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physical_control.py
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import threading
import time
import os
import pickle
import math
from collections import OrderedDict
#import RPi.GPIO as GPIO
import pigpio
import Adafruit_ADS1x15
import config
import helpers
#Class has functions to control stepper motors and normal DC Motors
class Stepper():
def __init__( self, logger="",
pi="",
dir_pin=0,
on_pin=0,
step_pin=0,
mode0_pin=0,
mode1_pin=0,
mode2_pin=0,
mode="stepper",
default_dir=0,
frequencies=config.GPIO_FREQUENCIES,
floats=config.STEPPER_FLOATS,
translate_mode="LOG"):
self.pi = pi #pigpiod object
self.dir_pin = dir_pin #Bool for direction of rotation
self.default_dir = default_dir
self.on_pin = on_pin #For steppers, this energizes the coil, motors allows the motor to function
self.step_pin = step_pin #Send pulses to the the coil
self.mode0_pin = mode0_pin #Set modes for step size
self.mode1_pin = mode1_pin
self.mode2_pin = mode2_pin
#Setup any pins that are being used
if self.step_pin:
pi.write(self.step_pin, 1)
if self.dir_pin:
pi.set_mode(self.dir_pin, pigpio.OUTPUT)
if self.on_pin:
pi.set_mode(self.on_pin, pigpio.OUTPUT)
if self.step_pin:
pi.set_mode(self.step_pin, pigpio.OUTPUT)
if self.mode0_pin:
pi.set_mode(self.mode0_pin, pigpio.OUTPUT)
if self.mode1_pin:
pi.set_mode(self.mode1_pin, pigpio.OUTPUT)
if self.mode2_pin:
pi.set_mode(self.mode2_pin, pigpio.OUTPUT)
self.speed = 0
self.dir = 1
self.energized = 1
self.stop = False
self.steps = 0
self.step_res_float = 1.0
self.step_res = None
self.mode = mode
self.logger = logger
self. current_step_res = None
self.change_step_res(config.STEPPER_RES)
self.rewind = False
self.max_speed = config.STEPPER_MAX
self.speeds, self.speed_params = self.generate_speeds(frequencies, floats)
self.threshold = config.ADC_KNOB_THRESHOLD
self.current_mode = ""
self.frequency = 800
self.translate_mode = translate_mode #change how we interpret speed
self.dutycycle = 0
self.stepper_frame_degree = config.STEPPER_FRAME_DEGREE
def dc_motor(self, dutycycle=0):
if self.current_mode != "DC_MOTOR":
self.current_mode = "DC_MOTOR"
if self.logger:
self.logger.debug("DC Motor mode enabled")
else:
print "DC Motor mode enabled"
if dutycycle:
self.dutycycle = dutycycle
self.pi.set_PWM_frequency(self.step_pin, self.frequency)
self.pi.set_PWM_dutycycle(self.step_pin, self.dutycycle)
if self.dutycycle <= 0:
self.pi.write(self.step_pin, 0)
def motor(self):
if self.current_mode != "MOTOR":
self.current_mode = "MOTOR"
if self.logger:
self.logger.debug("Motor mode enabled")
else:
print "Motor mode enabled"
if not self.stop:
self.turn_on()
self.pi.hardware_PWM(self.step_pin, self.frequency, 250000)
else:
self.turn_off()
self.pi.hardware_PWM(self.step_pin, self.frequency, 250000)
def one_step(self):
starting = self.pi.read(self.step_pin)
self.pi.write(self.step_pin, not starting)
time.sleep(self.max_speed)
self.pi.write(self.step_pin, starting)
def stepper(self):
if self.current_mode != "STEPPER":
self.stop = False
self.current_mode = "STEPPER"
if self.logger:
self.logger.debug("Stepper mode enabled.")
else:
print "Stepper mode enabled."
