PRE2017 3 11 Python Code

From Control Systems Technology Group

Revision as of 14:45, 16 March 2018 (view source) S164358 (Talk | contribs) ← Older edit		Revision as of 19:09, 21 March 2018 (view source) S164358 (Talk | contribs) Newer edit →
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-	==Pin/servo Control==	+	#!/usr/bin/python
-	<pre>	+	from pyzbar.pyzbar import decode    # QR reader
-	import RPi.GPIO as GPIO     # GPIO pin control	+	import cv2                    # Image reader
-	import time                 # Posibility to delay	+	import urllib                  # Url reader
-	GPIO.setmode(GPIO.BOARD)    # Board numbering sceme	+	import RPi.GPIO as GPIO   # GPIO pin control
-	pin_cServo1 = 29            # Continuous servo 1	+	import time               # Posibility to delay
-	pin_cServo2 = 33            # Continuous servo 2	+	import signal # Cleanup when ending script
-	pin_cServo3 = 37            # Continuous servo 3	+
-	pin_mServo1 = 13            # Mini servo 1	+
-	# Sets pin as output.	+	pin_servo1 = 29                        # Continuous servo 1
-	GPIO.setup(cServo1,GPIO.OUT)	+	pin_servo2 = 33                        # Continuous servo 2
-	GPIO.setup(cServo2,GPIO.OUT)	+
-	GPIO.setup(cServo3,GPIO.OUT)	+
-	GPIO.setup(mServo1,GPIO.OUT)	+
-	freq = 100                  # Servo frequency [Hz]	+	running = True
-	# Assigns frequency to pins	+	# Releases pins when script is interrupted
-	cServo1 = GPIO.PWM(pin_cServo1, freq)	+	def end_run(signal,frame):
-	cServo2 = GPIO.PWM(pin_cServo2, freq)	+	global running
-	cServo3 = GPIO.PWM(pin_cServo3, freq)	+	print "Ctrl+C captured, ending script"
-	mServo1 = GPIO.PWM(pin_mServo1, freq)	+	running = False
		+	servo1.stop()
		+	servo2.stop()
		+	GPIO.cleanup()
-	cleft  = 5            # 100% velocity to left	+	# Runs end_run if ctrl+C is clicked
-	ccenter = 7.5          # no movement	+	signal.signal(signal.SIGINT, end_run)
-	cright  = 10            # 100% velocity to right	+
-	mleft  = 5            # 90 degrees left	+	# Takes picture from camera, reads and evaluates QRcode
-	mcenter = 7.5           # center	+	def QRscanner(passcode):
-	mright  = 10            # 90 degrees right	+	grabbed, im = camera.read()      # Reads figure
		+	decodedObjects = decode(im)        # Decodes figure
		+	for obj in decodedObjects:          # Makes sure every code is read
		+	qrdata = obj.data           # Reads the alphanumerical code
		+	# Cuts important information out of data and prints it
		+	qrdata = qrdata.split("Open The Box ")[1]
		+	qrdata = qrdata[:8]
		+	if qrdata == passcode:        # Verifies if code is legit
		+	print "Correct code"
		+	return True
		+	else:
		+	print "Wrong code"
		+	return False
-	cyldelay        = 2    # Time it takes for cylinder to rotate	+	GPIO.setmode(GPIO.BOARD)    # Board numbering sceme
-	dropdelay      = 15    # Time it takes to drop package	+
-	platformdelay  = 2    # Time it takes for platform to move down	+
-	lockdelay      = 20    # Time lock stays opened	+
-	# Sets all servos still at centered position	+	GPIO.setup(pin_servo1,GPIO.OUT) # Sets pin as output
-	cServo1.start(ccenter)	+	GPIO.setup(pin_servo2,GPIO.OUT) # Sets pin as output
-	cServo2.start(ccenter)	+
-	cServo3.start(ccenter)	+
-	mServo1.start(mcenter)	+
-	if i:	+	freq = 50                  # Servo frequency [Hz]
-	cServo1.ChangeDutyCycle(cleft)      # Inner cylinder opens	+
-	cServo2.ChangeDutyCycle(cright)    # Outer cylinder moves away	+
-	time.delay(cyldelay)                # Duration of cylinder movement	+
-	cServo1.ChangeDutyCycle(ccenter)    # Inner Cylinder stops moving	+
