def makeLysate(self):
global intBITS, intFLAG
if self.homeComplete:
if self.vFinal == 0:
print('Set Lysate Volume')
if self.cFinal == 0:
print('Set Cycle Number')
else:
GPIO.setmode(GPIO.BCM)
GPIO.setup(
22, GPIO.IN,
pull_up_down=GPIO.PUD_UP) #set up GPIO 22 as an input
GPIO.add_event_detect(
22, GPIO.FALLING,
callback=self.moveDone) # detect interrupts
MOTOR.enablestepSTOPint(0, 'a')
MOTOR.enablestepSTOPint(0, 'b')
MOTOR.intEnable(0)
self.disableAllbutHome()
self.homeButton["state"] = "disabled"
print 'Making', self.vFinal, 'mL of lysate in', self.cFinal, 'cycles'
self.sync_config(self.direction, 120, 0)
self.start = time.time()
time.clock()
self.remainSeconds = int(self.cFinal *
((3500 * self.vFinal) - 1400) / 60)
root.after(1, self.oneCycle)
else:
print('Remove syringes and home motors')
def __init__(self,master,r,c):
self.master=master
self.initialization=False
self.sm=Frame(self.master,padx=4,pady=4,bd=2,relief='sunken')
self.sm.grid(row=r,column=c, sticky=N+S+W+E)
##Create Fonts
self.title=tkFont.Font(family='Helvetica', size=25, weight='bold')
self.heading=tkFont.Font(family='Helvetica', size=18, weight='bold')
self.content=tkFont.Font(family='Helvetica', size=12, weight='bold')
self.dir_dict = {0:'cw', 1:'ccw'}
self.direction=1
self.cycleCount=1
self.bigStart=Button(self.sm,text="go",height=108,width=125,command=self.makeLysate)
self.bigStart.grid(row=2,column=0,rowspan=2,padx=30,pady=4)
self.intBITS=MOTOR.getINTflag0(0)
self.intFLAG=1
GPIO.setmode(GPIO.BCM)
GPIO.setup(22, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.add_event_detect(22, GPIO.FALLING, callback=self.moveDone)
#allow interrupts when a motor stops
MOTOR.enablestepSTOPint(0,'a')
MOTOR.enablestepSTOPint(0,'b')
MOTOR.intEnable(0)
def move_smart_step(self, speed, command, motors_position):
current_position = self.hypoteni_to_euclid(motors_position)
x_diff = command[0]
y_diff = command[1]
end_position = [
current_position[0] + x_diff, current_position[1] + y_diff
]
motors_position_end = self.euclid_to_hypoteni(end_position)
steps = [
motors_position_end[0] - motors_position[0],
motors_position_end[1] - motors_position[1]
]
distance = (x_diff**2 + y_diff**2)**0.5
total_time = distance / (speed * self.config.meters_per_step)
current_position_mirror = [
self.config.x_total - current_position[0], current_position[1]
]
end_position_mirror = [
self.config.x_total - end_position[0], end_position[1]
]
motor1_velocity = self.motor_velocity_at_time(current_position,
end_position,
total_time / 2,
total_time)
motor2_velocity = self.motor_velocity_at_time(current_position_mirror,
end_position_mirror,
total_time / 2,
total_time)
#print('in smart step with command', command, 'steps', steps,'and velocities', motor1_velocity, motor2_velocity)
MOTOR.enablestepSTOPint(0,
'A') #set up to interrupt when motor a stops
MOTOR.enablestepSTOPint(0, 'B')
if (steps[0] == 0 and steps[1] == 0): return motors_position
motor1_direction = 'ccw'
motor2_direction = 'cw'
