print('Device with serial number ' + SN[count] +
' has been successfully set up')
portaddr.append(deviceinfo.ser.port)
x.append(opstruct(count, rt.K10CR1(deviceinfo.ser)))
totnum += 1
trig = []
for count in range(4):
xlist = []
for i in range(totnum):
if x[i].trigport == count:
xlist.append(i)
trig.append(trigstruct(len(xlist), xlist, trigmenu[count]))
lentrig = len(trig)
ad = ads.ADS1256()
#-----------------------------------------------------------------------------
#main loop:
mainloopflag = 1
totangle = [0, 0, 0, 0]
error = 0
integral = 0
output = 0
calcount = 0
fullflag = [0, 0, 0, 0]
odata = [0, 0, 0, 0]
ndata = [0, 0, 0, 0]
esign = [1, 1, 1, 1]
error_array = [0, 0, 0, 0]
chan = 'xyz'
for arg in sys.argv:
arg = arg.strip()
if arg.find('n=') == 0:
N = int(arg.replace('n=', ''))
if arg.find('ch=') == 0:
chan = arg.replace('ch=', '')
if arg.find('g=') == 0:
vgain = int(arg.replace('g=', ''))
if vgain > 6:
vgain = 0
ADC = ADS1256.ADS1256()
ADC.initADC(vgain, 0x82)
ADC.setMode(1)
vx = 0
vy = 0
vz = 0
for i in range(10):
ADC.getValue(0)
ADC.getValue(1)
ADC.getValue(2)
#time.sleep(1)
for i in range(N):
def run(self):
ads1256_controller = ADS1256.ADS1256()
ads1256_controller.ADS1256_Init()
ad_controller = AD_controller.AD_controller(self.game_dot_queue,
ads1256_controller)
ad_controller.start()
# producer-consumer queue for AD input for tablet and joystick
# joystick_x_queue = queue.Queue()
# joystick_y_queue = queue.Queue()
# 注册GPIO: 电机-2-OUT，霍尔开关-2-IN，平板-2-OUT
GPIO.setup(self.HALL_1_PIN, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(self.HALL_2_PIN, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.add_event_detect(
self.HALL_1_PIN, GPIO.RISING,
callback=self.hall_1_callback) # 会为回调函数另外开启一个线程，与主程序并发运行
GPIO.add_event_detect(self.HALL_2_PIN,
GPIO.RISING,
callback=self.hall_2_callback)
self.hall_1_target = self.hall_1_counter
self.hall_2_target = self.hall_2_counter
HALL_1_MAX = 50
HALL_2_MAX = 50
JOYSTICK_X_MAX = 8388607
JOYSTICK_X_MIN = 28500
JOYSTICK_Y_MAX = 8388607
JOYSTICK_Y_MIN = 28500
JOYSTICK_X_MID = 4451000
JOYSTICK_Y_MID = 4397000
joystick_x = 0
joystick_y = 0
loop_count = 0
while True:
# 0:jx, 1:jy, 2:h1t, 3:h1c, 4:h2t, 5:h2c, 6:m1, 7:m2, 8:loop_time
status = [0, 0, 0, 0, 0, 0, 0, 0, 0]
time_3 = time.time()
'''
if (not joystick_x_queue.empty()) and (not joystick_y_queue.empty()):
joystick_x = joystick_x_queue.get()
# print("joystick_x = ", joystick_x)
joystick_y = joystick_y_queue.get()
# print("joystick_y = ", joystick_y)
# 计算所需脉冲值
self.hall_1_target = (joystick_x - JOYSTICK_X_MIN - JOYSTICK_X_MID) / (
JOYSTICK_X_MAX - JOYSTICK_X_MIN) * HALL_1_MAX
self.hall_2_target = (joystick_y - JOYSTICK_Y_MIN - JOYSTICK_Y_MID) / (
JOYSTICK_Y_MAX - JOYSTICK_Y_MIN) * HALL_2_MAX
# print("In Master_controller, hall_1_target = ", int(hall_1_target), ", hall_2_target = ", int(hall_2_target))
# print("In Master_controller, hall_1_counter = ", self.hall_1_counter, ", hall_2_counter = ", self.hall_2_counter)
'''