-	cServo2.ChangeDutyCycle(ccenter)    # Outer Cylinder stops moving	+
-	time.delay(dropdelay)              # Duration of package dropping	+
-	cServo1.ChangeDutyCycle(cright)    # Inner cylinder closes	+
-	cServo2.ChangeDutyCycle(cleft)      # Outer cylinder moves back	+
-	time.delay(cyldelay)                # Duration of cylinder movement	+
-	cServo1.ChangeDutyCycle(ccenter)	+
-	cServo2.ChangeDutyCycle(ccenter)	+
-		+
-	cServo3.ChangeDutyCycle(cleft)      # Platform moves down	+
-	time.delay(platformdelay)          # Duration of platform moving down	+
-	cServo3.ChangeDutyCycle(ccenter)    # Platform stops moving	+
-	if j=true:	+	servo1 = GPIO.PWM(pin_servo1, freq) # Assigns frequency to pins
-	mServo1.ChangeDutyCycle(mleft)     # Lock opens	+	servo2 = GPIO.PWM(pin_servo2, freq) # Assigns frequency to pins
-	time.delay(lockdelay)	+
-	mServo1.ChangeDutyCycle(mcenter)    # Lock closes	+
-	</pre>	+
-	==QRcode reader==	+
-	<pre>	+
-	#!/usr/bin/python	+
-	from pyzbar.pyzbar import decode    # QR reader	+
-	import cv2                          # Image reader	+
-	import urllib                      # Url reader	+
		+	s1left  = 5.0          # 100% velocity to left
		+	s1center = 6.6          # no movement
		+	s1right  = 8.0          # 100% velocity to right
-	i = 0      # Becomes 1 if QRcode is scanned and correct	+	s2left  = 5.0           # 100% velocity to left
		+	s2center = 6.6          # no movement
		+	s2right  = 8.0          # 100% velocity to right
		+
		+	cyldelay        = 2    # Time it takes for cylinder to rotate
		+	dropdelay       = 5    # Time it takes to drop package
		+	platformdelay  = 2    # Time it takes for platform to move down
-	# Retrieves figure from recorder	+	servo1.start(s1center) # Sets all servos still at centered position
-	urllib.urlretrieve("http://192.168.178.66:8080/shot.jpg","pic01.jpg")	+	servo2.start(s2center) # Sets all servos still at centered position
-	im = cv2.imread("pic01.jpg")       # Reads figure	+
-	decodedObjects = decode(im)        # Decodes figure	+
-	for obj in decodedObjects:          # Makes sure every code is read	+
-	qrdata = obj.data              # Reads the alphanumerical code	+
-	# Cuts important information out of data and prints it	+
-	qrdata = qrdata.split("Open The Box ")[1]	+
-	qrdata = qrdata[:8]	+
-	print qrdata	+
-	if qrdata == "QL5WST4S":        # Verifies if code is legit	+	passcode = "QL5WST4S"
-	i=1	+	camera = cv2.VideoCapture(0)
		+	print "Program Running, provide QRcode"
-	# Followup action if code is legit	+	while running:
-	if i == 1:	+	time.sleep(0.1)
-	print("success")	+	rightcode = QRscanner(passcode)
-	# make motor response here	+	if rightcode:
-	</pre>	+	print "Cylinders start opening"
-	==NFC Reader==	+	servo1.ChangeDutyCycle(s1left) # Cylinders open
		+	time.sleep(cyldelay)            # Duration of cylinder movement
		+	servo1.ChangeDutyCycle(s1center) # Cylinders stop moving
		+	print "Cylinders are open, package can be dropped"
		+	time.sleep(dropdelay)           # Duration of package dropping
		+	print "Cylinders start closing"
		+	servo1.ChangeDutyCycle(s1right)  # Cylinders close
		+	time.sleep(cyldelay)            # Duration of cylinder movement
		+	servo1.ChangeDutyCycle(s1center) # Cylinders stop moving
		+	print "Cylinders are closed, platform starts moving down"
		+	servo2.ChangeDutyCycle(s2left)  # Platform moves down
		+	time.sleep(platformdelay)        # Duration of platform movement
		+	servo2.ChangeDutyCycle(s2center) # Platform stops moving
		+	print "Platform stopped moving down, new code can be scanned"

