Update Python toolbox

30 files changed, 740 insertions, 62 deletions

diff --git a/user-code/dcmotor/python/Arduino/Arduino.py b/user-code/dcmotor/python/Arduino/Arduino.py
index b28f43c..5d2b5c6 100644
--- a/user-code/dcmotor/python/Arduino/Arduino.py
+++ b/user-code/dcmotor/python/Arduino/Arduino.py
@@ -40,7 +40,7 @@ class Initialization:
         else:
             self.ser = Serial(PortNo,baudrate)
         sleep(2)
-        self.checkfirmware()
+        # self.checkfirmware()
         
     def close_serial(self):
         #global ser     
@@ -49,21 +49,25 @@ class Initialization:
     def checkfirmware(self):
         print ("Check Firm Ware")
         #global ser
-        self.ser.write(bytes([118])) #chr(118)
-        try: 
-            x=self.ser.read()
-            #print(x)
-            #x=self.ser.read()
-            #print(x)
-            if x==b'o':
-                try:
-                    x=self.ser.read()
-                except:
-                    sys.exit("aa..! error..! it seems correct firmware not loaded")
-            else:
+        i = 0
+        while i < 3:
+            self.ser.write(bytes([118])) #chr(118)
+            try: 
+                x=self.ser.read(2)
+                print(x.decode('UTF-8'))
+                #x=self.ser.read()
+                #print(x)
+                # if x==b'o':
+                #     try:
+                #         # x=self.ser.read()
+                #         # print(x.decode('UTF-8'))
+                #     except:
+                #         sys.exit("aa..! error..! it seems correct firmware not loaded")
+                # else:
+                #     sys.exit("aa..! error..! it seems correct firmware not loaded")
+            except:
                 sys.exit("aa..! error..! it seems correct firmware not loaded")
-        except:
-            sys.exit("aa..! error..! it seems correct firmware not loaded")
+            i = i + 1
     
         
 class Arduino(Initialization):
diff --git a/user-code/dcmotor/python/Arduino/__pycache__/Arduino.cpython-36.pyc b/user-code/dcmotor/python/Arduino/__pycache__/Arduino.cpython-36.pyc
new file mode 100644
index 0000000..2065df9
--- /dev/null
+++ b/user-code/dcmotor/python/Arduino/__pycache__/Arduino.cpython-36.pyc
diff --git a/user-code/dcmotor/python/Arduino/__pycache__/Arduino.cpython-38.pyc b/user-code/dcmotor/python/Arduino/__pycache__/Arduino.cpython-38.pyc
index dafdab7..6761fc7 100644
--- a/user-code/dcmotor/python/Arduino/__pycache__/Arduino.cpython-38.pyc
+++ b/user-code/dcmotor/python/Arduino/__pycache__/Arduino.cpython-38.pyc
diff --git a/user-code/dcmotor/python/Arduino/__pycache__/__init__.cpython-36.pyc b/user-code/dcmotor/python/Arduino/__pycache__/__init__.cpython-36.pyc
new file mode 100644
index 0000000..19c20eb
--- /dev/null
+++ b/user-code/dcmotor/python/Arduino/__pycache__/__init__.cpython-36.pyc
diff --git a/user-code/ldr/python/Arduino/Arduino.py b/user-code/ldr/python/Arduino/Arduino.py
index eb27562..5d2b5c6 100644
--- a/user-code/ldr/python/Arduino/Arduino.py
+++ b/user-code/ldr/python/Arduino/Arduino.py
@@ -40,7 +40,7 @@ class Initialization:
         else:
             self.ser = Serial(PortNo,baudrate)
         sleep(2)
-        self.checkfirmware()
+        # self.checkfirmware()
         
     def close_serial(self):
         #global ser     
@@ -49,21 +49,25 @@ class Initialization:
     def checkfirmware(self):
         print ("Check Firm Ware")
         #global ser
-        self.ser.write(bytes([118])) #chr(118)
-        try: 
-            x=self.ser.read()
-            #print(x)
-            #x=self.ser.read()
-            #print(x)
-            if x==b'o':
-                try:
-                    x=self.ser.read()
-                except:
-                    sys.exit("aa..! error..! it seems correct firmware not loaded")
-            else:
+        i = 0
+        while i < 3:
+            self.ser.write(bytes([118])) #chr(118)
+            try: 
+                x=self.ser.read(2)
+                print(x.decode('UTF-8'))
+                #x=self.ser.read()
+                #print(x)
+                # if x==b'o':
+                #     try:
+                #         # x=self.ser.read()
+                #         # print(x.decode('UTF-8'))
+                #     except:
+                #         sys.exit("aa..! error..! it seems correct firmware not loaded")
+                # else:
+                #     sys.exit("aa..! error..! it seems correct firmware not loaded")
+            except:
