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MechanicalAPI.py
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MechanicalAPI.py
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import RPi.GPIO as GPIO
from time import sleep
# statics definition
RIGHT_DIR = 5 # direction GPIO pin
RIGHT_STEP = 6 # step GPIO pin
LEFT_DIR = 20
LEFT_STEP = 21
FRONT_DIR = 19
FRONT_STEP = 26
BACK_DIR = 17
BACK_STEP = 27
RIGHT_SOLEN = 22 # right solenoid pin
LEFT_SOLEN = 13
FRONT_SOLEN = 4
BACK_SOLEN = 12
CW = 1 # clockwise rotation
CCW = 0 # counterclockwise rotation
ATTACH = GPIO.LOW # signal for the solenoid to attach
DETACH = GPIO.HIGH # signal for the solenoid to detach
SPR = 320 # steps per revolution (360/1.8)
# global variables definition
speed = 2
delay = .0007887 #0.0007887
interMoveDelay = 0.2 #0.1
# GPIO set up
GPIO.setmode(GPIO.BCM)
GPIO.setup(RIGHT_DIR, GPIO.OUT)
GPIO.setup(RIGHT_STEP, GPIO.OUT)
GPIO.setup(LEFT_DIR, GPIO.OUT)
GPIO.setup(LEFT_STEP, GPIO.OUT)
GPIO.setup(FRONT_DIR, GPIO.OUT)
GPIO.setup(FRONT_STEP, GPIO.OUT)
GPIO.setup(BACK_DIR, GPIO.OUT)
GPIO.setup(BACK_STEP, GPIO.OUT)
GPIO.setup(RIGHT_SOLEN, GPIO.OUT)
GPIO.setup(LEFT_SOLEN, GPIO.OUT)
GPIO.setup(FRONT_SOLEN, GPIO.OUT)
GPIO.setup(BACK_SOLEN, GPIO.OUT)
# ---------- IMPLEMENTATIONS ----------
def rightClawC():
GPIO.output(RIGHT_DIR, CW)
for x in range(SPR/4):
GPIO.output(RIGHT_STEP, GPIO.HIGH)
sleep(delay)
GPIO.output(RIGHT_STEP, GPIO.LOW)
sleep(delay)
sleep(interMoveDelay)
def rightClawCC():
GPIO.output(RIGHT_DIR, CCW)
for x in range(SPR/4):
GPIO.output(RIGHT_STEP, GPIO.HIGH)
sleep(delay)
GPIO.output(RIGHT_STEP, GPIO.LOW)
sleep(delay)
sleep(interMoveDelay)
def rightClawDetach():
GPIO.output(RIGHT_SOLEN, DETACH)
sleep(interMoveDelay)
def rightClawAttach():
GPIO.output(RIGHT_SOLEN, ATTACH)
sleep(interMoveDelay)
def leftClawC():
GPIO.output(LEFT_DIR, CW)
for x in range(SPR/4):
GPIO.output(LEFT_STEP, GPIO.HIGH)
sleep(delay)
GPIO.output(LEFT_STEP, GPIO.LOW)
sleep(delay)
sleep(interMoveDelay)
def leftClawCC():
GPIO.output(LEFT_DIR, CCW)
for x in range(SPR/4):
GPIO.output(LEFT_STEP, GPIO.HIGH)
sleep(delay)
GPIO.output(LEFT_STEP, GPIO.LOW)
sleep(delay)
sleep(interMoveDelay)
def leftClawDetach():
GPIO.output(LEFT_SOLEN, DETACH)
sleep(interMoveDelay)
def leftClawAttach():
GPIO.output(LEFT_SOLEN, ATTACH)
sleep(interMoveDelay)
def frontClawC():
GPIO.output(FRONT_DIR, CW)
for x in range(SPR/4):
GPIO.output(FRONT_STEP, GPIO.HIGH)
sleep(delay)
GPIO.output(FRONT_STEP, GPIO.LOW)
sleep(delay)
sleep(interMoveDelay)
def frontClawCC():
GPIO.output(FRONT_DIR, CCW)
for x in range(SPR/4):
GPIO.output(FRONT_STEP, GPIO.HIGH)
sleep(delay)
GPIO.output(FRONT_STEP, GPIO.LOW)
sleep(delay)
sleep(interMoveDelay)
def frontClawDetach():
GPIO.output(FRONT_SOLEN, DETACH)
sleep(interMoveDelay)
def frontClawAttach():
GPIO.output(FRONT_SOLEN, ATTACH)
sleep(interMoveDelay)
def backClawC():
GPIO.output(BACK_DIR, CW)
for x in range(SPR/4):
GPIO.output(BACK_STEP, GPIO.HIGH)
sleep(delay)
GPIO.output(BACK_STEP, GPIO.LOW)
sleep(delay)
sleep(interMoveDelay)
def backClawCC():
GPIO.output(BACK_DIR, CCW)
for x in range(SPR/4):
GPIO.output(BACK_STEP, GPIO.HIGH)
sleep(delay)
GPIO.output(BACK_STEP, GPIO.LOW)
sleep(delay)
sleep(interMoveDelay)
