotate_cube_blocked(1, 1)
def rotate_cube_blocked_2(self):
self.rotate_cube_blocked(1, 2)
def rotate_cube_blocked_3(self):
self.rotate_cube_blocked(-1, 1)
def flipper_hold_cube(self, speed=300):
current_position = self.flipper.position
# Push it forward so the cube is always in the same position
# when we start the flip
if (current_position <= Rubiks.hold_cube_pos - 10 or
current_position >= Rubiks.hold_cube_pos + 10):
self.flipper.run_to_abs_pos(position_sp=Rubiks.hold_cube_pos,
ramp_down_sp=400,
speed_sp=speed)
self.flipper.wait_for_running()
self.flipper.wait_for_position(Rubiks.hold_cube_pos)
self.flipper.wait_for_stop()
sleep(0.05)
def flipper_away(self, speed=300):
"""
Move the flipper arm out of the way
"""
log.info("flipper_away()")
self.flipper.run_to_abs_pos(position_sp=0,
ramp_down_sp=400,
speed_sp=speed)
self.flipper.wait_for_running()
try:
self.flipper.wait_for_position(0)
self.flipper.wait_for_stop()
except MotorStall:
self.flipper.stop()
def flip(self):
"""
Motors will sometimes stall if you call run_to_abs_pos() multiple
times back to back on the same motor. To avoid this we call a 50ms
sleep in flipper_hold_cube() and after each run_to_abs_pos() below.
We have to sleep after the 2nd run_to_abs_pos() because sometimes
flip() is called back to back.
"""
log.info("flip()")
if self.shutdown:
return
# Move the arm down to hold the cube in place
self.flipper_hold_cube()
# Grab the cube and pull back
self.flipper.run_to_abs_pos(position_sp=190,
ramp_up_sp=200,
ramp_down_sp=0,
speed_sp=self.flip_speed)
self.flipper.wait_for_running()
self.flipper.wait_for_position(190)
self.flipper.wait_for_stop()
sleep(0.05)
# At this point the cube is at an angle, push it forward to
# drop it back down in the turntable
self.flipper.run_to_abs_pos(position_sp=Rubiks.hold_cube_pos,
ramp_up_sp=200,
ramp_down_sp=400,
speed_sp=self.flip_speed_push)
self.flipper.wait_for_running()
self.flipper.wait_for_position(Rubiks.hold_cube_pos)
self.flipper.wait_for_stop()
sleep(0.05)
transformation = [2, 4, 1, 3, 0, 5]
self.apply_transformation(transformation)
def colorarm_middle(self):
log.info("colorarm_middle()")
self.colorarm.run_to_abs_pos(position_sp=-750,
speed_sp=600,
stop_action='hold')
self.colorarm.wait_for_running()
self.colorarm.wait_for_position(-750)
self.colorarm.wait_for_stop()
def colorarm_corner(self, square_index):
log.info("colorarm_corner(%d)" % square_index)
position_target = -580
if square_index == 1:
position_target += 20
elif square_index == 3:
pass
elif square_index == 5:
position_target -= 20
elif square_index == 7:
pass
else:
raise ScanError("colorarm_corner was given unsupported square_index %d" % square_index)
self.colorarm.run_to_abs_pos(position_sp=position_target,
speed_sp=600,
stop_action='hold')
def colorarm_edge(self, square_index):
log.info("colorarm_edge(%d)" % square_index)
position_target = -640
if square_index == 2:
pass
elif square_index == 4:
position_target -= 20
elif square_index == 6:
position_target -= 20
elif square_index == 8:
pass
else:
raise ScanError("colorarm_edge was given unsupported square_index %d" % square_index)
self.colorarm.run_to_abs_pos(position_sp=position_target,
speed_sp=600,
stop_action='hold')
def colorarm_remove(self):
log.info("colorarm_remove()")
self.colorarm.run_to_abs_pos(position_sp=0,
speed_sp=600)
self.colorarm.wait_for_running()
try:
self.colorarm.wait_for_position(0)
self.colorarm.wait_for_stop()
except MotorStall:
self.colorarm.stop()
def colorarm_remove_halfway(self):
log.info("colorarm_remove_halfway()")
self.colorarm.run_to_abs_pos(position_sp=-400,
speed_sp=600)
self.colorarm.wait_for_running()
self.colorarm.wait_for_position(-400)
self.colorarm.wait_for_stop()
def scan_middle(self, face_number):
log.info("scan_middle() %d/6" % face_number)
if self.flipper.position > 35:
self.flipper_away()
self.colorarm_middle()
log.info(self.color_sensor.rgb())
self.colorarm_remove_halfway()
def scan_middles(self):
"""
Used once to get the RGB values of the middle squares to
populate the crayola_colors in rubiks_rgb_solver.py
"""
log.info("scan_middle()")
self.colors = {}
self.k = 0
self.scan_middle(1)
raw_input('Paused')
self.flip()
self.scan_middle(2)
raw_input('Paused')
self.flip()
self.scan_middle(3)
raw_input('Paused')
self.rotate_cube(-1, 1)
self.flip()
self.scan_middle(4)
raw_input('Paused')
self.rotate_cube(1, 1)
self.flip()
self.scan_middle(5)
