def servoRight(self):
waterLog.log("","")
for i in range(self.SERVO_RIGHT_DEG,self.SERVO_MIDDLE_DEG):
self.servoSet(self.SERVO_MIDDLE_DEG-i)
sleep(self.SERVO_SPEED_DOWN)
self.servoUse(self.SERVO_MIDDLE_DEG-i)
def servoLeft(self):
waterLog.log("","")
for i in range(self.SERVO_MIDDLE_DEG,self.SERVO_LEFT_DEG+1):
self.servoSet(i)
sleep(self.SERVO_SPEED_DOWN)
self.servoUse(self.SERVO_LEFT_DEG)
def waterTo(self,pump_no,pump_time_s):
msg = "Running pump: %i. for %is" % (pump_no,pump_time_s)
waterLog.log("","")
waterLog.log("I",msg)
end_time = pump_time_s * 1000 + self.getCurrentTimeMS()
while self.getCurrentTimeMS() < end_time:
self.runPumpTo(pump_no,255)
sleep(1.0)
self.runPumpTo(pump_no,0)
def scaleReadTrue(self,n):
x = self.scaleReadCont(n)
x = (x - self.SCALE_OFFSET) / self.SCALE_AMP
x = round(x,1)
if x < -100.0 or x > 500:
mes = "Value = %i" % n
waterLog.log("E",mes)
mes = "n = %i" % x
waterLog.log("",mes)
return x
def serialReadBytes(self, cmd, n):
self.port.flushInput() # flush input buffer to avid junk
self.port.write(chr(cmd)) # Send Command
tic = int(time.time()*100) + self.SERIAL_TIMEOUT_MS
x = 0
d = 0
if n > 0:
while tic > int(time.time()*100):
if self.port.inWaiting() > 0:
x = (x << 8) | ord(self.port.read(1))
d = d + 1
if d == n: # Tjek all bytes received
break
mes = "Read %i of %i bytes" % (d, n)
if d != n: # Tjek that all byte have been recieved
waterLog.log("E",mes)
#log("",mes)
return x
def usePumpOut(self,k):
msg = "Value k = %i" % k
waterLog.log("",msg)
#if k < 0 and k > 255:
if k < 0 or k > 255:
msg = "%i < 0 and %i > 255" % (k,k)
waterLog.log("E",msg)
self.serialReadBytes(self.CMD_SET_MOTOR_3,0)
self.serialReadBytes(k,0)
x = self.serialReadBytes(self.CMD_GET_MOTOR_3,1)
if x != k:
msg = "Aim: %i, Real: %i" % (k,x)
waterLog.log("E",msg)
def runPumpTo(self,pump_no,k):
if pump_no == 0:
serial_cmd_set = self.CMD_SET_MOTOR_1
serial_cmd_get = self.CMD_GET_MOTOR_1
elif pump_no == 1:
serial_cmd_set = self.CMD_SET_MOTOR_2
serial_cmd_get = self.CMD_GET_MOTOR_2
else: # Pump no. not existing
msg = "Pump no. %i not existing" % pump_no
waterLog.log("E",msg)
msg = "Pump: %i, Value k = %i" % (pump_no,k)
waterLog.log("",msg)
if k < 0 or k > 255:
msg = "%i < 0 and %i > 255" % (k,k)
waterLog.log("E",msg)
self.serialReadBytes(serial_cmd_set,0)
self.serialReadBytes(k,0)
x = self.serialReadBytes(serial_cmd_get,1)
if x != k:
msg = "Aim: %i, Real: %i" % (k,x)
waterLog.log("E",msg)
def checkTOMS(self,k):
if k < self.getCurrentTimeMS():
waterLog.log("E","Time Out")
def waterOut(self):
mean_n = 10
m_speed = 255
sum = 0
msg = "Weighting off water."
