class Omniwheel(object):
def __init__ (self, pin1, pin2, pwmA, pin3, pin4, pwmB, steppingMode, wheelAngle):
self.motor = StepperMotor(pin1, pin2, pwmA, pin3, pin4, pwmB, steppingMode)
self.wheelAngle = wheelAngle
def calculateVelocity (self, drivingAngle, drivingSpeed):
w = self.wheelAngle
d = drivingAngle
wheelSpeed = drivingSpeed * (math.cos(w) * math.cos(d) + math.sin(w) * math.sin(d))
if wheelSpeed > 0:
self.motor.forward(wheelSpeed)
else:
self.motor.reverse(abs(wheelSpeed))
def plant3():
st.stepForward(800)
st.stopMotor()
pu.activate()
time.sleep(5)
pu.deactivate()
st.stepBackward(800)
st.stopMotor()
def plant1():
st.stepForward(
267
) # static values since we did not implement switching plant positions
st.stopMotor()
pu.activate()
time.sleep(
5
) # Keep the pump active for 5 seconds, in a later iteration of this program this value would be dynamic
pu.deactivate()
st.stepBackward(267)
st.stopMotor()
def __init__(self, motor_pins, pen_pin, best_callback):
self.__PEN_PIN = pen_pin
self.__pi = pigpio.pi()
self.__pi.set_mode(self.__PEN_PIN, pigpio.OUTPUT)
self.__x = 0
self.__y = 0
self.__one_step_x = 1
self.__one_step_y = 1
self.__cam_width = 640
self.__cam_height = 480
self.__paper_width = 210
self.__paper_height = 297
self.__width_scale = self.__paper_height / self.__cam_height
self.__height_scale = self.__paper_width / self.__cam_width
self.__scale = min(self.__paper_height / self.__cam_height,
self.__paper_width / self.__cam_width)
self.__motors = StepperMotor.StepperMotor(motor_pins, best_callback)
class Omniwheel(object):
def __init__ (self, stepPin, directionPin, wheelAngle):
self.motor = StepperMotor(stepPin, directionPin)
self.wheelAngle = wheelAngle
def calculateVelocity (self, drivingAngle, drivingSpeed):
w = self.wheelAngle
d = drivingAngle
wheelSpeed = drivingSpeed * (math.cos(w) * math.cos(d) + math.sin(w) * math.sin(d))
if wheelSpeed > 0:
self.motor.forward(wheelSpeed)
else:
self.motor.reverse(abs(wheelSpeed))
def rotate (self, speed):
if speed >= 0:
self.motor.forward(speed)
else:
self.motor.reverse(abs(speed))
import Adafruit_BBIO.GPIO as GPIO
import time
from StepperMotor import *
motorYellow = StepperMotor("P9_21", "P9_23", "P9_16", "P9_25", "P9_27", "P9_22", StepperMotor.MICRO_STEP)
motorGreen = StepperMotor("P8_8", "P8_10", "P8_19", "P8_12", "P8_14", "P8_13", StepperMotor.MICRO_STEP)
motorBlue = StepperMotor("P9_24", "P9_26", "P9_42", "P9_30", "P9_41", "P9_28", StepperMotor.MICRO_STEP)
motorBlue.forward(5)
motorYellow.forward(5)
motorGreen.forward(5)
time.sleep(1)
motorBlue.stop()
motorYellow.stop()
motorGreen.stop()
while True:
time.sleep(5)
import Adafruit_BBIO.GPIO as GPIO
import time
from StepperMotor import *
steppingMode = SteppingMode("P9_23", "P9_25", "P9_27")
motorBlue = StepperMotor("P9_22", "P9_24")
motorGreen = StepperMotor("P9_16", "P9_15")
motorYellow = StepperMotor("P9_42", "P9_41")
steppingMode.setMode(5)
motorBlue.forward(3)
motorGreen.forward(10)
