def thread_buzzer(self):
"""
Engages motor board to sound buzzer for 2 seconds.
"""
motor.motor_move(self.data.BUZZER, 100)
time.sleep(2)
motor.stop_motor(self.data.BUZZER)
def move_rotational(self, rotation_direction):
"""
Determine if rotational motor should move, and if so engage motor in appropriate direction.
Return True if motor is engaged, false otherwise.
"""
if rotation_direction == Rotation.ANTI_CLOCKWISE:
if self.rotational_pos == Rotation.CLOCKWISE:
try:
print "[SORTER] Moving rotational anti-clockwise"
motor.motor_move(self.rotational_motor,
self.rotational_speed)
return True
except:
print "[SORTER] I2C Error: Rotation anti-clockwise"
else:
return False
elif rotation_direction == Rotation.CLOCKWISE:
if self.rotational_pos == Rotation.ANTI_CLOCKWISE:
try:
print "[SORTER] Moving rotational clockwise"
motor.motor_move(self.rotational_motor,
-self.rotational_speed)
return True
except:
print "[SORTER] I2C Error: Rotation clockwise"
else:
return False
else:
return False
def move_vertical(self, vertical_direction):
"""
Determine if vertical motor should move, and if so engage motor in appropriate direction.
Return True if motor is engaged, false otherwise.
"""
if vertical_direction == Vertical.UP:
if self.vertical_pos == Vertical.DOWN:
try:
print "[SORTER] Moving vertical up"
motor.motor_move(self.vertical_motor, self.vertical_speed)
return True
except:
print "[SORTER] I2C Error: Vertical up"
else:
return False
elif vertical_direction == Vertical.DOWN:
if self.vertical_pos == Vertical.UP:
try:
print "[SORTER] Moving vertical down"
motor.motor_move(self.vertical_motor, -self.vertical_speed)
return True
except:
print "[SORTER] I2C Error: Vertical down"
else:
return False
else:
return False
def __init__(self, io):
threading.Thread.__init__(self)
self.data = data.Data()
self.get_sensors = io.interface_kit.getSensors
# Inductive sensor is powered from the motor board output
motor.motor_move(self.data.INDUCTIVE_PWR, 100)
def check_run_system(self):
"""
Continuously checks the system control file, which will be written to by the
server. This includes setting the speed of the conveyor belt and stopping the
whole system.
"""
initialised_running = False
while not self.stopped_check_run_system():
if self.data.get_shut_down():
self.destroy()
break
with open('data/system_control.json') as json_file:
try:
sys_data = json.load(json_file)
run_system = sys_data['system']['run']
self.data.set_run_system(run_system)
if run_system:
if initialised_running == False:
try:
# Sound buzzer 3 times
for i in range(3):
motor.motor_move(self.data.BUZZER, 100)
time.sleep(0.4)
motor.stop_motor(self.data.BUZZER)
time.sleep(0.5)
self.conveyor.set_belt_speed(100)
initialised_running = True
except:
print "[TODDLER] Failed to write to motor board"
time.sleep(0.2)
else:
initialised_running = False
self.conveyor.stop_belt()
except:
print "[TODDLER] Failed to decode JSON"
self.conveyor.stop_belt()
def android(request):
up_down = dict(request.POST)
print(up_down)
result = {'status': 'ok', 'switch_state': up_down}
temp = up_down['switch_state'][0]
if temp == '4':
motor.motor_move(-100, 0)
print('left')
if temp == '3':
motor.motor_move(100, 0)
print('right')
if temp == '2':
motor.motor_move(0, 100)
print('forward')
if temp == '1':
motor.motor_move(0, -100)
print('backward')
if temp == '0':
motor.motor_move(0, 0)
print('stop')
return HttpResponse(json.dumps(result))
def reset_sorter(self):
"""
In the case of an I2C error or an item getting stuck, this function temporarily
stops the conveyor belt and resets the sorting arm to its original position.
"""
# Stop conveyor belt
motor.stop_motor(self.data.ENTRANCE_MOTOR_INDUCTIVE_PWR)
motor.stop_motor(self.data.EXIT_MOTOR)
# Force sorting arm to original position by ignoring current position
motor.motor_move(self.rotational_motor, self.rotational_speed)
motor.motor_move(self.vertical_motor, self.vertical_speed)
time.sleep(2)
motor.stop_motor(self.vertical_motor)
motor.stop_motor(self.rotational_motor)
self.vertical_pos = Vertical.UP
self.rotational_pos = Rotation.ANTI_CLOCKWISE
# Restart conveyor belt
motor.motor_move(self.data.ENTRANCE_MOTOR_INDUCTIVE_PWR, 70)
motor.motor_move(self.data.EXIT_MOTOR, 70)
def set_belt_speed(self, speed):
'''
Sets the speed of the front and back motors of the conveyor belt
'''
motor.motor_move(self.id_motor_front, speed)
motor.motor_move(self.id_motor_back, speed)