                 sys.exit("aa..! error..! it seems correct firmware not loaded")
-        except:
-            sys.exit("aa..! error..! it seems correct firmware not loaded")
+            i = i + 1
     
         
 class Arduino(Initialization):
@@ -101,14 +105,14 @@ class Arduino(Initialization):
         cmd="D"+"r"+a[pin]
         self.ser.write(cmd.encode('utf-8'))
         a=self.ser.read()
-        return(a)
+        return(a.decode('UTF-8'))
     
     def cmd_analog_in(self,ard_no,pin):
         cmd=""
         a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]    
         cmd="A"+a[pin]    
         self.ser.write(cmd.encode('utf-8'))
-        analog_times=[];
+        analog_times=[]
         b1=ord(self.ser.read(1))
         b2=ord(self.ser.read(1))
         a=b1+b2*256
diff --git a/user-code/ldr/python/Arduino/__pycache__/Arduino.cpython-36.pyc b/user-code/ldr/python/Arduino/__pycache__/Arduino.cpython-36.pyc
new file mode 100644
index 0000000..2065df9
--- /dev/null
+++ b/user-code/ldr/python/Arduino/__pycache__/Arduino.cpython-36.pyc
diff --git a/user-code/ldr/python/Arduino/__pycache__/Arduino.cpython-38.pyc b/user-code/ldr/python/Arduino/__pycache__/Arduino.cpython-38.pyc
index 22bf567..6761fc7 100644
--- a/user-code/ldr/python/Arduino/__pycache__/Arduino.cpython-38.pyc
+++ b/user-code/ldr/python/Arduino/__pycache__/Arduino.cpython-38.pyc
diff --git a/user-code/ldr/python/Arduino/__pycache__/__init__.cpython-36.pyc b/user-code/ldr/python/Arduino/__pycache__/__init__.cpython-36.pyc
new file mode 100644
index 0000000..19c20eb
--- /dev/null
+++ b/user-code/ldr/python/Arduino/__pycache__/__init__.cpython-36.pyc
diff --git a/user-code/ldr/python/Arduino/__pycache__/__init__.cpython-38.pyc b/user-code/ldr/python/Arduino/__pycache__/__init__.cpython-38.pyc
index 95917da..ccbb74a 100644
--- a/user-code/ldr/python/Arduino/__pycache__/__init__.cpython-38.pyc
+++ b/user-code/ldr/python/Arduino/__pycache__/__init__.cpython-38.pyc
diff --git a/user-code/led/python/Arduino/__pycache__/Arduino.cpython-38.pyc b/user-code/led/python/Arduino/__pycache__/Arduino.cpython-38.pyc
index edc2b73..6761fc7 100644
--- a/user-code/led/python/Arduino/__pycache__/Arduino.cpython-38.pyc
+++ b/user-code/led/python/Arduino/__pycache__/Arduino.cpython-38.pyc
diff --git a/user-code/pot/python/Arduino/Arduino.py b/user-code/pot/python/Arduino/Arduino.py
index b28f43c..5d2b5c6 100644
--- a/user-code/pot/python/Arduino/Arduino.py
+++ b/user-code/pot/python/Arduino/Arduino.py
@@ -40,7 +40,7 @@ class Initialization:
         else:
             self.ser = Serial(PortNo,baudrate)
         sleep(2)
-        self.checkfirmware()
+        # self.checkfirmware()
         
     def close_serial(self):
         #global ser     
@@ -49,21 +49,25 @@ class Initialization:
     def checkfirmware(self):
         print ("Check Firm Ware")
         #global ser
-        self.ser.write(bytes([118])) #chr(118)
-        try: 
-            x=self.ser.read()
-            #print(x)
-            #x=self.ser.read()
-            #print(x)
-            if x==b'o':
-                try:
-                    x=self.ser.read()
-                except:
-                    sys.exit("aa..! error..! it seems correct firmware not loaded")
-            else:
+        i = 0
+        while i < 3:
+            self.ser.write(bytes([118])) #chr(118)
+            try: 
+                x=self.ser.read(2)
+                print(x.decode('UTF-8'))
+                #x=self.ser.read()
+                #print(x)
+                # if x==b'o':
+                #     try:
+                #         # x=self.ser.read()
+                #         # print(x.decode('UTF-8'))
+                #     except:
+                #         sys.exit("aa..! error..! it seems correct firmware not loaded")
+                # else:
+                #     sys.exit("aa..! error..! it seems correct firmware not loaded")
+            except:
                 sys.exit("aa..! error..! it seems correct firmware not loaded")
-        except:
-            sys.exit("aa..! error..! it seems correct firmware not loaded")
+            i = i + 1
     
         
 class Arduino(Initialization):
diff --git a/user-code/pot/python/Arduino/__pycache__/Arduino.cpython-36.pyc b/user-code/pot/python/Arduino/__pycache__/Arduino.cpython-36.pyc
new file mode 100644
index 0000000..2065df9
--- /dev/null
+++ b/user-code/pot/python/Arduino/__pycache__/Arduino.cpython-36.pyc
diff --git a/user-code/pot/python/Arduino/__pycache__/Arduino.cpython-38.pyc b/user-code/pot/python/Arduino/__pycache__/Arduino.cpython-38.pyc
