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Pump_Arduino.ino

@@ -0,0 +1,168 @@
+/*
+   THIS IS FOR TESTING BOTH BALL PUMPS
+*/
+
+#include "SpeedyStepper.h"
+
+SpeedyStepper BallPump1;
+SpeedyStepper BallPump2;
+
+const long BALL_PUMP_1_STEPS_PER_REV = 200 * 76.766;
+const long BALL_PUMP_1_MICROSTEPPING = 8;
+const long BALL_PUMP_1_STEPS_PER_REV_INCLUDING_MICROSTEPPING = (BALL_PUMP_1_STEPS_PER_REV * BALL_PUMP_1_MICROSTEPPING);
+const long BALL_PUMP_1_SPEED_IN_SPS = 7500; // 5000; // 750;
+const long BALL_PUMP_1_ACCELERATION_IN_RPSS = 5000;
+const byte BALL_PUMP_1_HOME_SENSOR = 26;          // barrel sensor
+const byte BALL_PUMP_1_SENSOR = 28;               // Optical Ball sensor
+const long BALL_PUMP_1_DIRECTION_TOWARD_HOME = -1; // -1 is CCW
+const long BALL_PUMP_1_DIRECTION = -1;             // -1 is CCW
+const long BALL_PUMP_1_MAX_STEPS = 1500000;
+
+const long BALL_PUMP_2_STEPS_PER_REV = 200 * 76.766;
+const long BALL_PUMP_2_MICROSTEPPING = 8;
+const long BALL_PUMP_2_STEPS_PER_REV_INCLUDING_MICROSTEPPING = (BALL_PUMP_1_STEPS_PER_REV * BALL_PUMP_1_MICROSTEPPING);
+const long BALL_PUMP_2_SPEED_IN_SPS = 7500; // 5000; // 750;
+const long BALL_PUMP_2_ACCELERATION_IN_RPSS = 5000;
+const byte BALL_PUMP_2_HOME_SENSOR = 27;           // barrel sensor
+const byte BALL_PUMP_2_SENSOR = 29;                // Optical ball sensor
+const long BALL_PUMP_2_DIRECTION_TOWARD_HOME = 1; // -1 is CCW
+const long BALL_PUMP_2_DIRECTION = 1;             // -1 is CCW
+const long BALL_PUMP_2_MAX_STEPS = 1500000;
+
+void setup()
+{
+
+  Serial.begin(9600);
+  Serial.println("Setup begins");
+
+//  pinMode(BALL_PUMP_SELECTOR_POT, INPUT_PULLUP);
+
+  BallPump1.connectToPort(1);
+  BallPump1.setStepsPerRevolution(BALL_PUMP_1_STEPS_PER_REV * BALL_PUMP_1_MICROSTEPPING);
+  BallPump1.setSpeedInStepsPerSecond(BALL_PUMP_1_SPEED_IN_SPS);
+  BallPump1.setAccelerationInStepsPerSecondPerSecond(BALL_PUMP_1_ACCELERATION_IN_RPSS);
+  BallPump1.disableStepper();
+
+  pinMode(BALL_PUMP_1_SENSOR, INPUT_PULLUP);
+  pinMode(BALL_PUMP_1_HOME_SENSOR, INPUT_PULLUP);
+
+  BallPump2.connectToPort(2);
+  BallPump2.setStepsPerRevolution(BALL_PUMP_2_STEPS_PER_REV * BALL_PUMP_2_MICROSTEPPING);
+  BallPump2.setSpeedInStepsPerSecond(BALL_PUMP_2_SPEED_IN_SPS);
+  BallPump2.setAccelerationInStepsPerSecondPerSecond(BALL_PUMP_2_ACCELERATION_IN_RPSS);
+  BallPump2.disableStepper();
+
+  pinMode(BALL_PUMP_2_SENSOR, INPUT_PULLUP);
+  pinMode(BALL_PUMP_2_HOME_SENSOR, INPUT_PULLUP);
+
+  int ballPumpSelector = 0;
+  int ballPump1HomeSensorState = 0;
+  int ballPump2HomeSensorState = 0;
+
+  // BALL PUMPS SETUP HERE//
+
+  Serial.println("Start Homing Ball Pump 1");
+  BallPump1.enableStepper();
+  // Don't Assume the Ball Pump Is correctly homed, offset and ready to accept a ball - so rotate some first then home
+  BallPump1.moveRelativeInSteps(10000 * BALL_PUMP_1_DIRECTION_TOWARD_HOME);
+
+  BallPump1.moveToHomeInSteps(BALL_PUMP_1_DIRECTION_TOWARD_HOME, BALL_PUMP_1_SPEED_IN_SPS,
+                              BALL_PUMP_1_MAX_STEPS, BALL_PUMP_1_HOME_SENSOR);
+  BallPump1.disableStepper();
+   ballPump1HomeSensorState = digitalRead(BALL_PUMP_1_HOME_SENSOR);
+  Serial.print("BALL_PUMP#1_HOME_SENSOR_STATE = ");
+  Serial.println(ballPump1HomeSensorState);
+  Serial.println("Ball Pump 1 Homed");
+  Serial.println("Moving to allow ball to enter gate");
+  // Homing sensor is located such that ball will not enter gate - at home so we have to rotate it - to allow ball to enter gate.
+  BallPump1.enableStepper();
