def planned_shuffle(d_motor:DispenseStep, p_motor:PushStep, b_motor:BinStep, dispenser:Dispenser, camera:Camera, deck):
# Initialize vars
dispenser.enable_motor()
dispenser.baseline_motor_cur()
t_last_dispense = time.time()
n_bins = len(cfg.bin_heights_load_mm)
cards_in_trash = 0
camera.start_camera()
# Generate bin reqs for deck
deck.break_into_bins(n_bins=n_bins)
def empty_trash():
p_motor.enable()
b_motor.unload_bin_pos(n_bins-1)
time.sleep(0.1)
p_motor.run()
p_motor.disable()
junk_cards_dispensed = 0
last_card = camera.read_card()
while junk_cards_dispensed < cfg.planned_shuffle_timeout:
card = camera.read_card()
# Determine where to put card. If it is the same as last, it probs failed to dispense
if card.rank is None and card.suit is None:
bin_index = None
elif last_card.rank is card.rank and last_card.suit is card.suit:
print('Previous card failed to dispense. Re-dispensing')
pass
else:
bin_index = deck.get_bin(card)
last_card = card
print(card.rank, card.suit, ":", bin_index)
# Handle vars if trash card
if bin_index is None:
bin_index = n_bins - 1
cards_in_trash += 1
junk_cards_dispensed += 1
# Move to bin location
b_motor.load_bin_pos(bin_index)
# Dispense card
while time.time() < t_last_dispense + cfg.min_time_between_dispenses_s:
pass
if not dispenser.dispense_card():
raise Exception("Card Jam")
t_last_dispense = time.time()
# Check for full trash
if cards_in_trash >= cfg.max_cards_per_bin:
empty_trash()
cards_in_trash = 0
# Check for shuffle completion
if deck.is_shuffle_complete:
return_all_cards(p_motor, b_motor)
break
else:
print("Planned Shuffle Timeout")
camera.stop_camera()
def main():
c = Camera()
c.start_camera()
card = c.read_card()
print(card.rank, card.suit)
c.stop_camera()