index dafdab7..6761fc7 100644
--- a/user-code/pot/python/Arduino/__pycache__/Arduino.cpython-38.pyc
+++ b/user-code/pot/python/Arduino/__pycache__/Arduino.cpython-38.pyc
diff --git a/user-code/pot/python/Arduino/__pycache__/__init__.cpython-36.pyc b/user-code/pot/python/Arduino/__pycache__/__init__.cpython-36.pyc
new file mode 100644
index 0000000..19c20eb
--- /dev/null
+++ b/user-code/pot/python/Arduino/__pycache__/__init__.cpython-36.pyc
diff --git a/user-code/push/python/Arduino/Arduino.py b/user-code/push/python/Arduino/Arduino.py
new file mode 100644
index 0000000..5d2b5c6
--- /dev/null
+++ b/user-code/push/python/Arduino/Arduino.py
@@ -0,0 +1,331 @@
+
+import sys
+import serial
+from serial import Serial
+from serial.tools.list_ports import comports
+from time import sleep
+
+p1=0               #Initial Position of servo motor 
+p2=0               #Final Position of servo motor
+
+a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]
+class Initialization:
+    def __init__(self):
+        pass
+        
+    def locateport(self):
+        if sys.platform.startswith('win'):
+            port =''
+            ports = list(comports())
+            for i in ports:
+                for j in i:
+                    if 'Arduino' in j:
+                        port = i[0]
+        elif sys.platform.startswith('linux'):
+            b=[]
+            port =''
+            ports = list(comports())
+            for i in range(len(ports)):
+                for x in range(7):
+                    portname="/dev/ttyACM"+str(x)
+                    if ports[i][0]==portname:
+                        b.append(ports[i][0])
+            port=b[0]
+        return port
+    
+    def open_serial(self,ard_no, PortNo,baudrate):
+        #global ser
+        if PortNo =='':
+            sys.exit("aa..error..! arduino not found")
+        else:
+            self.ser = Serial(PortNo,baudrate)
+        sleep(2)
+        # self.checkfirmware()
+        
+    def close_serial(self):
+        #global ser     
+        self.ser.close()
+    
+    def checkfirmware(self):
+        print ("Check Firm Ware")
+        #global ser
+        i = 0
+        while i < 3:
+            self.ser.write(bytes([118])) #chr(118)
+            try: 
+                x=self.ser.read(2)
+                print(x.decode('UTF-8'))
+                #x=self.ser.read()
+                #print(x)
+                # if x==b'o':
+                #     try:
+                #         # x=self.ser.read()
+                #         # print(x.decode('UTF-8'))
+                #     except:
+                #         sys.exit("aa..! error..! it seems correct firmware not loaded")
+                # else:
+                #     sys.exit("aa..! error..! it seems correct firmware not loaded")
+            except:
+                sys.exit("aa..! error..! it seems correct firmware not loaded")
+            i = i + 1
+    
+        
+class Arduino(Initialization):
+    def __init__(self):
+        print ("Init Arduino")
+        #self.baudrate=0
+        #self.ard_no=1
+        #self.PortNo=0
+        #self.pin=0
+        #self.val=0
+        #self.mode=0
+        #self.mno=0
+        #self.pin1=0
+        #self.pin2=0
+        #self.servo=0
+    
+    
+    
+    def cmd_digital_out(self,ard_no,pin,val):
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]   
+        cmd="D"+"a"+a[pin]+"1"    
+        self.ser.write(cmd.encode('utf-8'))
+        cmd=""
+        cmd="D"+"w"+a[pin]+str(val)
+        self.ser.write(cmd.encode('utf-8'))
+        
+    def cmd_digital_in(self,ard_no,pin):
+        b=[]
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]   
+        cmd="D"+"a"+a[pin]+"0"    
+        self.ser.write(cmd.encode('utf-8'))
+        cmd=""
+        cmd="D"+"r"+a[pin]
+        self.ser.write(cmd.encode('utf-8'))
+        a=self.ser.read()
+        return(a.decode('UTF-8'))
+    
+    def cmd_analog_in(self,ard_no,pin):
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]    
+        cmd="A"+a[pin]    
+        self.ser.write(cmd.encode('utf-8'))
+        analog_times=[]
+        b1=ord(self.ser.read(1))
+        b2=ord(self.ser.read(1))
+        a=b1+b2*256
+        #a=ser.read()
+        return(a)
+        #return(int((1023-0)*int(ord(a))/(255-0)))
+        
+        
+    def cmd_analog_out(self,ard_no, pin, val):
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]
+        cmd = "W" + a[pin] + chr(val)
+        self.ser.write(cmd.encode('utf-8'))
+        
+    def cmd_dcmotor_setup(self,ard_no,mode,mno,pin1,pin2):