if (motor1_velocity < 0): motor1_direction = 'cw'
if (motor2_velocity < 0): motor2_direction = 'ccw'
MOTOR.stepperCONFIG(0, 'A', motor1_direction, 'H',
abs(motor1_velocity), 0)
MOTOR.stepperCONFIG(0, 'B', motor2_direction, 'H',
abs(motor2_velocity), 0)
if (steps[0] != 0): MOTOR.stepperMOVE(0, 'A', abs(steps[0]))
if (steps[1] != 0): MOTOR.stepperMOVE(0, 'B', abs(steps[1]))
flag_a = 1 #Initialize flag to true
flag_b = 1
if (steps[0] == 0): flag_a = 0
if (steps[1] == 0): flag_b = 0
while (flag_a or flag_b): #start loop
#time.sleep(0.05) #check every 100msec
stat = MOTOR.getINTflag0(0) #read interrupt flags
if (stat & (2**4)):
flag_b = 0
if (stat & (2**5)):
flag_a = 0
return [motors_position[0] + steps[0], motors_position[1] + steps[1]]
def makeLysate(self):
global intBITS, intFLAG
GPIO.setmode(GPIO.BCM)
GPIO.setup(22, GPIO.IN,
pull_up_down=GPIO.PUD_UP) #set up GPIO 22 as an input
GPIO.add_event_detect(22, GPIO.FALLING,
callback=self.moveDone) # detect interrupts
MOTOR.enablestepSTOPint(0, 'a')
MOTOR.enablestepSTOPint(0, 'b')
MOTOR.intEnable(0)
print "Lysing"
print self.cycleCount
self.sync_config(self.direction, 120, 0)
root.after(1, self.movement)
def configmotors(self, speed, first=False):
if (first):
GPIO.setmode(GPIO.BCM)
MOTOR.intEnable(0) #enable interrupts on Pi-Plate
MOTOR.enablestepSTOPint(
0, 'A') #set up to interrupt when motor a stops
MOTOR.enablestepSTOPint(
0, 'B') #set up to interrupt when motor a stops
MOTOR.stepperCONFIG(0, 'A', 'cw', 'H', speed, 0)
MOTOR.stepperCONFIG(0, 'B', 'cw', 'H', speed, 0)
pwm = [None, None, time.perf_counter()]
GPIO.setup(4, GPIO.OUT)
GPIO.setup(5, GPIO.OUT)
pwm[0] = GPIO.PWM(4, 50)
pwm[0].start(0)
pwm[1] = GPIO.PWM(5, 50)
pwm[1].start(0)
return pwm
def makeLysate(self):
global intBITS, intFLAG
if self.homeComplete:
if self.vFinal == 0:
print('Set Lysate Volume')
if self.cFinal == 0:
print('Set Cycle Number')
else:
GPIO.setmode(GPIO.BCM)
GPIO.setup(22, GPIO.IN, pull_up_down=GPIO.PUD_UP) #set up GPIO 22 as an input
GPIO.add_event_detect(22, GPIO.FALLING, callback=self.moveDone) # detect interrupts
MOTOR.enablestepSTOPint(0,'a')
MOTOR.enablestepSTOPint(0,'b')
MOTOR.intEnable(0)
print 'Making', self.vFinal, 'mL of lysate in', self.cFinal, 'cycles'
self.sync_config(self.direction,120,0)
root.after(1,self.oneCycle)
else:
print('Remove syringes and home motors')
class PopupWindowVolume(object):
def __init__(self,master):
top=self.top=Toplevel(master)
self.l=Label(top,text='Remove syringe for motors to move to set volume',font=tkFont.Font(family='Helvetica', size=24),padx=4,pady=4)
self.l.pack()
self.b=Button(top,text='Move Motors!',height=4,width=12,padx=4,pady=4,font=tkFont.Font(family='Helvetica', size=12),command=self.cleanup)
self.b.pack()
def cleanup(self):
self.top.destroy()
#Reset motors
MOTOR.RESET(0)
MOTOR.enablestepSTOPint(0,'a')
MOTOR.enablestepSTOPint(0,'b')
MOTOR.intEnable(0)
#Initialize Tkinter GUI
root = Tk()
root.config(bg="black")
root.attributes("-fullscreen", TRUE)