if not self.stop and self.steps:
self.turn_on()
if self.rewind:
self.pi.write(self.dir_pin, not self.default_dir)
else:
self.pi.write(self.dir_pin, self.default_dir)
for step in range(self.steps):
if not self.stop:
self.one_step()
def turn_on(self):
if not self.energized:
if self.logger:
self.logger.debug("Stepper powered on")
else:
print "Stepper power on"
#self.pi.write(self.on_pin, 1)
self.pi.write(self.on_pin, 0)
self.energized = 1
def turn_off(self):
if self.energized:
if self.logger:
self.logger.debug("Stepper powered off")
else:
print "Stepper powered off"
#self.pi.write(self.on_pin, 0)
self.pi.write(self.on_pin, 1)
self.energized = 0
def set_speed(self, speed):
if speed > 0 + self.threshold:
self.turn_on()
self.stop = False
self.pi.write(self.dir_pin, 1)
elif speed < 0 - self.threshold:
self.turn_on()
self.stop = False
self.pi.write(self.dir_pin, 0)
speed = -1.0 * speed
else:
self.stop = True
self.turn_off()
speed_index = int( round( helpers.translate( speed, 0.0, 1.0, 0, len(self.speeds)-1, self.translate_mode ) ) )
frequency = self.speed_params[self.speeds[speed_index]][0]
step_res = self.speed_params[self.speeds[speed_index]][1]
if not frequency == self.frequency:
self.logger.debug("Frequency changed to %s" % str(frequency))
self.frequency = frequency
self.pi.set_PWM_frequency(self.step_pin, frequency)
self.change_step_res(step_res)
def advance_frame(self):
steps_per_degree = ( config.STEPPER_TOTAL_STEPS / self.step_res_float ) / 360.0
self.steps = int(self.stepper_frame_degree * steps_per_degree)
self.logger.debug("Advance Frame by %s" % str(self.steps))
def change_step_res(self, step_res):
if step_res == self.step_res:
pass
else:
self.step_res = step_res
if self.mode0_pin and self.mode1_pin and self.mode2_pin:
if step_res == "1" or step_res == 1.0:
self.logger.debug("Changed Step Res to 1. 0 - 0 - 0")
self.step_res_float = 1.0
self.pi.write(self.mode0_pin, 0)
self.pi.write(self.mode1_pin, 0)
self.pi.write(self.mode2_pin, 0)
elif step_res == "1/2" or step_res == .5:
self.logger.debug("Changed Step Res to 1/2. 1 - 0 - 0")
self.step_res_float = 0.5
self.pi.write(self.mode0_pin, 1)
self.pi.write(self.mode1_pin, 0)
self.pi.write(self.mode2_pin, 0)
elif step_res == "1/4" or step_res == .25:
self.logger.debug("Changed Step Res to 1/4. 0 - 1 - 0")
self.step_res_float = 0.25
self.pi.write(self.mode0_pin, 0)
self.pi.write(self.mode1_pin, 1)
self.pi.write(self.mode2_pin, 0)
elif step_res == "1/8" or step_res == .125:
self.logger.debug("Changed Step Res to 1/8. 1 - 1 - 0")
self.step_res_float = 0.125
self.pi.write(self.mode0_pin, 1)
self.pi.write(self.mode1_pin, 1)
self.pi.write(self.mode2_pin, 0)
elif step_res == "1/16" or step_res == .0625:
self.logger.debug("Changed Step Res to 1/16. 0 - 0 - 1")
self.step_res_float = 0.0625
self.pi.write(self.mode0_pin, 0)
self.pi.write(self.mode1_pin, 0)
self.pi.write(self.mode2_pin, 1)
elif step_res == "1/32" or step_res == .03125:
self.logger.debug("Changed Step Res to 1/32. 1 - 0 - 1")
self.step_res_float = 0.03125
self.pi.write(self.mode0_pin, 1)
self.pi.write(self.mode1_pin, 0)
self.pi.write(self.mode2_pin, 1)
def cleanup(self):
if self.dir_pin:
self.pi.write(self.dir_pin, 0)
#if self.on_pin:
# self.pi.write(self.on_pin, 0)
if self.on_pin:
self.pi.write(self.on_pin, 1)
if self.step_pin:
self.pi.write(self.step_pin, 0)
self.pi.set_PWM_dutycycle(self.step_pin, 0)
if self.mode0_pin:
self.pi.write(self.mode0_pin, 0)
if self.mode1_pin:
self.pi.write(self.mode1_pin, 0)
if self.mode2_pin:
self.pi.write(self.mode2_pin, 0)
return True
def generate_speeds(self, rows, columns):
if self.logger:
self.logger.info("Generating Speeds")
else:
print "Generating Speeds"
values = {}
indices = []
for row in rows:
for column in columns:
index = row*column
indices.append(index)
try:
if row > values[index][0]:
values[index] = [row, column]
except KeyError:
values[index] = [row, column]
indices = list(set(indices))
indices.sort()
return indices, values
class Camera():
def __init__(self, pi, camera_pin=config.GPIO_CAMERA_SHUTTER):
self.pi = pi
self.camera_pin = camera_pin
self.pi.write(self.camera_pin, 0)
def shutter(self):
current_state = self.pi.read(self.camera_pin)
self.pi.write(self.camera_pin, not current_state)
time.sleep(.05)
self.pi.write(self.camera_pin, current_state)
class PhotoGate():
def __init__():
return
def function(self):
return