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]  
+        cmd="C"+a[mno]+a[pin1]+a[pin2]+a[mode]   
+        self.ser.write(cmd.encode('utf-8'))
+        
+    def cmd_dcmotor_run(self,ard_no,mno,val):
+        cmd=""
+        if(val <0):
+            dirc=0
+        else:
+            dirc=1
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]  
+        cmd="M"+a[mno]+a[dirc]+chr(abs(val))  
+        self.ser.write(cmd.encode('utf-8'))
+    
+    def cmd_dcmotor_release(self,ard_no,mno):
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]   
+        cmd="M"+a[mno]+"r"   
+        self.ser.write(cmd.encode('utf-8'))
+        
+    def cmd_servo_attach(self,ard_no,servo): #1->pin=9  #2->pin=10
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]  
+        cmd="S"+"a"+a[servo]   
+        self.ser.write(cmd.encode('utf-8'))
+        
+    def cmd_servo_detach(self,ard_no,servo): #1->pin=9  #2->pin=10
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]    
+        cmd="S"+"d"+a[servo]   
+        self.ser.write(cmd.encode('utf-8'))
+
+    def cmd_servo_move(self,ard_no,servo,angle): #1->pin=9  #2->pin=10
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]
+        cmd="S"+"w"+a[servo]+chr(angle)   
+        self.ser.write(cmd.encode('utf-8'))
+
+
+
+
+#For PISO shift register
+    def cmd_shift_in(self,dataPin,clockPin,ledPin,clockLed):
+        value=[0 for _ in range(0,8)]
+        #print value
+        value2=[value for _ in range(0,8)]
+        #print value2
+        for i in range(0,8):
+            so= self.cmd_digital_in(1,dataPin) #Reads serial out of IC
+            print (so)
+            if so=='1':
+                self.cmd_digital_out(1,ledPin,1)
+                sleep(0.1)
+            else:
+                self.cmd_digital_out(1,ledPin,0)
+                sleep(0.1)
+            value2[i][i]=int(so)
+            #performs value=value|value2[i]
+            for j in range(0,8):
+                if value[j]==1 or value2[i][j]==1:
+                    value[j]=1
+                else:
+                    value[j]=0
+            self.cmd_digital_out(1,clockPin,1)
+            self.cmd_digital_out(1,clockLed,1)
+            sleep(0.5)
+            self.cmd_digital_out(1,clockPin,0)
+            self.cmd_digital_out(1,clockLed,0) #clockLED: Led indicating clock pulses
+            sleep(0.4)
+            #after every clock pulse, 1 right shift occurs for every bit
+            #thus after 8 clock pulses, the entire parallel input is shifted out,
+            #and obtained at the dataPin, one bit per clock pulse
+            #Thus we get the bit by bit serial output of the Parallel Load
+        print (value)
+
+
+
+
+#For PISO shift register
+#shift in for n bits
+    def cmd_shift_in_n(self,dataPin,clockPin,ledPin,clockLed,numBits):
+        n=numBits #no. of bits
+        value=[0 for _ in range(0,n)] #a list of n elements, all 0s, to store the n bits of the inputs together
+        value2=[value for _ in range(0,n)] #a list of lists, analogous to nxn array of all 0s
+        for i in range(0,n): #n iterations since n bit input is given
+            so=self.cmd_digital_in(1,dataPin)
+            if so=='1':
+                self.cmd_digital_out(1,ledPin,1)
+                sleep(0.1)
+            else:
+                self.cmd_digital_out(1,ledPin,0)
+                sleep(0.1)
+            value2[i][i]=int(so)
+            #performs value=value|value2[i]
+            for j in range(0,n):
+                if value[j]==1 or value2[i][j]==1:
+                    value[j]=1
+                else:
+                    value[j]=0
+            self.cmd_digital_out(1,clockPin,1)
+            self.cmd_digital_out(1,clockLed,1)
+            sleep(0.5)
+            self.cmd_digital_out(1,clockPin,0)
+            self.cmd_digital_out(1,clockLed,0) #clockLED: Led indicating clock pulses
+            sleep(0.4)
+        print (value)
+
+
+
+
+
+#For SIPO shift register
+    def cmd_shift_out(self,dataPin,clockPin,bitOrder,val):
+        val2=0
+        mat=[]
+        if bitOrder=='MSBFIRST':
+            #to create identity matrix
+            for i in range(0,8):
+                matsub=[0 for _ in range(0,8)]
+                matsub[i]=1
+                mat.append(matsub)
+        else:
+            #to create horizontally flipped identity matrix
+            for i in range(0,8):
+                matsub=[0 for _ in range(0,8)]
+                matsub[7-i]=1
+                mat.append(matsub)
+        for i in range(0,8):