swidth=root.winfo_screenwidth()
sheight=root.winfo_screenheight()
#print tkFont.families()
container=Frame(root,bg="white")
container.place(relx=0.5, rely=0.5, anchor=CENTER)
title = headerBLOCK(container,0,0)
control = controlGUI(container,1,0)
def wait(flag):
MOTOR.enablestepSTOPint(config.ADDR, config.MOTOR)
while flag:
stat = MOTOR.getINTflag0(config.ADDR)
if stat & 0x20:
flag = 0
def __init__(self, master, r, c):
self.master = master
self.initialization = False
self.sm = Frame(self.master, padx=4, pady=4, bd=2, relief='sunken')
self.sm.grid(row=r, column=c, sticky=N + S + W + E)
##Create Fonts
self.title = tkFont.Font(family='Helvetica', size=25, weight='bold')
self.heading = tkFont.Font(family='Helvetica', size=18, weight='bold')
self.content = tkFont.Font(family='Helvetica', size=12, weight='bold')
##Home Button
self.homeButton = Button(self.sm,
text="HOME",
fg="black",
bg="blue",
height=6,
width=16,
command=self.jogHome)
self.homeButton.grid(row=0, column=0, rowspan=2, padx=30, pady=4)
self.homeComplete = 0
##Start/Stop Controls
self.StartPushSmall = Image.open("StartPushSmall.png").convert("RGB")
self.StartPushSmall = self.StartPushSmall.resize((125, 108),
Image.ANTIALIAS)
self.StartPushSmallDisplay = ImageTk.PhotoImage(self.StartPushSmall)
self.bigStart = Button(self.sm,
image=self.StartPushSmallDisplay,
height=108,
width=125,
command=self.makeLysate)
self.bigStart.image = self.StartPushSmallDisplay
self.bigStart.grid(row=2, column=0, rowspan=2, padx=30, pady=4)
#self.bigStart.pack
self.StopPushSmall = Image.open("StopPushSmall.png").convert("RGB")
self.StopPushSmall = self.StopPushSmall.resize((125, 108),
Image.ANTIALIAS)
self.StopPushSmallDisplay = ImageTk.PhotoImage(self.StopPushSmall)
self.bigStop = Button(self.sm,
image=self.StopPushSmallDisplay,
height=108,
width=125,
command=self.stopAll)
self.bigStop.grid(row=4, column=0, rowspan=2, padx=30, pady=4)
##Volume Control
self.labelv = Label(self.sm,
text="Volume Control",
padx=4,
pady=4,
font=self.heading,
anchor="center")
self.labelv.grid(row=0, column=1, columnspan=4, sticky=S)
self.vStart = 1.5
self.vLower = Button(self.sm,
text="<",
fg="black",
bg="gray",
height=2,
width=7,
command=self.vdecrease)
self.vLower.grid(row=1, column=1)
self.labelvStart = Label(self.sm,
text=self.vStart,
padx=4,
pady=4,
font=self.content,
anchor="center")
self.labelvStart.grid(row=1,
column=2,
columnspan=2,
sticky=N + E + S + W)
self.vUpper = Button(self.sm,
text=">",
fg="black",
bg="gray",
height=2,
width=7,
command=self.vincrease)
self.vUpper.grid(row=1, column=4)
self.vSet = Button(self.sm,
text="Set Total Volume",
height=2,
width=14,
command=self.vset)
self.vSet.grid(row=2, column=1, columnspan=2, sticky=W)
self.vReset = Button(self.sm,
text="Reset to Default",
height=2,
width=14,
command=self.vdefault)
self.vReset.grid(row=2, column=3, columnspan=2, sticky=E)
##Cycle Control
self.labelc = Label(self.sm,
text="Cycles Control",
padx=4,
pady=2,
font=self.heading,
