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arudinoPi_demos.py
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arudinoPi_demos.py
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import time
import warnings
import serial
import serial.tools.list_ports
class MotorMove(object):
def __init__(self, parent=None):
ser_ports = [
p.device
for p in serial.tools.list_ports.comports()
if 'Arduino' in p.description
]
if not ser_ports:
raise IOError("No ser found")
else:
self.ser = serial.Serial(ser_ports[0], 9600)
if len(ser_ports) > 1:
warnings.warn('Multiple sers found - using the first')
time.sleep(5)
if self.ser is None:
print 'Device not found'
# self.ser = serial.Serial('/dev/ttyACM0', 9600)
def _set_opening_position(self):
print 'Moving to opening position...'
self.ser.write('M1023,1023')
self.motorStatus = 0
while motorStatus == 0:
status = self.ser.readline()
print status
if status[0] == 'D':
motorStatus = 1
print 'Insert Plate'
def _set_initial_position(self):
print 'Moving to initial position...'
self.ser.write('M30,30')
self.motorStatus = 0
while self.motorStatus == 0:
status = self.ser.readline()
print status
if status[0] == 'D':
self.motorStatus = 1
print 'Read to take measurement...'
time.sleep(1)
def _set_blank_position(self, blankPositionStr, blankPosition):
print 'Moving to Blank position...'
self.ser.write(blankPosition)
self.motorStatus = 0
while self.motorStatus == 0:
status = self.ser.readline()
print status
if status[0] == 'D':
self.motorStatus = 1
print 'Read to take measurement...'
time.sleep(1)
def _set_new_position(self, well, wellPosition):
print 'Moving to' + well
self.ser.write(wellPosition)
self.motorStatus = 0
while self.motorStatus == 0:
status = self.ser.readline()
print status
if status[0] == 'D':
self.motorStatus = 1
self.currentWell = well
time.sleep(1)
def _get_current_position(self):
self.ser.write('X')
positionX = int(self.ser.readline())
self.ser.write('Y')
positionY = int(self.ser.readline())
return positionX, positionY
def _convert_labels_to_numericals(self, toRead):
well_letters = ['A','B','C','D','E','F','G','H']
toReadNum = []
for well in toRead:
wellRow = well[0]
wellCol = int(well[1:len(well)])
for index in range(0,len(well_letters)):
if wellRow == well_letters[index]:
toReadNum.append(str(index+1)+'_'+ str(wellCol))
return toReadNum
# def _set_new_position(self,well):
# y_done = 0
# x_done = 0
# wellDistanceY = 94
# wellDistanceX = 94
# currentRow = int(self.currentWell.split('_')[0])
# currentCol = int(self.currentWell.split('_')[1])
# newRow = int(well.split('_')[0])
# print 'newRow: ', newRow
# newCol = int(well.split('_')[1])
# rowsToMove = int(newRow-currentRow)
# colsToMove = int(newCol-currentCol)
# currentX, currentY = self._get_current_position()
# if rowsToMove < 0:
# newY = currentY-(abs(rowsToMove*wellDistanceY))
# if newY < 0:
# newY = 0
# y_done = 1
# elif rowsToMove > 0:
# newY = currentY + (abs(rowsToMove*wellDistanceY))
# if newY < 0:
# newY = 0
# y_done = 1
# else:
# newY = currentY
# y_done = 1
# if colsToMove < 0:
# newX = currentX-(abs(colsToMove*wellDistanceX))
# x_done = 1
# elif colsToMove > 0:
# newX = currentX + (abs(colsToMove*wellDistanceX))
# x_done = 1
# else:
# newX = currentX
# x_done = 1
# if x_done == 1 & y_done == 1:
# newPosition = 'M'+str(abs(newX))+','+str(newY)
# return newPosition
def _move_to_new_position(self,well):
motorStatus = 0
newPosition = self._set_new_position(well)
print newPosition
self.currentWell = well
self.ser.write(newPosition)
while motorStatus == 0:
status = self.ser.readline()
if status[0] == 'D':
time.sleep(1)
#Take Camera Reading
motorStatus = 1
return motorStatus
def _set_led_in_position(self,color):
self.ser.write('S'+color)
def _toggle_led(self,color):
self.ser.write('L'+color)
time.sleep(1)
#m = MotorMove()
#m._set_initial_position()
#m._get_current_position()
#toReadNum = m._convert_labels_to_numericals(['B10','C12'])
##print toReadNum
##m._move_to_new_position(toReadNum)
##m.ser.close() #NECESSARY TO MAINTAIN PROPER POTENTIOMETER VALUE CONVENTION
#toRead = ['A12']
#toReadNum = m._convert_labels_to_numericals(toRead)
#m._move_to_new_position(toReadNum)