+  BallPump1.moveRelativeInSteps(3500 * BALL_PUMP_1_DIRECTION_TOWARD_HOME);
+  BallPump1.disableStepper();
+  Serial.println("Ball Pump 1 Ready for Ball");
+
+
+
+  Serial.println("Start Homing Ball Pump 2");
+  BallPump2.enableStepper();
+  // Don't Assume the Ball Pump Is correctly homed, offset and ready to accept a ball - so rotate some first then home
+  BallPump2.moveRelativeInSteps(10000 * BALL_PUMP_2_DIRECTION_TOWARD_HOME);
+  BallPump2.moveToHomeInSteps(BALL_PUMP_2_DIRECTION_TOWARD_HOME, BALL_PUMP_2_SPEED_IN_SPS,
+                              BALL_PUMP_2_MAX_STEPS, BALL_PUMP_2_HOME_SENSOR);
+  BallPump2.disableStepper();
+  ballPump2HomeSensorState = digitalRead(BALL_PUMP_2_HOME_SENSOR);
+  Serial.print("BALL_PUMP#2_HOME_SENSOR_STATE = ");
+  Serial.println(ballPump2HomeSensorState);
+  Serial.println("Ball Pump 2 Homed");
+  Serial.println("Moving to allow ball to enter gate");
+  // Homing sensor is located such that ball will not enter gate - at home so we have to rotate it - to allow ball to enter gate.
+  BallPump2.enableStepper();
+  BallPump2.moveRelativeInSteps(3500 * BALL_PUMP_2_DIRECTION_TOWARD_HOME);
+  BallPump2.disableStepper();
+  Serial.println("Ball Pump 2 Ready for Ball");
+
+
+  Serial.println("setup complete");
+  delay(1000);
+}
+
+void loop()
+{
+//  Serial.print("Port 23 status");
+//  Serial.println(digitalRead(23));
+//    Serial.print("Current pos: ");
+//    Serial.println(BallPump1.getCurrentPositionInSteps());
+//    int ballPump1HomeSensorState = 0;
+//    ballPump1HomeSensorState = digitalRead(BALL_PUMP_1_HOME_SENSOR);
+//    Serial.print("BALL_PUMP#1_HOME_SENSOR_STATE = ");
+//    Serial.println(ballPump1HomeSensorState);
+    int ballPumpHomeSensorState = 1;
+    if (digitalRead(BALL_PUMP_1_SENSOR) == HIGH) // && digitalRead(23) == HIGH) // Select Pump 1
+    {
+
+      Serial.println("Pump 1");
+      // Move Ball Pump 1
+
+      if ((digitalRead(BALL_PUMP_1_SENSOR) == HIGH)) // LOW for an active LOW sensor
+      {                                              // Ball Detected - Pump ball
+        Serial.println("Move Ball pump #1, one Rotation");
+        BallPump1.enableStepper();
+        BallPump1.moveRelativeInSteps(BALL_PUMP_1_STEPS_PER_REV * 8 * BALL_PUMP_1_DIRECTION);
+ // 8.3
+        BallPump1.disableStepper();
+        Serial.println("Moved Ball pump #1, one Rotation");
+      }
+      else
+      {
+
+        Serial.println("No ball detected in ball pump #1");
+        ballPumpHomeSensorState = digitalRead(BALL_PUMP_1_HOME_SENSOR);
+        Serial.print("BALL_PUMP#1_HOME_SENSOR_STATE = ");
+        Serial.println(ballPumpHomeSensorState);
+      }
+    }
+
+
+    if (digitalRead(BALL_PUMP_2_SENSOR) == HIGH) //&& digitalRead(23) == LOW)// Select Pump 2
+    {
+      // Move Ball Pump 2
+
+      Serial.println("Pump 2");
+
+      if ((digitalRead(BALL_PUMP_2_SENSOR)) == HIGH) // HIGH for an active HIGH sensor
+      {
+        Serial.println("Move Ball pump #2, one Rotation");
+        BallPump2.enableStepper();
+        BallPump2.moveRelativeInSteps(BALL_PUMP_2_STEPS_PER_REV * 8 * BALL_PUMP_2_DIRECTION); //
+        BallPump2.disableStepper();
+        Serial.println("Moved Ball pump #2, one Rotation");
+      }
+      else
+      {
+        Serial.println("No ball detected in ball pump #2");
+        ballPumpHomeSensorState = digitalRead(BALL_PUMP_2_HOME_SENSOR);
+        Serial.print("BALL_PUMP#2_HOME_SENSOR_STATE = ");
+        Serial.println(ballPumpHomeSensorState);
+      }
+    }
+  delay(1000);
+}