joystick_x = ads1256_controller.ADS1256_GetoneChannel(3)
joystick_y = ads1256_controller.ADS1256_GetoneChannel(4)
status[0] = joystick_x
status[1] = joystick_y
self.hall_1_target = int(
(joystick_x - JOYSTICK_X_MIN - JOYSTICK_X_MID) /
(JOYSTICK_X_MAX - JOYSTICK_X_MIN) * HALL_1_MAX)
self.hall_2_target = int(
(joystick_y - JOYSTICK_Y_MIN - JOYSTICK_Y_MID) /
(JOYSTICK_Y_MAX - JOYSTICK_Y_MIN) * HALL_2_MAX)
status[2] = self.hall_1_target
status[4] = self.hall_2_target
# 驱动电机
status[3] = self.hall_1_counter
if status[3] < (self.hall_1_target - 1):
cur_time = time.time()
status[6] = 1
if (self.motor_1_direction == 2):
self.motor.Stop_1()
self.Last_direction_x = 2
self.motor_1_direction = 0
self.time_1 = time.time()
status[6] = 2
elif not (self.Last_direction_x == 2
and cur_time - self.time_1 < 0.1):
self.motor.Go_1()
self.motor_1_direction = 1
self.Last_direction_x = 0
status[6] = 3
elif status[3] > (self.hall_1_target + 1):
cur_time = time.time()
status[6] = 4
if (self.motor_1_direction == 1):
self.motor.Stop_1()
self.Last_direction_x = 1
self.motor_1_direction = 0
self.time_1 = time.time()
status[6] = 5
elif not (self.motor_1_direction == 1
and cur_time - self.time_1 < 0.1):
self.motor.Back_1()
self.motor_1_direction = 2
self.Last_direction_x = 0
status[6] = 6
else:
# if self.my_equal(self.hall_1_counter, self.hall_1_target):
self.motor.Stop_1()
status[6] = 7
if (self.motor_1_direction != 0):
self.Last_direction_x = self.motor_1_direction
self.motor_1_direction = 0
self.time_1 = time.time()
status[6] = 8
status[5] = self.hall_2_counter
if status[5] < (self.hall_2_target - 1):
cur_time = time.time()
status[7] = 1
if (self.motor_2_direction == 2):
self.motor.Stop_2()
self.Last_direction_y = 2
self.motor_2_direction = 0
self.time_2 = time.time()
status[7] = 2
elif not (self.motor_2_direction == 2
and cur_time - self.time_2 < 0.1):
self.motor.Go_2()
self.motor_2_direction = 1
self.Last_direction_y = 0
status[7] = 3
elif status[5] > (self.hall_2_target + 1):
cur_time = time.time()
status[7] = 4
if (self.motor_2_direction == 1):
self.motor.Stop_2()
self.Last_direction_y = 1
self.motor_2_direction = 0
self.time_2 = time.time()
status[7] = 5
elif not (self.motor_2_direction == 1
and cur_time - self.time_2 < 0.1):
self.motor.Back_2()
self.motor_2_direction = 2
self.Last_direction_y = 0
status[7] = 6
else:
# if self.my_equal(self.hall_2_counter, self.hall_2_target):
self.motor.Stop_2()
status[7] = 7
if (self.motor_2_direction != 0):
self.Last_direction_y = self.motor_2_direction
self.motor_2_direction = 0
self.time_2 = time.time()
status[7] = 8
status[8] = round(time.time() - time_3, 5)
# status[9] = round(time.time(), 5)
print(status)
def __init__(self):
threading.Thread.__init__(self)
self.ads1256 = ADS1256.ADS1256()
def __init__(self, master=None):
"""
This will create the window, labels and buttons required.