motorYellow.forward(20)
time.sleep(2)
motorBlue.reverse(3)
motorGreen.reverse(10)
motorYellow.reverse(20)
time.sleep(10)
motorBlue.stop()
motorGreen.stop()
motorYellow.stop()
def initializeMotors(self):
for i, p in enumerate(self.motorpins):
self.motor.insert(i, StepperMotor.Motor(p, 12, Queue.Queue()))
return
def __init__ (self, pin1, pin2, pwmA, pin3, pin4, pwmB, steppingMode, wheelAngle):
self.motor = StepperMotor(pin1, pin2, pwmA, pin3, pin4, pwmB, steppingMode)
self.wheelAngle = wheelAngle
#!/usr/bin/env python
from time import sleep
import random
import RPi.GPIO as GPIO
import StepperMotor
GPIO.setmode(GPIO.BCM)
GPIO.cleanup()
m = StepperMotor.Motor([6, 13, 19, 26], 3)
#if rpm is too high or low motor will just vibrate
m.rpm = 15.0
i = 0
while i < 10:
r = random.randint(0, 180)
m.move_to(r)
sleep(0.5)
i = i + 1
GPIO.cleanup()
def __init__ (self, stepPin, directionPin, wheelAngle):
self.motor = StepperMotor(stepPin, directionPin)
self.wheelAngle = wheelAngle
return to_return
#else:
# return False
def reset(self):
self.angle_index = 0
#def next_available_angle():
# for angle in AVAILABLE_ANGLES:
# yield angle
if __name__ == "__main__":
try:
init_gpio()
color_detector = ColorDetector.ColorDetector()
stepper_motor = StepperMotor.StepperMotor(STEPPER_MOTOR_IN1, STEPPER_MOTOR_IN2, STEPPER_MOTOR_IN3, STEPPER_MOTOR_IN4)
linear_selenoid = LinearSelenoid.LinearSelenoid(SELENOID_PIN)
angle_generator = AngleGenerator(AVAILABLE_ANGLES)
color_to_angle = {}
#angle_generator = next_available_angle()
new_angle = 0.0
print 'Waiting...'
GPIO.output(STANDBY_LED, True)
#GPIO.wait_for_edge(PAUSE_RESUME_BUTTON, GPIO.RISING)#Wait for first button press
GPIO.add_event_detect(PAUSE_RESUME_BUTTON, GPIO.RISING, callback=pause_resume, bouncetime=1000)
while keep_going:
#!/usr/bin/env python
import Adafruit_BBIO.GPIO as GPIO
from time import sleep
from StepperMotor import *
from termcolor import colored
import math
from IMU import *
from Omnibot import *
from PID import *
motorYellow = StepperMotor("P9_21", "P9_23", "P9_16", "P9_25", "P9_27",
"P9_22", StepperMotor.HALF_STEP)
motorGreen = StepperMotor("P8_8", "P8_10", "P8_19", "P8_12", "P8_14", "P8_13",
StepperMotor.HALF_STEP)
motorBlue = StepperMotor("P9_24", "P9_26", "P9_42", "P9_30", "P9_41", "P9_28",
StepperMotor.HALF_STEP)
motorBlue.forward(10)
sleep(.25)
motorBlue.stop()
motorGreen.forward(10)
sleep(.25)
motorGreen.stop()
motorYellow.forward(10)
sleep(.25)
motorYellow.stop()
sleep(5)
import Adafruit_BBIO.GPIO as GPIO
import time
from StepperMotor import *
steppingMode = SteppingMode("P9_23", "P9_25", "P9_27")
motorBlue = StepperMotor("P9_22", "P9_24")
motorGreen = StepperMotor("P9_16", "P9_15")
motorYellow = StepperMotor("P9_42", "P9_41")
steppingMode.setMode(5)
motorBlue.forward(3)
motorGreen.forward(10)
motorYellow.forward(20)
time.sleep(2)
motorBlue.reverse(3)
motorGreen.reverse(10)
motorYellow.reverse(20)
time.sleep(10)
motorBlue.stop()
motorGreen.stop()
motorYellow.stop()