README.md

@@ -44,7 +44,7 @@ Joints: x,y,z, measured in mm from the lens of the camera.
 
 ## How to Run ##
 
-TODO
+Monkey See, Monkey Do, Monkey Say HooHoo
 
 
 

firma.py

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+from pyfirmata import Arduino, util
+from kivy.app import App
+from kivy.lang import Builder
+from kivy.core.window import Window
+from kivy.properties import ObjectProperty
+
+from kivy.uix.button import Button
+from pidev.kivy import DPEAButton
+from kivy.uix.screenmanager import ScreenManager, Screen
+
+SCREEN_MANAGER= ScreenManager()
+MAIN_SCREEN_NAME = 'main'
+board = Arduino("/dev/ttyACM1")
+# Change to your port
+from time import sleep
+class ProjectNameGUI(App):
+    tester = ObjectProperty(DPEAButton)
+
+    def build(self):
+        """
+        Build the application
+        :return: Kivy Screen Manager instance
+        """
+        return SCREEN_MANAGER
+
+class MainScreen(Screen):
+    xcv = 0
+    def switch(self):
+        if self.xcv == 1:
+            board.digital[13].write(0)
+            self.xcv = 0
+            print(self.xcv)
+        elif self.xcv == 0:
+            board.digital[13].write(1)
+            self.xcv = 1
+            print(self.xcv)
+
+
+# print("Start blinking D13")
+# print(board.digital[13])
+
+# while True:
+#     board.digital[13].write(1)
+#     sleep(1)
+#     board.digital[13].write(0)
+#     sleep(1)
+
+Builder.load_file('test.kv')
+SCREEN_MANAGER.add_widget(MainScreen(name='main'))
+
+if __name__ == '__main__':
+    ProjectNameGUI().run()

main.py

@@ -0,0 +1,19 @@
+from pyfirmata import Arduino, util
+from time import sleep
+
+board = Arduino("/dev/ttyACM1") # Change to your port
+print("Start blinking D13")
+# board.digital[13].write(1)
+while True:
+    board.digital[13].write(1)
+    sleep(1)
+    board.digital[13].write(0)
+    sleep(1)
+
+
+
+# Press the green button in the gutter to run the script.
+# if __name__ == '__main__':
+#     print_hi('PyCharm')
+
+# See PyCharm help at https://www.jetbrains.com/help/pycharm/

test.kv

@@ -0,0 +1,8 @@
+<MainScreen>:
+    DPEAButton:
+        id: tester
+        text: 'test'
+        size: 100, 100
+        x: root.width * 0.6
+        y: root.height * 0.2
+        on_press: root.switch()