waterLog.log("","")
waterLog.log("I",msg)
run = True
while run:
fill_time = self.WATER_FULL_BUCKET_OUT_TIME * 1000 + self.getCurrentTimeMS()
waterLog.log("I","Setting Bucket Up")
self.servoUp()
waterLog.log("I","Filling bucket")
x = 0
#self.usePumpOut(m_speed) # Start pump
while x < self.WATER_BUCKET_MAX:
if fill_time < self.getCurrentTimeMS():
run = False
break
self.usePumpOut(m_speed) # Start pump
x = self.scaleReadTrue(1)
self.usePumpOut(0) # Start pump
filled = self.scaleReadTrue(mean_n)
self.servoLeft()
sleep(1.0)
self.servoUp()
sleep(1.0)
empty = self.scaleReadTrue(mean_n)
sum = sum + (filled-empty)
msg = "Filled: %i, Empty: %i, Bucket: %i, Sum: %i" % (filled,empty,filled-empty,sum)
waterLog.log("I",msg)
msg = "Weighting off finished with a sum of: %iml" % sum
waterLog.log("I",msg)
return sum
def waterIn(self,k):
mean_n = 10;
m_speed = 255;
# Calculate number of buckets and rest
b_n = k / self.WATER_BUCKET_MAX
rest = k
msg = "Weighting of %iml in %i buckets." %(k,b_n+1)
waterLog.log("","")
waterLog.log("I",msg)
print "b_n: %i, rest: %i" % (b_n,rest) # Print something here
# Weight: b_n
w_TO = (b_n + 1) * self.WATER_FILL_BUCKET_TIME * 1000 + self.getCurrentTimeMS()# Set TO
sum = 0
if not(rest > self.WATER_BUCKET_MAX): # If no full buckets are used
empty = self.scaleReadTrue(mean_n)
while rest > self.WATER_BUCKET_MAX: # Weight full buckets
self.checkTOMS(w_TO) # Check Time Out
waterLog.log("I","Setting Bucket Up")
self.servoUp()
msg = "Filling bucket to: %iml" % self.WATER_BUCKET_MAX
waterLog.log("I",msg)
self.usePumpIn(m_speed) # Start pump
x = 0
b_TO = self.WATER_FILL_BUCKET_TIME * 1000 + self.getCurrentTimeMS()# Set TO
while x < self.WATER_BUCKET_MAX:
self.checkTOMS(w_TO) # Check Time Out
self.checkTOMS(b_TO) # Check Time Out
x = self.scaleReadTrue(1)
self.usePumpIn(0) # Stop pump
sleep(1.0)
filled = self.scaleReadTrue(mean_n)
waterLog.log("I","Setting Bucket Right")
self.servoRight()
sleep(2.0)
self.servoUp()
sleep(1.0)
empty = self.scaleReadTrue(mean_n)
sum = sum + filled-empty
rest = rest - (filled-empty)
msg = "Filled: %.1f, Empty: %.1f, Bucket: %.1f, Rest: %i, Sum: %.1f" % (filled,empty,filled-empty,rest,sum)
waterLog.log("I",msg)
# Weight: rest
waterLog.log("I","Setting Bucket Up")
self.servoUp()
msg = "Filling bucket to: %iml" % rest
waterLog.log("I",msg)
self.usePumpIn(m_speed) # Start pump
x = empty
b_TO = self.WATER_FILL_BUCKET_TIME * 1000 + self.getCurrentTimeMS()# Set TO
while (x - empty) < rest:
self.checkTOMS(w_TO) # Check Time Out
self.checkTOMS(b_TO) # Check Time Out
x = self.scaleReadTrue(1)
self.usePumpIn(0) # Stop pump
sleep(1.0)
filled = self.scaleReadTrue(mean_n)
sum = sum + (filled-empty)
rest = rest - (filled-empty)
msg = "Filled: %.1f, Empty: %.1f, Bucket: %.1f, Rest: %i, Sum: %.1f" % (filled,empty,filled-empty,rest,sum)
waterLog.log("I",msg)
waterLog.log("I","Setting Bucket Right")
self.servoRight()
sleep(2.0)
self.servoUp()
return sum
def servoUp(self):
waterLog.log("","")
self.servoUse(self.SERVO_MIDDLE_DEG)
def servoUse(self,n):
self.servoSet(n)
x = self.servoGet()
if x != n:
mes = "Aim: %i, Real: %i" % (n,x)
waterLog.log("E",mes)
