def zap_weeds():
device.execute(weeder_tool_retrieve_sequence_id)
coord = Coordinate(device.get_current_position('x'),
device.get_current_position('y'))
for weed_point in weed_points:
coord.set_coordinate(z=Z_TRANSLATE) # move up to translate height
coord.set_coordinate(weed_point['x'] + LASER_OFFSET_X,
weed_point['y'] + LASER_OFFSET_Y) # move to point
coord.set_axis_position('z', ZAP_HEIGHT) # move down to zapping height
coord.set_offset(-(AREA_SIZE / 2),
-(AREA_SIZE / 2)) # offset x and y half of area
coord.set_speed(ZAP_SPEED)
device.write_pin(PIN_ZAPPER, 1, 0)
for i in range(AREA_SIZE):
if coord.get_offset_axis_position('x') > 0:
#coord.set_offset_axis_position('x', -(AREA_SIZE / 2))
for j in range(AREA_SIZE):
coord.set_offset_axis_position('x',
(AREA_SIZE / 2) - j - 1)
device.wait(ZAP_TIMEOUT)
else:
#coord.set_offset_axis_position('x', AREA_SIZE / 2)
for j in range(AREA_SIZE):
coord.set_offset_axis_position('x',
-(AREA_SIZE / 2) + j + 1)
device.wait(ZAP_TIMEOUT)
coord.set_offset_axis_position(
'y',
coord.get_offset_axis_position('y') + 1)
device.write_pin(PIN_ZAPPER, 0, 0)
coord.set_speed(100)
coord.set_offset(0, 0)
coord.set_coordinate(z=Z_TRANSLATE)
device.execute(weeder_tool_return_sequence_id)
def execute_sequence(self, sequence: Union[Sequence, str, int, None]):
if sequence is not None:
if not isinstance(sequence, Sequence):
sequence = _get_sequences()[sequence]
device.log(F"Executing sequence {sequence.name}")
if not self.debug:
device.execute(sequence.id)
def execute_sequence_before(self):
if len(self.config["sequence_beforemove_dic"]) != 0:
for s in self.config["sequence_beforemove_dic"]:
log(
"Execute Sequence: {} id: {}".format(
s, self.config["sequence_beforemove_dic"][s]),
title="execute_sequence_before",
)
if Logger.LOGGER_LEVEL < 2:
device.execute(
sequence_id=self.config["sequence_beforemove_dic"][s])
else:
log("Nothing to execute", title="execute_sequence_before")
def take_readings():
plants_chosen = []
device.execute(moisture_tool_retrieve_sequence_id)
#coord = Coordinate(device.get_current_position('x'), device.get_current_position('y'), Z_TRANSLATE)
#device.log('Creating Coordinate')
bot = Coordinate(device.get_current_position('x'),
device.get_current_position('y'))
bot.set_offset(OFFSET_X, OFFSET_Y,
move_abs=False) # sets the offset, auto-move disabled
#device.log('BOT: {}'.format(bot))
for i in range(NUM_SITES):
rand_plant_num = randint(0, len(target_plants) - 1)
while rand_plant_num in plants_chosen:
rand_plant_num = randint(0, len(target_plants) - 1)
plants_chosen.append(rand_plant_num)
rand_plant = target_plants[rand_plant_num]
device.log('Random Plant: {}'.format(json.dumps(rand_plant)))
bot.set_axis_position(
'z', Z_TRANSLATE
) # sets the z axis to translate height, auto-move enabled
bot.set_coordinate(
rand_plant['x'],
rand_plant['y']) # set the plant coordinate, auto-move enabled
bot.set_axis_position(
'z', SENSOR_Z_DEPTH) # plunge sensor into soil, auto-move enabled
# take reading(s)
site_readings = []
for j in range(NUM_SAMPLES):
device.read_pin(PIN_SENSOR, 'Sensor', 1)
site_readings.append(device.get_pin_value(PIN_SENSOR))
device.wait(100)
average = 0
for reading in site_readings:
average += reading
average /= NUM_SAMPLES
moisture_readings.append(average)
device.log('Site Reading #{}: {}'.format(i, average), 'success')
bot.set_axis_position('z', Z_TRANSLATE)
device.log('Readings: {}'.format(json.dumps(moisture_readings)), 'success')
device.execute(moisture_tool_return_sequence_id)
def response():
average = 0
for i in moisture_readings:
average += i
average /= len(moisture_readings)
device.log('Total Moisture Average: {}'.format(average), 'info')
if average < THRESHOLD:
device.execute(water_tool_retrieve_sequence_id)
device.execute(water_sequence_id)
device.execute(water_tool_return_sequence_id)
# Move Grid 1
grid1Item = grid1Coordinates[plant]
device.move_absolute(
{
'kind': 'coordinate',
'args': {'x': grid1Item.xPosition, 'y': grid1Item.yPosition, 'z': grid1Item.zPosition}
},
100,
{
'kind': 'coordinate',
'args': {'x': 0, 'y': 0, 'z': 0}
}
)
if sequenceAfter1stGridMoveId > 0 :
device.log(message='Execute sequence: ' + sequenceAfter1stGridMove, message_type='success')
device.execute(sequenceAfter1stGridMoveId)
time.sleep(waitSeconds)
# Move Grid 2
grid2Item = grid2Coordinates[plant]
device.move_absolute(
{
'kind': 'coordinate',
'args': {'x': grid2Item.xPosition, 'y': grid2Item.yPosition, 'z': grid2Item.zPosition}
},
100,
{
'kind': 'coordinate',
'args': {'x': 0, 'y': 0, 'z': 0}
}
)