"""
self.master = master
self.master.title("Tag Tester")
self.master.geometry("480x650")
self.vbatt = StringVar()
self.vmcu = StringVar()
self.vreg = StringVar()
self.led_low = StringVar()
self.led_high = StringVar()
self.vbatt_sense_low = StringVar()
self.vbatt_sense_high = StringVar()
self.bleeding_low = StringVar()
self.bleeding_high = StringVar()
self.currentAction = StringVar()
self.reset_time = StringVar()
self.vbatt2 = StringVar()
self.cnew = StringVar()
self.cprogmin = StringVar()
self.cprogmax = StringVar()
self.ccharge = StringVar()
self.vcoil = StringVar()
self.vbatt.set("0 V")
self.vmcu.set("0 V")
self.vreg.set("0 V")
self.led_low.set("0 V")
self.led_high.set("0 V")
self.vbatt_sense_low.set("0 V")
self.vbatt_sense_high.set("0 V")
self.bleeding_low.set("0 V")
self.bleeding_high.set("0 V")
self.reset_time.set("0 mS")
self.vcoil.set("0 V")
self.vbatt2.set("0 V")
self.cnew.set("0 mA")
self.cprogmin.set("0 mA")
self.cprogmax.set("0 mA")
self.ccharge.set("0 mA")
self.currentAction.set("Press Start Test to begin")
#Serial number entry
x = 0
y = 0
self.el1 = Label(self.master, text="Serial Number")
self.el1.grid(row=y, column=x, pady=5)
x = 1
self.e1 = Entry(self.master)
self.e1.grid(row=y, column=x)
##########################################################################################
#read current button
x = 1
y = 1
self.b1 = Button(self.master,
text="Read initial current",
command=self.readcurrent)
#self.b1=Button(self.master, text="Read initial current", command=self.read_samplecurrent)
self.b1.grid(row=y, column=x, pady=10)
#current reading display
x = 0
y = 2
self.l13x = Label(self.master, text="Current new")
self.l13x.grid(row=y, column=x)
x = 1
self.ll13x = Label(self.master, text=" ")
self.ll13x.grid(row=y, column=x)
x = 2
self.lll13x = Label(self.master, textvariable=self.cnew)
self.lll13x.grid(row=y, column=x)
#start test button
x = 1
y = 3
self.b1 = Button(self.master,
text="Start Test",
command=self.startTest)
self.b1.grid(row=y, column=x, pady=5)
x = 0
y = 4
self.d1 = Label(self.master, textvariable=self.currentAction)
self.d1.grid(row=y, column=x, columnspan=4, pady=5)
tabley = 5
#First column
self.l0 = Label(self.master, text="SIGNAL")
self.l1 = Label(self.master, text="Vbatt ")
self.l2 = Label(self.master, text="Vmcu")
self.l3 = Label(self.master, text="Vreg")
self.l4 = Label(self.master, text="PF6 led low")
self.l5 = Label(self.master, text="PF6 led high")
self.l6 = Label(self.master, text="PC10 vbatt sense low")
self.l7 = Label(self.master, text="PC10 vbatt sense high")
self.l8 = Label(self.master, text="PA4 bleeding low")
self.l9 = Label(self.master, text="PA4 bleeding high")
self.l10 = Label(self.master, text="Reset timing")
self.l11 = Label(self.master, text="Vcoil")
self.l12 = Label(self.master, text="Charging Voltage")
self.l13 = Label(self.master, text="Current prog min")
self.l14 = Label(self.master, text="Current prog max")
self.l15 = Label(self.master, text="Current charging")
x = 0
y = tabley
self.l0.grid(row=y, column=x)
y += 1
self.l1.grid(row=y, column=x)
y += 1
self.l2.grid(row=y, column=x)
y += 1
self.l3.grid(row=y, column=x)
y += 1
self.l4.grid(row=y, column=x)
y += 1
self.l5.grid(row=y, column=x)
y += 1
self.l6.grid(row=y, column=x)
y += 1
self.l7.grid(row=y, column=x)
y += 1
self.l8.grid(row=y, column=x)
y += 1
self.l9.grid(row=y, column=x)
y += 1
self.l10.grid(row=y, column=x)
y += 1
self.l11.grid(row=y, column=x)
y += 1
self.l12.grid(row=y, column=x)
y += 1
self.l13.grid(row=y, column=x)
y += 1
self.l14.grid(row=y, column=x)
y += 1
self.l15.grid(row=y, column=x)
#Second column
self.ll0 = Label(self.master, text="Pass Criteria")
self.ll1 = Label(self.master, text="3.0-4.2 V")
self.ll2 = Label(self.master, text="3.2-3.4 V")
self.ll3 = Label(self.master, text="1.7-1.9 V")
self.ll4 = Label(self.master, text="<500 mV")
self.ll5 = Label(self.master, text=">2.7 V")
self.ll6 = Label(self.master, text="<500 mV")
self.ll7 = Label(self.master, text=">2.7 V")
self.ll8 = Label(self.master, text="<500 mV")
self.ll9 = Label(self.master, text=">2.7 V")