+            #performs & operation on corresponding elements of list
+            for x,y in zip(val,mat[i]):
+                if x==1 and y==1:
+                    val2=1
+                    break
+                else:
+                    val2=0
+            self.cmd_digital_out(1,dataPin,val2)
+            self.cmd_digital_out(1,clockPin,1)
+            self.cmd_digital_out(1,clockPin,0)
+
+
+
+#For SIPO shift register
+    def cmd_shift_out_(self,dataPin,clockPin,inPin):
+        print ("Give serial input: ")
+        sleep(0.25)
+        self.cmd_digital_out(1,dataPin,self.cmd_digital_in(1,inPin)) #if inPin is HIGH,
+        #i.e. if input is given, write HIGH on Serial In Pin of IC
+        print("Serial input stored: ")
+        self.cmd_digital_out(1,clockPin,1)
+        self.cmd_digital_out(1,clockPin,0) #One clock pulse
+        sleep(0.15)
+
+
+
+
+
+#For SIPO shift register
+#shift out for n bits
+    def cmd_shift_out_n(self,dataPin,clockPin,bitOrder,val,numBits):
+        n=int(numBits) #number of bits
+        if (n%8)==0:
+            p=n
+        else:
+            p=(8*(n/8))+8
+        val1=[0 for _ in range(0,n)] #output matrix.
+            #If all elements of the matrix are 0,
+            #output pinstate will be 0 (i.e LOW).
+            #If 1 or more elements of the matrix is 1,
+            #output pinstate will be 1 (i.e HIGH)
+        val2=0
+        mat=[]
+        if bitOrder=='MSBFIRST':
+            for i in range(0,n):
+                matsub=[0 for _ in range(0,n)]
+                matsub[i]=1
+                mat.append(matsub)
+        else:
+            for i in range(0,n):
+                matsub=[0 for _ in range(0,n)]
+                matsub[(n-1)-i]=1
+                mat.append(matsub)
+        for j in range(0,(p-n)): #do nothing for the first (p-n) clock  pulses
+            self.cmd_digital_out(1,dataPin,0)
+            self.cmd_digital_out(1,clockPin,1)
+            self.cmd_digital_out(1,clockPin,0)
+        for i in range(0,n): #shift for last n clock pulses
+            #to perform val & mat[i]
+            for x,y in zip(val,mat[i]):
+                if x==1 and y==1:
+                    val2=1
+                    break
+                else:
+                    val2=0
+            print (val2,)
+            self.cmd_digital_out(1,dataPin,val2)
+            self.cmd_digital_out(1,clockPin,1)
+            self.cmd_digital_out(1,clockPin,0)
+        
+        
+        
+    
diff --git a/user-code/push/python/Arduino/__init__.py b/user-code/push/python/Arduino/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/user-code/push/python/Arduino/__init__.py
diff --git a/user-code/push/python/Arduino/__pycache__/Arduino.cpython-36.pyc b/user-code/push/python/Arduino/__pycache__/Arduino.cpython-36.pyc
new file mode 100644
index 0000000..2065df9
--- /dev/null
+++ b/user-code/push/python/Arduino/__pycache__/Arduino.cpython-36.pyc
diff --git a/user-code/push/python/Arduino/__pycache__/Arduino.cpython-38.pyc b/user-code/push/python/Arduino/__pycache__/Arduino.cpython-38.pyc
new file mode 100644
index 0000000..6761fc7
--- /dev/null
+++ b/user-code/push/python/Arduino/__pycache__/Arduino.cpython-38.pyc
diff --git a/user-code/push/python/Arduino/__pycache__/__init__.cpython-36.pyc b/user-code/push/python/Arduino/__pycache__/__init__.cpython-36.pyc
new file mode 100644
index 0000000..19c20eb
--- /dev/null
+++ b/user-code/push/python/Arduino/__pycache__/__init__.cpython-36.pyc
diff --git a/user-code/push/python/Arduino/__pycache__/__init__.cpython-38.pyc b/user-code/push/python/Arduino/__pycache__/__init__.cpython-38.pyc
new file mode 100644
index 0000000..ccbb74a
--- /dev/null
+++ b/user-code/push/python/Arduino/__pycache__/__init__.cpython-38.pyc
diff --git a/user-code/servo/python/Arduino/Arduino.py b/user-code/servo/python/Arduino/Arduino.py
new file mode 100644
index 0000000..5d2b5c6
--- /dev/null
+++ b/user-code/servo/python/Arduino/Arduino.py
@@ -0,0 +1,331 @@
+
+import sys
+import serial
+from serial import Serial
+from serial.tools.list_ports import comports
+from time import sleep
+
+p1=0               #Initial Position of servo motor 
+p2=0               #Final Position of servo motor
+
+a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]
+class Initialization:
+    def __init__(self):
+        pass
+        
+    def locateport(self):
+        if sys.platform.startswith('win'):
+            port =''
+            ports = list(comports())
+            for i in ports:
+                for j in i:
+                    if 'Arduino' in j:
+                        port = i[0]
+        elif sys.platform.startswith('linux'):
+            b=[]
+            port =''
+            ports = list(comports())
+            for i in range(len(ports)):
+                for x in range(7):
+                    portname="/dev/ttyACM"+str(x)
+                    if ports[i][0]==portname:
+                        b.append(ports[i][0])
+            port=b[0]
+        return port
+    
+    def open_serial(self,ard_no, PortNo,baudrate):
+        #global ser
+        if PortNo =='':
+            sys.exit("aa..error..! arduino not found")
+        else:
+            self.ser = Serial(PortNo,baudrate)
+        sleep(2)
+        # self.checkfirmware()
+        
+    def close_serial(self):
+        #global ser     
+        self.ser.close()
+    
+    def checkfirmware(self):
+        print ("Check Firm Ware")
+        #global ser
+        i = 0
+        while i < 3:
+            self.ser.write(bytes([118])) #chr(118)
+            try: 
+                x=self.ser.read(2)
+                print(x.decode('UTF-8'))
+                #x=self.ser.read()
+                #print(x)
+                # if x==b'o':
+                #     try:
+                #         # x=self.ser.read()
+                #         # print(x.decode('UTF-8'))
+                #     except:
+                #         sys.exit("aa..! error..! it seems correct firmware not loaded")
+                # else:
+                #     sys.exit("aa..! error..! it seems correct firmware not loaded")
+            except:
+                sys.exit("aa..! error..! it seems correct firmware not loaded")
+            i = i + 1
+    
+        
+class Arduino(Initialization):
+    def __init__(self):
+        print ("Init Arduino")
+        #self.baudrate=0
+        #self.ard_no=1
+        #self.PortNo=0
+        #self.pin=0
+        #self.val=0
+        #self.mode=0
+        #self.mno=0
+        #self.pin1=0
+        #self.pin2=0
+        #self.servo=0
+    
+    
+    
+    def cmd_digital_out(self,ard_no,pin,val):
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]   
+        cmd="D"+"a"+a[pin]+"1"    
+        self.ser.write(cmd.encode('utf-8'))
+        cmd=""
+        cmd="D"+"w"+a[pin]+str(val)
+        self.ser.write(cmd.encode('utf-8'))
+        
+    def cmd_digital_in(self,ard_no,pin):
+        b=[]
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]   
+        cmd="D"+"a"+a[pin]+"0"    
+        self.ser.write(cmd.encode('utf-8'))
+        cmd=""
+        cmd="D"+"r"+a[pin]
+        self.ser.write(cmd.encode('utf-8'))
+        a=self.ser.read()
+        return(a.decode('UTF-8'))
+    
+    def cmd_analog_in(self,ard_no,pin):
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]    
+        cmd="A"+a[pin]    
+        self.ser.write(cmd.encode('utf-8'))
+        analog_times=[]
+        b1=ord(self.ser.read(1))
+        b2=ord(self.ser.read(1))
+        a=b1+b2*256
+        #a=ser.read()
+        return(a)
+        #return(int((1023-0)*int(ord(a))/(255-0)))
+        
+        
+    def cmd_analog_out(self,ard_no, pin, val):
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]
+        cmd = "W" + a[pin] + chr(val)
+        self.ser.write(cmd.encode('utf-8'))
+        
+    def cmd_dcmotor_setup(self,ard_no,mode,mno,pin1,pin2):
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]  
+        cmd="C"+a[mno]+a[pin1]+a[pin2]+a[mode]   
+        self.ser.write(cmd.encode('utf-8'))
+        
+    def cmd_dcmotor_run(self,ard_no,mno,val):
+        cmd=""
+        if(val <0):
+            dirc=0
+        else:
+            dirc=1
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]  
+        cmd="M"+a[mno]+a[dirc]+chr(abs(val))  
+        self.ser.write(cmd.encode('utf-8'))
+    
+    def cmd_dcmotor_release(self,ard_no,mno):
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]   
+        cmd="M"+a[mno]+"r"   
+        self.ser.write(cmd.encode('utf-8'))
+        
+    def cmd_servo_attach(self,ard_no,servo): #1->pin=9  #2->pin=10
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]  
+        cmd="S"+"a"+a[servo]   
+        self.ser.write(cmd.encode('utf-8'))
+        
+    def cmd_servo_detach(self,ard_no,servo): #1->pin=9  #2->pin=10
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]    
+        cmd="S"+"d"+a[servo]   
+        self.ser.write(cmd.encode('utf-8'))
+
+    def cmd_servo_move(self,ard_no,servo,angle): #1->pin=9  #2->pin=10
+        cmd=""
+        a=["0","1","2","3","4","5","6","7","8","9",":",";","<","=",">","A","B","C","D"]