def backClawDetach():
GPIO.output(BACK_SOLEN, DETACH)
sleep(interMoveDelay)
def backClawAttach():
GPIO.output(BACK_SOLEN, ATTACH)
sleep(interMoveDelay)
def leftCCAndRightC():
GPIO.output(LEFT_DIR, CCW)
GPIO.output(RIGHT_DIR, CW)
for x in range(SPR/4):
GPIO.output(LEFT_STEP, GPIO.HIGH)
GPIO.output(RIGHT_STEP, GPIO.HIGH)
sleep(delay)
GPIO.output(LEFT_STEP, GPIO.LOW)
GPIO.output(RIGHT_STEP, GPIO.LOW)
sleep(delay)
sleep(interMoveDelay)
def leftCAndRightCC():
GPIO.output(LEFT_DIR, CW)
GPIO.output(RIGHT_DIR, CCW)
for x in range(SPR/4):
GPIO.output(LEFT_STEP, GPIO.HIGH)
GPIO.output(RIGHT_STEP, GPIO.HIGH)
sleep(delay)
GPIO.output(LEFT_STEP, GPIO.LOW)
GPIO.output(RIGHT_STEP, GPIO.LOW)
sleep(delay)
sleep(interMoveDelay)
def frontCAndBackCC():
GPIO.output(FRONT_DIR, CW)
GPIO.output(BACK_DIR, CCW)
for x in range(SPR/4):
GPIO.output(FRONT_STEP, GPIO.HIGH)
GPIO.output(BACK_STEP, GPIO.HIGH)
sleep(delay)
GPIO.output(FRONT_STEP, GPIO.LOW)
GPIO.output(BACK_STEP, GPIO.LOW)
sleep(delay)
sleep(interMoveDelay)
def frontCCAndBackC():
GPIO.output(FRONT_DIR, CCW)
GPIO.output(BACK_DIR, CW)
for x in range(SPR/4):
GPIO.output(FRONT_STEP, GPIO.HIGH)
GPIO.output(BACK_STEP, GPIO.HIGH)
sleep(delay)
GPIO.output(FRONT_STEP, GPIO.LOW)
GPIO.output(BACK_STEP, GPIO.LOW)
sleep(delay)
sleep(interMoveDelay)
# ---------- USAGES -------------------
def executeOneMove(move):
if move == "R":
rightClawC()
rightClawDetach()
rightClawCC()
rightClawAttach()
elif move == "R'":
rightClawCC()
rightClawDetach()
rightClawC()
rightClawAttach()
elif move == "R2":
rightClawC()
rightClawC()
elif move == "L":
leftClawC()
leftClawDetach()
leftClawCC()
leftClawAttach()
elif move == "L'":
leftClawCC()
leftClawDetach()
leftClawC()
leftClawAttach()
elif move == "L2":
leftClawC()
leftClawC()
elif move == "F":
frontClawC()
frontClawDetach()
frontClawCC()
frontClawAttach()
elif move == "F'":
frontClawCC()
frontClawDetach()
frontClawC()
frontClawAttach()
elif move == "F2":
frontClawC()
frontClawC()
elif move == "B":
backClawC()
backClawDetach()
backClawCC()
backClawAttach()
elif move == "B'":
backClawCC()
backClawDetach()
backClawC()
backClawAttach()
elif move == "B2":
backClawC()
backClawC()
elif move == "U":
upFaceBack()
backClawC()
backClawDetach()
backClawCC()
backClawAttach()
backFaceUp()
elif move == "U'":
upFaceBack()
backClawCC()
backClawDetach()
backClawC()
backClawAttach()
backFaceUp()
elif move == "U2":
upFaceBack()
backClawC()
backClawC()
backFaceUp()
elif move == "D":
downFaceFront()
frontClawC()
frontClawDetach()
frontClawCC()
frontClawAttach()
frontFaceDown()
elif move == "D'":
downFaceFront()
frontClawCC()
frontClawDetach()
frontClawC()
frontClawAttach()
frontFaceDown()
elif move == "D2":
downFaceFront()
frontClawC()
frontClawC()
frontFaceDown()
def upFaceBack():
frontClawDetach()
backClawDetach()
leftCCAndRightC()
frontClawAttach()
backClawAttach()
leftClawDetach()
leftClawC()
leftClawAttach()
rightClawDetach()
rightClawCC()
rightClawAttach()
def downFaceFront():
upFaceBack()
def backFaceUp():
frontClawDetach()
backClawDetach()
leftCAndRightCC()
frontClawAttach()
backClawAttach()
leftClawDetach()
leftClawCC()
leftClawAttach()
rightClawDetach()
rightClawC()
rightClawAttach()
def frontFaceDown():
backFaceUp()