def __init__(self):
super().__init__('R_KR16')
self.publisher_ = self.create_publisher(AdjacencyList, 'graph_node_network', 10)
timer_period = 1 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
#Action server declaration
self._action_server = ActionServer(self,Transport,'transport_request',self.transport_callback,goal_callback=self.goal_parse_msg)
self.action_storage_client_2 = ActionClient(self, Storage, 'storage_request_2')
self.action_storage_client_0 = ActionClient(self, Storage, 'storage_request_0')
self.graph = AdjacencyList()
self.graph.node = 1
self.graph.adjacent = [0,2]
self.storage_0_ready = 0
self.storage_2_ready = 0
print("init.....")
#--------GPIO pin setup start-------------
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
self.pin_start_01 = 36
self.pin_start_12 = 37
self.pin_progress = 31
self.pin_finished = 33
GPIO.setup(self.pin_start_01, GPIO.OUT)
GPIO.setup(self.pin_start_12, GPIO.OUT)
GPIO.setup(self.pin_progress, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(self.pin_finished, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.output(self.pin_start_01, GPIO.LOW)
GPIO.output(self.pin_start_12, GPIO.LOW)
#--------GPIO pin setup end-------------
print("ready")
def __init__(self):
super().__init__('Linear_Conveyor')
self.publisher_ = self.create_publisher(AdjacencyList, 'graph_node_network', 10)
self._action_server = ActionServer(self,Storage,'storage_request_0',self.storage_callback,goal_callback=self.goal_parse_msg)
timer_period = 1 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
self.graph = AdjacencyList()
self.graph.node = 0
self.graph.adjacent = [1]
#--------GPIO pin setup start-------------
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
self.pin_MOVEUP = 11
self.pin_MOVEDOWN = 13
GPIO.setup(self.pin_MOVEUP, GPIO.OUT)
GPIO.setup(self.pin_MOVEDOWN, GPIO.OUT)
GPIO.output(self.pin_MOVEUP, GPIO.LOW)
GPIO.output(self.pin_MOVEDOWN, GPIO.LOW)
#--------GPIO pin setup end-------------
self.pos = 0
self.length_of_movement = 1.2
print("Ensure the conveyor is wired to the controller")
time.sleep(1)
print("init.....")
for i in range(10):
GPIO.output(self.pin_MOVEDOWN, GPIO.HIGH)
time.sleep(self.length_of_movement)
GPIO.output(self.pin_MOVEDOWN, GPIO.LOW)
print("ready")
def __init__(self):
super().__init__('R_KR10')
self.publisher_ = self.create_publisher(AdjacencyList, 'graph_node_network', 10)
timer_period = 1 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
#Action server declaration
self._action_server = ActionServer(self,Transport,'transport_request',self.transport_callback,goal_callback=self.goal_parse_msg)
self.action_storage_client_2 = ActionClient(self, Storage, 'storage_request_2')
self.action_storage_client_5 = ActionClient(self, Storage, 'storage_request_5')
self.action_storage_client_6 = ActionClient(self, Storage, 'storage_request_6')
self.servcie_machine_client_4 = self.create_client(MachineRequest5, 'machine_request_5')
self.graph = AdjacencyList()
self.graph.node = 3
self.graph.adjacent = [2,4,5,6]
self.storage_2_ready = 0
print("init.....")
#--------GPIO pin setup start-------------
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
self.pin_start_23 = 33
self.pin_start_32 = 35
self.pin_start_34 = 36
self.pin_start_43 = 37
self.pin_start_35 = 38
self.pin_start_36 = 40
self.pin_progress = 16
self.pin_finished = 18
GPIO.setup(self.pin_start_23, GPIO.OUT) #Input 2 Kuka
GPIO.setup(self.pin_start_32, GPIO.OUT) #Input 3 Kuka
GPIO.setup(self.pin_start_34, GPIO.OUT) #Input 4 Kuka
GPIO.setup(self.pin_start_43, GPIO.OUT) #Input 5 Kuka
GPIO.setup(self.pin_start_35, GPIO.OUT) #Input 6 Kuka
GPIO.setup(self.pin_start_36, GPIO.OUT) #Input 7 Kuka
GPIO.setup(self.pin_progress, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(self.pin_finished, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.output(self.pin_start_23, GPIO.LOW)
GPIO.output(self.pin_start_32, GPIO.LOW)
GPIO.output(self.pin_start_34, GPIO.LOW)
GPIO.output(self.pin_start_43, GPIO.LOW)
GPIO.output(self.pin_start_35, GPIO.LOW)
GPIO.output(self.pin_start_36, GPIO.LOW)
#--------GPIO pin setup end-------------
print("ready")
def __init__(self):
super().__init__('minimal_publisher')
self.publisher_ = self.create_publisher(AdjacencyList,
'graph_node_network', 10)
timer_period = 1 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
self._action_server = ActionServer(self, Storage, 'storage_request_2',
self.spin_execute_callback)
self.graph = AdjacencyList()
self.graph.node = 2
self.graph.adjacent = [1, 3]
self.trays = [0, 0, 0]
self.spinning = 0
self.conveyor_GPIO_pin = 15
self.conveyor_IR_pins = [38, 40]
self.pneumatic_stop_pins = [8, 7]
self.pneumatic_pin = 0
self.new_ir_readings = [0, 0]
self.old_ir_readings = [0, 0]
self.kuka_tray_counter = [-1, -1]
self.debounce_counter = [0, 0]
self.tray_requested = 0
self.found = 0
self.correct_edge_found = 0
print("init.....")
#--------GPIO pin setup start-------------
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
GPIO.setup(self.conveyor_GPIO_pin, GPIO.OUT)
GPIO.setup(self.conveyor_IR_pins[0],
GPIO.IN,
pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(self.conveyor_IR_pins[1],
GPIO.IN,
pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(self.pneumatic_stop_pins[0], GPIO.OUT)
GPIO.setup(self.pneumatic_stop_pins[1], GPIO.OUT)
#--------GPIO pin setup end-------------
print("ready")
def __init__(self):
super().__init__('minimal_publisher')
self.publisher_ = self.create_publisher(AdjacencyList,
'graph_node_network', 10)
self._action_server = ActionServer(self,
Storage,
'storage_request_5',
self.storage_callback,
goal_callback=self.goal_parse_msg)
timer_period = 1 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
self.create_timer(10, self.contents_callback)
self.graph = AdjacencyList()
self.graph.node = 5
self.graph.adjacent = [3]
self.contents = []
print("init.....")
print("ready")
def __init__(self):
super().__init__('minimal_publisher')
self.publisher_ = self.create_publisher(AdjacencyList, 'graph_node_network', 10)
timer_period = 1 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
self.service_request_5 = self.create_service(MachineRequest5, 'machine_request_5', self.machine_5_callback)
self.graph = AdjacencyList()
self.graph.node = 4
self.graph.adjacent = [3]
self.Door_opening_pin = 35
self.Door_closing pin = 36
self.Interlock_shorting_pin = 37
self.Chuck_opening_pin = 38
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
GPIO.setup(self.Door_opening_pin, GPIO.OUT)
GPIO.setup(self.Door_closing_pin, GPIO.OUT)
GPIO.setup(self.Chuck_opening_pin, GPIO.OUT)