def drop_into_machine(basket):
servo_luik = Servo(21, component_id=11, start_position=2.5)
servo_luik.rotate(120)
if basket == 1:
# Bleek
servo_btm_bleek = Servo(5, component_id=6)
servo_btm_bleek.rotate(200)
time.sleep(2)
servo_btm_bleek.rotate(90)
servo_btm_bleek.stop()
else:
servo_btm_donker = Servo(27, component_id=8)
servo_btm_donker.rotate(-20)
time.sleep(2)
servo_btm_donker.rotate(90)
servo_btm_donker.stop()
servo_luik.rotate(0)
servo_luik.stop()
def close_hatch(self):
servo_luik = Servo(21, component_id=11, start_position=9.1667)
servo_luik.rotate(0)
servo_luik.stop()
self.hatch = 0
def open_hatch(self):
servo_luik = Servo(21, component_id=11, start_position=2.5)
servo_luik.rotate(120)
servo_luik.stop()
self.hatch = 1
def start_electronics():
try:
distance_sensor_bleek = DistanceSensor(12, 25, component_id=1)
distance_sensor_donker = DistanceSensor(24, 23, component_id=2)
distance_sensor_bin = DistanceSensor(
16, 6, component_id=None) # Niet standaard opslaan in database
servo_btm_bleek = Servo(4, component_id=6)
servo_top_bleek = Servo(17, component_id=7)
servo_btm_donker = Servo(22, component_id=8)
servo_top_donker = Servo(18, component_id=9)
servo_scheidingsmuur = Servo(27, component_id=10)
servo_luik = Servo(5, component_id=11)
servo_handzeepje = Servo(16, component_id=12)
# Checkt in de klasse naar flanken en slaat deze op in de database, niets doen in de while loop dus
moisture_sensor = MoistureSensor(20, component_id=4)
lcd_controller = LCDController(26, 19, 13)
color_sensor = ColorSensor(component_id=3)
threading_works = False
while True:
if threading_works:
# Fetch distance in de bin
distance_bin = distance_sensor_bin.meassure_distance(samples=3)
# Check of er een anomalie is
if 18 < distance_bin < 22:
if color_sensor.get_luminance() < 0.4:
# drop into donker
distance_sensor_donker.meassure_distance()
else:
# drop into bleek
distance_sensor_bleek.meassure_distance()
# Update database
distance_sensor_bin.store_historiek(distance_bin, 15)
# Broadcast update emit
update_all()
# Luister naar knopjes
if GPIO.input(lcd_controller.links) == False:
lcd_controller.links_pressed()
time.sleep(0.2)
elif GPIO.input(lcd_controller.midden) == False:
lcd_controller.midden_pressed()
time.sleep(0.2)
elif GPIO.input(lcd_controller.rechts) == False:
lcd_controller.rechts_pressed()
time.sleep(0.2)
time.sleep(0.05)
except KeyboardInterrupt:
print("Programma gestopt")
finally:
# Clear lcd
lcd_controller.lcd_display.lcd_clear()
GPIO.cleanup()
def drop_into_bleek():
# Init servo motors
servo_top_bleek = Servo(17, component_id=7, start_position=7)
servo_top_donker = Servo(6, component_id=9)
servo_scheidingsmuur = Servo(22, component_id=10)
servo_scheidingsmuur.rotate(55)
time.sleep(1)
servo_top_donker.rotate(10)
servo_top_bleek.rotate(170)
time.sleep(3)
servo_top_bleek.rotate(82)
servo_top_donker.rotate(90)
servo_scheidingsmuur.rotate(90)
# Stop servo motors
servo_top_bleek.stop()
servo_top_donker.stop()
servo_scheidingsmuur.stop()
# Middenschap
# 90 = base pos = recht omhoog
# 55 = laten vallen in bleek
# 125 = laten vallen in donker
# my_servo = Servo(22, None)
# Bottom bleek
# 90 = base pos, -15 = luikje open
# my_servo = Servo(27, None)
# Top bleek
# 90 = base pos, 170 = open
# my_servo = Servo(17, None)
my_servo = Servo(21, None, start_position=9.1667)
while True:
if True:
if False:
my_servo.rotate(0)
time.sleep(2)
my_servo.rotate(110)
time.sleep(2)
else:
# reset
# pass
my_servo.rotate(0)
break