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rdfStepperProcess.py
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rdfStepperProcess.py
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import RPi.GPIO as GPIO
import time
from robocluster import Device
import config
## Define RPi GPIO Pins
out1 = 13
out2 = 11
out3 = 15
out4 = 12
## Define Positional Constants
i=0
POSITIVE=0
NEGATIVE=0
y=0
sleep_time = 0.03
## Set GPIO Pins
GPIO.setmode(GPIO.BOARD)
GPIO.setup(out1,GPIO.OUT)
GPIO.setup(out2,GPIO.OUT)
GPIO.setup(out3,GPIO.OUT)
GPIO.setup(out4,GPIO.OUT)
# print("First calibrate by giving some +ve and -ve values.....")
## Create Robocluster Device
StepperDevice = Device('RDFStepperMotor', 'rover', network=config.network)
@StepperDevice.on('*/StepperRotation')
async def rotate_stepper(StepperRotation, data):
"""
Handles rotating the RDF Yagi Antenna based on WebUI Input
Input:
Primitive String, sent from WebUI via robocluster API
"""
x = int(data)
GPIO.output(out1,GPIO.LOW)
GPIO.output(out2,GPIO.LOW)
GPIO.output(out3,GPIO.LOW)
GPIO.output(out4,GPIO.LOW)
if (x > 0) and (x <= 400):
for y in range(x, 0, -1):
if NEGATIVE==1:
if i==7:
i=0
else:
i = i + 1
y = y + 2
NEGATIVE = 0
POSITIVE = 1
if i==0:
GPIO.output(out1,GPIO.HIGH)
GPIO.output(out2,GPIO.LOW)
GPIO.output(out3,GPIO.LOW)
GPIO.output(out4,GPIO.LOW)
await StepperDevice.sleep(sleep_time)
elif i==1:
GPIO.output(out1,GPIO.HIGH)
GPIO.output(out2,GPIO.HIGH)
GPIO.output(out3,GPIO.LOW)
GPIO.output(out4,GPIO.LOW)
await StepperDevice.sleep(sleep_time)
elif i==2:
GPIO.output(out1,GPIO.LOW)
GPIO.output(out2,GPIO.HIGH)
GPIO.output(out3,GPIO.LOW)
GPIO.output(out4,GPIO.LOW)
await StepperDevice.sleep(sleep_time)
elif i==3:
GPIO.output(out1,GPIO.LOW)
GPIO.output(out2,GPIO.HIGH)
GPIO.output(out3,GPIO.HIGH)
GPIO.output(out4,GPIO.LOW)
await StepperDevice.sleep(sleep_time)
elif i==4:
GPIO.output(out1,GPIO.LOW)
GPIO.output(out2,GPIO.LOW)
GPIO.output(out3,GPIO.HIGH)
GPIO.output(out4,GPIO.LOW)
await StepperDevice.sleep(sleep_time)
elif i==5:
GPIO.output(out1,GPIO.LOW)
GPIO.output(out2,GPIO.LOW)
GPIO.output(out3,GPIO.HIGH)
GPIO.output(out4,GPIO.HIGH)
await StepperDevice.sleep(sleep_time)
elif i==6:
GPIO.output(out1,GPIO.LOW)
GPIO.output(out2,GPIO.LOW)
GPIO.output(out3,GPIO.LOW)
GPIO.output(out4,GPIO.HIGH)
await StepperDevice.sleep(sleep_time)
elif i==7:
GPIO.output(out1,GPIO.HIGH)
GPIO.output(out2,GPIO.LOW)
GPIO.output(out3,GPIO.LOW)
GPIO.output(out4,GPIO.HIGH)
await StepperDevice.sleep(sleep_time)
if i==7:
i = 0
continue
i = i + 1
elif (x < 0) and (x >= -400):
x = (x * -1)
for y in range(x, 0, -1):
if POSITIVE==1:
if i==0:
i = 7
else:
i = i - 1
y = y + 3
POSITIVE = 0
NEGATIVE = 1
if i==0:
GPIO.output(out1,GPIO.HIGH)
GPIO.output(out2,GPIO.LOW)
GPIO.output(out3,GPIO.LOW)
GPIO.output(out4,GPIO.LOW)
await StepperDevice.sleep(sleep_time)
elif i==1:
GPIO.output(out1,GPIO.HIGH)
GPIO.output(out2,GPIO.HIGH)
GPIO.output(out3,GPIO.LOW)
GPIO.output(out4,GPIO.LOW)
await StepperDevice.sleep(sleep_time)
elif i==2:
GPIO.output(out1,GPIO.LOW)
GPIO.output(out2,GPIO.HIGH)
GPIO.output(out3,GPIO.LOW)
GPIO.output(out4,GPIO.LOW)
await StepperDevice.sleep(sleep_time)
elif i==3:
GPIO.output(out1,GPIO.LOW)
GPIO.output(out2,GPIO.HIGH)
GPIO.output(out3,GPIO.HIGH)
GPIO.output(out4,GPIO.LOW)
await StepperDevice.sleep(sleep_time)
elif i==4:
GPIO.output(out1,GPIO.LOW)
GPIO.output(out2,GPIO.LOW)
GPIO.output(out3,GPIO.HIGH)
GPIO.output(out4,GPIO.LOW)
await StepperDevice.sleep(sleep_time)
elif i==5:
GPIO.output(out1,GPIO.LOW)
GPIO.output(out2,GPIO.LOW)
GPIO.output(out3,GPIO.HIGH)
GPIO.output(out4,GPIO.HIGH)
await StepperDevice.sleep(sleep_time)
elif i==6:
GPIO.output(out1,GPIO.LOW)
GPIO.output(out2,GPIO.LOW)
GPIO.output(out3,GPIO.LOW)
GPIO.output(out4,GPIO.HIGH)
await StepperDevice.sleep(sleep_time)
elif i==7:
GPIO.output(out1,GPIO.HIGH)
GPIO.output(out2,GPIO.LOW)
GPIO.output(out3,GPIO.LOW)
GPIO.output(out4,GPIO.HIGH)
await StepperDevice.sleep(sleep_time)
if i==0:
i = 7
continue
i = i - 1
StepperDevice.start()
StepperDevice.wait()