def calibrate_motor():
for i in range(1,3+1)
m = {1:"ground_layer",2:"vertical_altitude_layer",3:"horizontal_altitude_layer"}.get(motor_number)
motor = Layer(m)
turn_on_gpio(motor.pin_sleep)
cmd_pos = 40000
flag = True
turn_off_gpio(motor.pin_dir)
while(flag):
try:
turn_off_gpio(motor.pin_step)
turn_on_gpio(motor.pin_step)
except KeyboardInterrupt:
flag = False
motor.cur_pos = motot.vr_end
turn_on_gpio(motor.pin_dir)
flag = True
while(flag and motor.cur_pos>0)
try:
turn_off_gpio(motor.pin_step)
turn_on_gpio(motor.pin_step)
motor.cur_pos -= 1
except KeyboardInterrupt:
flag = False
turn_off_gpio(motor.pin_sleep)
def motor_to_init(motor, server):
'''
Moves motor to init
'''
m = Layer(motor)
print(RED+'Moving until find a sensor OR PRESS CONTROL+C'+NO_COLOR)
m.steps = MAX_NUM
server.motor_move(m.name, m.pin_dir, m.pin_step, m.pin_sleep, m.pin_opto1, m.pin_opto2, m.simulated, m.direction, m.velocity, m.steps, m.vr_init, m.vr_end, m.cur_pos)
def layer_move_skip_sensor(self, layer_id):
layer = Layer(layer_id)
steps = self.client.motor_move_skip_sensor(layer.name,
layer.direction,
layer.velocity,
layer.steps,
layer.cur_pos,
layer.cmd_pos)
layer.cur_pos = layer.cur_pos + steps
return steps
def set_to_zero(self, layer_id):
layer = Layer(layer_id)
steps = self.client.set_to_zero(layer.name,
layer.direction,
layer.velocity,
layer.steps,
layer.cur_pos,
layer.cmd_pos)
layer.cur_pos = steps
return steps
def move_in_valid_range(motor, steps, server):
'''
Movements in valid ranges
'''
m = Layer(motor)
print("cur_pos : %d" % m.cur_pos)
cmd_pos = m.cur_pos + steps
print("cmd_pos : %d" % cmd_pos)
if cmd_pos < m.vr_init:
print("cmd from %d --> %d" % (cmd_pos, m.vr_init))
cmd_pos = m.vr_init
if cmd_pos > m.vr_end:
print("cmd from %d --> %d" % (cmd_pos, m.vr_init))
cmd_pos = m.vr_init
steps = cmd_pos - m.cur_pos
if steps > 0:
print("STEPS to cmd_pos: %d --> to %s" % (steps,m.direction))
m.steps = steps
m.direction = "END_POSITION"
server.motor_move(m.name, m.pin_dir, m.pin_step, m.pin_sleep, m.pin_opto1, m.pin_opto2, m.simulated, m.direction, m.velocity, m.steps, m.vr_init, m.vr_end, m.cur_pos)
else:
m.direction = "INIT_POSITION"
print("STEPS to cmd_pos: %d --> to %s" % (steps,m.direction))
steps = abs(steps)
m.steps = steps
server.motor_move(m.name, m.pin_dir, m.pin_step, m.pin_sleep, m.pin_opto1, m.pin_opto2, m.simulated, m.direction, m.velocity, m.steps, m.vr_init, m.vr_end, m.cur_pos)
m.cur_pos = cmd_pos
return m.cur_pos, cmd_pos
def set_position(self, layer_id, cmd_pos, vel):
'''
'''
layer = Layer(layer_id)
layer.cmd_pos = cmd_pos
layer.velocity = vel
layer.cur_pos = self.client.get_motor_cur_pos(layer.name)
steps = cmd_pos - layer.cur_pos
if steps > 0:
layer.direction = 'END_POSITION'
else:
layer.direction = 'INIT_POSITION'
steps = abs(steps)
layer.steps = steps
layer.cur_pos = self.layer_move_skip_sensor(layer_id)
def set_to_zero(self, name, direction, velocity, steps, cur_pos, cmd_pos):
motor = Layer(name)
motor.steps = 0
motor.direction = direction
motor.velocity = velocity
dir_pin = 0
motor.cur_pos = 0
motor.cmd_pos = 0
#print "SET ALL TO ZERO"
#print "name %s" % motor.name
#print "direction %s" % motor.direction
#print "velocity %d" % motor.velocity
#print "steps %d" % motor.steps
#print "cur_pos %d" % motor.cur_pos
#print "cmd_pos %d" % motor.cmd_pos
return 0
def motor_move_skip_sensor(self, name, direction, velocity, steps, cur_pos, cmd_pos):
#print "name %s" % name
#print "direction %s" % direction
#print "velocity %d" % velocity
#print "steps %d" % steps
#print "cur_pos %d" % cur_pos
#print "cmd_pos %d" % cmd_pos
motor = Layer(name)
motor.steps = steps
motor.direction = direction
motor.velocity = velocity
dir_pin = 0
if('INIT_POSITION' in direction):
dir_pin = 1 - motor.pos_dir
else:
dir_pin = motor.pos_dir
# if(dir_pin):
#print 'pin on'
# else:
#print 'pin off'
if(dir_pin):
self.turn_on_gpio(motor.pin_dir)
else:
self.turn_off_gpio(motor.pin_dir)
self.turn_on_gpio(motor.pin_sleep)
s = c_driver.move_motor(steps, motor.pin_step)
self.turn_off_gpio(motor.pin_sleep)
#print sys._getframe().f_code.co_name,
#print ": %s -> %1.2f " % (name, s)
motor.cur_pos = cmd_pos
motor.cmd_pos = cmd_pos
#print "\n\n"
return motor.cur_pos
def save(self, widget):
print "### SAVE ###"
config_name = self.combobox_layer.get_active_text()
layer = Layer(config_name)
layer.pin_sleep = self.entry_pin_sleep.get_text()
layer.pin_step = self.entry_pin_step.get_text()
layer.pin_dir = self.entry_pin_dir.get_text()
layer.pin_opto1 = self.entry_pin_opto1.get_text()
layer.pin_opto2 = self.entry_pin_opto2.get_text()
layer.name = self.entry_name.get_text()
layer.sim = self.checkbutton_sim.get_active()
layer.direction = self.combobox_direction.get_active_text()
#layer.velocity = int(self.hscale_vel.get_value())
layer.steps = self.entry_steps.get_text()
layer.vr_init = self.entry_vr_init.get_text()
layer.vr_end = self.entry_vr_end.get_text()
layer.image_prefix = self.entry_image_prefix.get_text()
print layer.pin_sleep
print layer.pin_step
print layer.pin_dir
print layer.name
print layer.sim
print layer.direction
print layer.velocity
print layer.steps
print layer.vr_init
print layer.vr_end
print layer.image_prefix
print "### SAVE ###"