---

Revision as of 19:09, 21 March 2018

1. !/usr/bin/python

from pyzbar.pyzbar import decode # QR reader import cv2 # Image reader import urllib # Url reader import RPi.GPIO as GPIO # GPIO pin control import time # Posibility to delay import signal # Cleanup when ending script

pin_servo1 = 29 # Continuous servo 1 pin_servo2 = 33 # Continuous servo 2

running = True

1. Releases pins when script is interrupted

def end_run(signal,frame): global running print "Ctrl+C captured, ending script" running = False servo1.stop() servo2.stop() GPIO.cleanup()

1. Runs end_run if ctrl+C is clicked

signal.signal(signal.SIGINT, end_run)

1. Takes picture from camera, reads and evaluates QRcode

def QRscanner(passcode): grabbed, im = camera.read() # Reads figure decodedObjects = decode(im) # Decodes figure for obj in decodedObjects: # Makes sure every code is read qrdata = obj.data # Reads the alphanumerical code

   		# Cuts important information out of data and prints it
   		qrdata = qrdata.split("Open The Box ")[1]
   		qrdata = qrdata[:8]
   		if qrdata == passcode:        # Verifies if code is legit

print "Correct code"

       		return True

else: print "Wrong code" return False

GPIO.setmode(GPIO.BOARD) # Board numbering sceme

GPIO.setup(pin_servo1,GPIO.OUT) # Sets pin as output GPIO.setup(pin_servo2,GPIO.OUT) # Sets pin as output

freq = 50 # Servo frequency [Hz]

servo1 = GPIO.PWM(pin_servo1, freq) # Assigns frequency to pins servo2 = GPIO.PWM(pin_servo2, freq) # Assigns frequency to pins

s1left = 5.0 # 100% velocity to left s1center = 6.6 # no movement s1right = 8.0 # 100% velocity to right

s2left = 5.0 # 100% velocity to left s2center = 6.6 # no movement s2right = 8.0 # 100% velocity to right

cyldelay = 2 # Time it takes for cylinder to rotate dropdelay = 5 # Time it takes to drop package platformdelay = 2 # Time it takes for platform to move down

servo1.start(s1center) # Sets all servos still at centered position servo2.start(s2center) # Sets all servos still at centered position

passcode = "QL5WST4S" camera = cv2.VideoCapture(0) print "Program Running, provide QRcode"

while running: time.sleep(0.1) rightcode = QRscanner(passcode) if rightcode: print "Cylinders start opening" servo1.ChangeDutyCycle(s1left) # Cylinders open

   		time.sleep(cyldelay)             # Duration of cylinder movement
   		servo1.ChangeDutyCycle(s1center) # Cylinders stop moving

print "Cylinders are open, package can be dropped"

   		time.sleep(dropdelay)            # Duration of package dropping
   		print "Cylinders start closing"

servo1.ChangeDutyCycle(s1right) # Cylinders close

  		time.sleep(cyldelay)             # Duration of cylinder movement
   		servo1.ChangeDutyCycle(s1center) # Cylinders stop moving

print "Cylinders are closed, platform starts moving down" servo2.ChangeDutyCycle(s2left) # Platform moves down

   		time.sleep(platformdelay)        # Duration of platform movement
   		servo2.ChangeDutyCycle(s2center) # Platform stops moving

print "Platform stopped moving down, new code can be scanned"