anchor="center")
self.labelc.grid(row=3, column=1, columnspan=4, sticky=S)
self.cStart = 20
self.cLower = Button(self.sm,
text="<",
fg="black",
bg="gray",
height=2,
width=7,
command=self.cdecrease)
self.cLower.grid(row=4, column=1)
self.labelcStart = Label(self.sm,
text=self.cStart,
padx=4,
pady=4,
width=14,
font=self.content,
anchor="center")
self.labelcStart.grid(row=4,
column=2,
columnspan=2,
sticky=N + E + W + S)
self.cUpper = Button(self.sm,
text=">",
fg="black",
bg="gray",
height=2,
width=7,
command=self.cincrease)
self.cUpper.grid(row=4, column=4, sticky=E)
self.cSet = Button(self.sm,
text="Set Cycle Number",
height=2,
width=14,
command=self.cset)
self.cSet.grid(row=5, column=1, columnspan=2, sticky=W)
self.cReset = Button(self.sm,
text="Reset to Default",
height=2,
width=14,
command=self.cdefault)
self.cReset.grid(row=5, column=3, columnspan=2, sticky=E)
#Output Information
self.statusLabel = Label(self.sm,
text="Status Overview",
padx=4,
pady=4,
font=self.heading,
anchor="center")
self.statusLabel.grid(row=0, column=5, columnspan=2, sticky=E + S + W)
self.cycleCount = 0
self.cCounterLabel = Label(self.sm,
text="Current Cycle",
padx=4,
pady=4,
width=31,
font=self.content,
anchor="center")
self.cCounterLabel.grid(row=0,
column=5,
columnspan=2,
sticky=E + S + W)
self.cycleCountLabel = Label(self.sm,
text=self.cycleCount,
padx=4,
pady=4,
width=31,
font=self.content,
anchor="center")
self.cycleCountLabel.grid(row=1,
column=5,
columnspan=2,
sticky=N + E + W)
self.now = "00:00:00"
self.timeElapsedLabel = Label(self.sm,
text="Time Elapsed",
padx=4,
pady=4,
font=self.content,
anchor="center")
self.timeElapsedLabel.grid(row=2, column=5, sticky=S + E + W)
self.timeUp = Label(self.sm,
text=self.now,
padx=4,
pady=4,
font=self.content,
anchor="center")
self.timeUp.grid(row=3, column=5, sticky=N + E + W)
self.remain = "00:00:00"
self.timeRemainLabel = Label(self.sm,
text="Time Remaining",
padx=4,
pady=4,
font=self.content,
anchor="center")
self.timeRemainLabel.grid(row=2, column=6, sticky=S + E + W)
self.timeDown = Label(self.sm,
text=self.remain,
padx=4,
pady=4,
font=self.content,
anchor="center")
self.timeDown.grid(row=3, column=6, sticky=N + E + W)
#Output text widget
self.text_box = Text(self.sm,
padx=4,
pady=4,
height=6,
width=34,
state=DISABLED)
self.text_box.grid(row=4, column=5, columnspan=2, rowspan=2)
self.scrollb = Scrollbar(self.sm, command=self.text_box.yview)
self.scrollb.grid(row=4, column=6, rowspan=2, sticky=N + S + E)
self.text_box['yscrollcommand'] = self.scrollb.set
sys.stdout = StdRedirector(self.text_box)
sys.stderr = StdRedirector(self.text_box)
#Parameters
stat = MOTOR.getSENSORS(0)
self.homeComplete = 0
self.lysing = 0
self.vFinal = 0
self.vCurrent = 0
self.cFinal = 0
self.direction = 0
self.dir_dict = {0: 'cw', 1: 'ccw'}
GPIO.setmode(GPIO.BCM)
GPIO.setup(22, GPIO.IN,
pull_up_down=GPIO.PUD_UP) #set up GPIO 22 as an input
MOTOR.enablestepSTOPint(0, 'a')
MOTOR.enablestepSTOPint(0, 'b')
MOTOR.intEnable(0)