self.ll10 = Label(self.master, text=">5 mS")
self.ll11 = Label(self.master, text="4.9-5.1 V")
self.ll12 = Label(self.master, text="4.0-4.2 V")
self.ll13 = Label(self.master, text=" ")
self.ll14 = Label(self.master, text=" ")
self.ll15 = Label(self.master, text=" ")
x = 1
y = tabley
self.ll0.grid(row=y, column=x)
y += 1
self.ll1.grid(row=y, column=x)
y += 1
self.ll2.grid(row=y, column=x) #Vcoil
y += 1
self.ll3.grid(row=y, column=x)
y += 1
self.ll4.grid(row=y, column=x)
y += 1
self.ll5.grid(row=y, column=x)
y += 1
self.ll6.grid(row=y, column=x)
y += 1
self.ll7.grid(row=y, column=x)
y += 1
self.ll8.grid(row=y, column=x)
y += 1
self.ll9.grid(row=y, column=x)
y += 1
self.ll10.grid(row=y, column=x)
y += 1
self.ll11.grid(row=y, column=x)
y += 1
self.ll12.grid(row=y, column=x)
y += 1
self.ll13.grid(row=y, column=x)
y += 1
self.ll14.grid(row=y, column=x)
y += 1
self.ll15.grid(row=y, column=x)
#Third column
self.lll0 = Label(self.master, text="Actual Value")
self.lll1 = Label(self.master, textvariable=self.vbatt)
self.lll2 = Label(self.master, textvariable=self.vmcu)
self.lll3 = Label(self.master, textvariable=self.vreg)
self.lll4 = Label(self.master, textvariable=self.led_low)
self.lll5 = Label(self.master, textvariable=self.led_high)
self.lll6 = Label(self.master, textvariable=self.vbatt_sense_low)
self.lll7 = Label(self.master, textvariable=self.vbatt_sense_high)
self.lll8 = Label(self.master, textvariable=self.bleeding_low)
self.lll9 = Label(self.master, textvariable=self.bleeding_high)
self.lll10 = Label(self.master, textvariable=self.reset_time)
self.lll11 = Label(self.master, textvariable=self.vcoil)
self.lll12 = Label(self.master, textvariable=self.vbatt2)
self.lll13 = Label(self.master, textvariable=self.cprogmin)
self.lll14 = Label(self.master, textvariable=self.cprogmax)
self.lll15 = Label(self.master, textvariable=self.ccharge)
x = 2
y = tabley
self.lll0.grid(row=y, column=x)
y += 1
self.lll1.grid(row=y, column=x)
y += 1
self.lll2.grid(row=y, column=x)
y += 1
self.lll3.grid(row=y, column=x)
y += 1
self.lll4.grid(row=y, column=x)
y += 1
self.lll5.grid(row=y, column=x)
y += 1
self.lll6.grid(row=y, column=x)
y += 1
self.lll7.grid(row=y, column=x)
y += 1
self.lll8.grid(row=y, column=x)
y += 1
self.lll9.grid(row=y, column=x)
y += 1
self.lll10.grid(row=y, column=x)
y += 1
self.lll11.grid(row=y, column=x)
y += 1
self.lll12.grid(row=y, column=x)
y += 1
self.lll13.grid(row=y, column=x)
y += 1
self.lll14.grid(row=y, column=x)
y += 1
self.lll15.grid(row=y, column=x)
#Fourth column
self.llll0 = Label(self.master, text="Pass / Fail")
self.llll1 = Label(self.master, text=" ", bg="white")
self.llll2 = Label(self.master, text=" ", bg="white")
self.llll3 = Label(self.master, text=" ", bg="white")
self.llll4 = Label(self.master, text=" ", bg="white")
self.llll5 = Label(self.master, text=" ", bg="white")
self.llll6 = Label(self.master, text=" ", bg="white")
self.llll7 = Label(self.master, text=" ", bg="white")
self.llll8 = Label(self.master, text=" ", bg="white")
self.llll9 = Label(self.master, text=" ", bg="white")
self.llll10 = Label(self.master, text=" ", bg="white")
self.llll11 = Label(self.master, text=" ", bg="white")
self.llll12 = Label(self.master, text=" ", bg="white")
x = 3
y = tabley
self.llll0.grid(row=y, column=x)
y += 1
self.llll1.grid(row=y, column=x)
y += 1
self.llll2.grid(row=y, column=x)
y += 1
self.llll3.grid(row=y, column=x)
y += 1
self.llll4.grid(row=y, column=x)
y += 1
self.llll5.grid(row=y, column=x)
y += 1
self.llll6.grid(row=y, column=x)
y += 1
self.llll7.grid(row=y, column=x)
y += 1
self.llll8.grid(row=y, column=x)
y += 1
self.llll9.grid(row=y, column=x)
y += 1
self.llll10.grid(row=y, column=x)
y += 1
self.llll11.grid(row=y, column=x)
y += 1
self.llll12.grid(row=y, column=x)
y += 6
self.exit = Button(
self.master, text="Exit",
command=self.master.destroy) #.pack(side="top",pady=40)
self.exit.grid(row=y, column=1, pady=5)
self.ADC = ADS1256.ADS1256()
self.ADC.ADS1256_init()
self.relaywirelesscharge = 24
self.relaybatt = 23
self.reset = 27