+        cmd="S"+"w"+a[servo]+chr(angle)   
+        self.ser.write(cmd.encode('utf-8'))
+
+
+
+
+#For PISO shift register
+    def cmd_shift_in(self,dataPin,clockPin,ledPin,clockLed):
+        value=[0 for _ in range(0,8)]
+        #print value
+        value2=[value for _ in range(0,8)]
+        #print value2
+        for i in range(0,8):
+            so= self.cmd_digital_in(1,dataPin) #Reads serial out of IC
+            print (so)
+            if so=='1':
+                self.cmd_digital_out(1,ledPin,1)
+                sleep(0.1)
+            else:
+                self.cmd_digital_out(1,ledPin,0)
+                sleep(0.1)
+            value2[i][i]=int(so)
+            #performs value=value|value2[i]
+            for j in range(0,8):
+                if value[j]==1 or value2[i][j]==1:
+                    value[j]=1
+                else:
+                    value[j]=0
+            self.cmd_digital_out(1,clockPin,1)
+            self.cmd_digital_out(1,clockLed,1)
+            sleep(0.5)
+            self.cmd_digital_out(1,clockPin,0)
+            self.cmd_digital_out(1,clockLed,0) #clockLED: Led indicating clock pulses
+            sleep(0.4)
+            #after every clock pulse, 1 right shift occurs for every bit
+            #thus after 8 clock pulses, the entire parallel input is shifted out,
+            #and obtained at the dataPin, one bit per clock pulse
+            #Thus we get the bit by bit serial output of the Parallel Load
+        print (value)
+
+
+
+
+#For PISO shift register
+#shift in for n bits
+    def cmd_shift_in_n(self,dataPin,clockPin,ledPin,clockLed,numBits):
+        n=numBits #no. of bits
+        value=[0 for _ in range(0,n)] #a list of n elements, all 0s, to store the n bits of the inputs together
+        value2=[value for _ in range(0,n)] #a list of lists, analogous to nxn array of all 0s
+        for i in range(0,n): #n iterations since n bit input is given
+            so=self.cmd_digital_in(1,dataPin)
+            if so=='1':
+                self.cmd_digital_out(1,ledPin,1)
+                sleep(0.1)
+            else:
+                self.cmd_digital_out(1,ledPin,0)
+                sleep(0.1)
+            value2[i][i]=int(so)
+            #performs value=value|value2[i]
+            for j in range(0,n):
+                if value[j]==1 or value2[i][j]==1:
+                    value[j]=1
+                else:
+                    value[j]=0
+            self.cmd_digital_out(1,clockPin,1)
+            self.cmd_digital_out(1,clockLed,1)
+            sleep(0.5)
+            self.cmd_digital_out(1,clockPin,0)
+            self.cmd_digital_out(1,clockLed,0) #clockLED: Led indicating clock pulses
+            sleep(0.4)
+        print (value)
+
+
+
+
+
+#For SIPO shift register
+    def cmd_shift_out(self,dataPin,clockPin,bitOrder,val):
+        val2=0
+        mat=[]
+        if bitOrder=='MSBFIRST':
+            #to create identity matrix
+            for i in range(0,8):
+                matsub=[0 for _ in range(0,8)]
+                matsub[i]=1
+                mat.append(matsub)
+        else:
+            #to create horizontally flipped identity matrix
+            for i in range(0,8):
+                matsub=[0 for _ in range(0,8)]
+                matsub[7-i]=1
+                mat.append(matsub)
+        for i in range(0,8):
+            #performs & operation on corresponding elements of list
+            for x,y in zip(val,mat[i]):
+                if x==1 and y==1:
+                    val2=1
+                    break
+                else:
+                    val2=0
+            self.cmd_digital_out(1,dataPin,val2)
+            self.cmd_digital_out(1,clockPin,1)
+            self.cmd_digital_out(1,clockPin,0)
+
+
+
+#For SIPO shift register
+    def cmd_shift_out_(self,dataPin,clockPin,inPin):
+        print ("Give serial input: ")
+        sleep(0.25)
+        self.cmd_digital_out(1,dataPin,self.cmd_digital_in(1,inPin)) #if inPin is HIGH,
+        #i.e. if input is given, write HIGH on Serial In Pin of IC
+        print("Serial input stored: ")
+        self.cmd_digital_out(1,clockPin,1)
+        self.cmd_digital_out(1,clockPin,0) #One clock pulse
+        sleep(0.15)
+
+
+
+
+
+#For SIPO shift register
+#shift out for n bits
+    def cmd_shift_out_n(self,dataPin,clockPin,bitOrder,val,numBits):
+        n=int(numBits) #number of bits
+        if (n%8)==0:
+            p=n
+        else:
+            p=(8*(n/8))+8
+        val1=[0 for _ in range(0,n)] #output matrix.