raw_input('Paused')
self.flip()
self.scan_middle(6)
raw_input('Paused')
def scan_face(self, face_number):
log.info("scan_face() %d/6" % face_number)
if self.shutdown:
return
if self.flipper.position > 35:
self.flipper_away()
self.colorarm_middle()
self.colors[int(Rubiks.scan_order[self.k])] = tuple(self.color_sensor.rgb())
self.k += 1
i = 1
self.colorarm_corner(i)
# The gear ratio is 3:1 so 1080 is one full rotation
self.turntable.reset()
self.turntable.run_to_abs_pos(position_sp=1080,
speed_sp=Rubiks.rotate_speed,
stop_action='hold')
while True:
current_position = self.turntable.position
# 135 is 1/8 of full rotation
if current_position >= (i * 135):
current_color = tuple(self.color_sensor.rgb())
self.colors[int(Rubiks.scan_order[self.k])] = current_color
# log.info("%s: i %d, current_position %d, current_color %s" %
# (self.turntable, i, current_position, current_color))
i += 1
self.k += 1
if i == 9:
# Last face, move the color arm all the way out of the way
if face_number == 6:
self.colorarm_remove()
# Move the color arm far enough away so that the flipper
# arm doesn't hit it
else:
self.colorarm_remove_halfway()
break
elif i % 2:
self.colorarm_corner(i)
else:
self.colorarm_edge(i)
if self.shutdown:
return
if i < 9:
raise ScanError('i is %d..should be 9' % i)
self.turntable.wait_for_position(1080)
self.turntable.stop()
self.turntable.reset()
log.info("\n")
def scan(self):
log.info("scan()")
self.colors = {}
self.k = 0
self.scan_face(1)
self.flip()
self.scan_face(2)
self.flip()
self.scan_face(3)
self.rotate_cube(-1, 1)
self.flip()
self.scan_face(4)
self.rotate_cube(1, 1)
self.flip()
self.scan_face(5)
self.flip()
self.scan_face(6)
if self.shutdown:
return
log.info("RGB json:\n%s\n" % json.dumps(self.colors))
self.rgb_solver = RubiksColorSolverGeneric(3)
self.rgb_solver.enter_scan_data(self.colors)
self.rgb_solver.crunch_colors()
self.cube_kociemba = self.rgb_solver.cube_for_kociemba_strict()
log.info("Final Colors (kociemba): %s" % ''.join(self.cube_kociemba))
# This is only used if you want to rotate the cube so U is on top, F is
# in the front, etc. You would do this if you were troubleshooting color
# detection and you want to pause to compare the color pattern on the
# cube vs. what we think the color pattern is.
'''
log.info("Position the cube so that U is on top, F is in the front, etc...to make debugging easier")
self.rotate_cube(-1, 1)
self.flip()
self.flipper_away()
self.rotate_cube(1, 1)
raw_input('Paused')
'''
def move(self, face_down):
log.info("move() face_down %s" % face_down)
position = self.state.index(face_down)
actions = {
0: ["flip", "flip"],
1: [],
2: ["rotate_cube_2", "flip"],
3: ["rotate_cube_1", "flip"],
4: ["flip"],
5: ["rotate_cube_3", "flip"]
}.get(position, None)
for a in actions:
if self.shutdown:
break
getattr(self, a)()
def run_kociemba_actions(self, actions):
log.info('Action (kociemba): %s' % ' '.join(actions))
total_actions = len(actions)
for (i, a) in enumerate(actions):
if self.shutdown:
break
if a.endswith("'"):
face_down = list(a)[0]
rotation_dir = 1
elif a.endswith("2"):
face_down = list(a)[0]
rotation_dir = 2
else:
face_down = a
rotation_dir = 3
log.info("Move %d/%d: %s%s (a %s)" % (i, total_actions, face_down, rotation_dir, pformat(a)))
self.move(face_down)
if rotation_dir == 1:
self.rotate_cube_blocked_1()
elif rotation_dir == 2:
self.rotate_cube_blocked_2()
elif rotation_dir == 3:
self.rotate_cube_blocked_3()
log.info("\n")
def resolve(self):
if rub.shutdown:
return
output = check_output(['kociemba', ''.join(map(str, self.cube_kociemba))]).decode('ascii')
actions = output.strip().split()
self.run_kociemba_actions(actions)
self.cube_done()
def cube_done(self):
self.flipper_away()
def wait_for_cube_insert(self):
rubiks_present = 0
rubiks_present_target = 10
log.info('wait for cube...to be inserted')
while True:
if self.shutdown:
break
dist = self.infrared_sensor.proximity
# It is odd but sometimes when the cube is inserted
# the IR sensor returns a value of 100...most of the
# time it is just a value less than 50
if dist < 50 or dist == 100:
rubiks_present += 1
log.info("wait for cube...distance %d, present for %d/%d" %
(dist, rubiks_present, rubiks_present_target))
else:
if rubiks_present:
log.info('wait for cube...cube removed (%d)' % dist)
rubiks_present = 0
if rubiks_present >= rubiks_present_target:
log.info('wait for cube...cube found and stable')
break
time.sleep(0.1)