+            #If all elements of the matrix are 0,
+            #output pinstate will be 0 (i.e LOW).
+            #If 1 or more elements of the matrix is 1,
+            #output pinstate will be 1 (i.e HIGH)
+        val2=0
+        mat=[]
+        if bitOrder=='MSBFIRST':
+            for i in range(0,n):
+                matsub=[0 for _ in range(0,n)]
+                matsub[i]=1
+                mat.append(matsub)
+        else:
+            for i in range(0,n):
+                matsub=[0 for _ in range(0,n)]
+                matsub[(n-1)-i]=1
+                mat.append(matsub)
+        for j in range(0,(p-n)): #do nothing for the first (p-n) clock  pulses
+            self.cmd_digital_out(1,dataPin,0)
+            self.cmd_digital_out(1,clockPin,1)
+            self.cmd_digital_out(1,clockPin,0)
+        for i in range(0,n): #shift for last n clock pulses
+            #to perform val & mat[i]
+            for x,y in zip(val,mat[i]):
+                if x==1 and y==1:
+                    val2=1
+                    break
+                else:
+                    val2=0
+            print (val2,)
+            self.cmd_digital_out(1,dataPin,val2)
+            self.cmd_digital_out(1,clockPin,1)
+            self.cmd_digital_out(1,clockPin,0)
+        
+        
+        
+    
diff --git a/user-code/servo/python/Arduino/__init__.py b/user-code/servo/python/Arduino/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/user-code/servo/python/Arduino/__init__.py
diff --git a/user-code/servo/python/Arduino/__pycache__/Arduino.cpython-36.pyc b/user-code/servo/python/Arduino/__pycache__/Arduino.cpython-36.pyc
new file mode 100644
index 0000000..2065df9
--- /dev/null
+++ b/user-code/servo/python/Arduino/__pycache__/Arduino.cpython-36.pyc
diff --git a/user-code/servo/python/Arduino/__pycache__/Arduino.cpython-38.pyc b/user-code/servo/python/Arduino/__pycache__/Arduino.cpython-38.pyc
new file mode 100644
index 0000000..6761fc7
--- /dev/null
+++ b/user-code/servo/python/Arduino/__pycache__/Arduino.cpython-38.pyc
diff --git a/user-code/servo/python/Arduino/__pycache__/__init__.cpython-36.pyc b/user-code/servo/python/Arduino/__pycache__/__init__.cpython-36.pyc
new file mode 100644
index 0000000..19c20eb
--- /dev/null
+++ b/user-code/servo/python/Arduino/__pycache__/__init__.cpython-36.pyc
diff --git a/user-code/servo/python/Arduino/__pycache__/__init__.cpython-38.pyc b/user-code/servo/python/Arduino/__pycache__/__init__.cpython-38.pyc
new file mode 100644
index 0000000..ccbb74a
--- /dev/null
+++ b/user-code/servo/python/Arduino/__pycache__/__init__.cpython-38.pyc
diff --git a/user-code/thermistor/python/Arduino/Arduino.py b/user-code/thermistor/python/Arduino/Arduino.py
index b28f43c..5d2b5c6 100644
--- a/user-code/thermistor/python/Arduino/Arduino.py
+++ b/user-code/thermistor/python/Arduino/Arduino.py
@@ -40,7 +40,7 @@ class Initialization:
         else:
             self.ser = Serial(PortNo,baudrate)
         sleep(2)
-        self.checkfirmware()
+        # self.checkfirmware()
         
     def close_serial(self):
         #global ser     
@@ -49,21 +49,25 @@ class Initialization:
     def checkfirmware(self):
         print ("Check Firm Ware")
         #global ser
-        self.ser.write(bytes([118])) #chr(118)
-        try: 
-            x=self.ser.read()
-            #print(x)
-            #x=self.ser.read()
-            #print(x)
-            if x==b'o':
-                try:
-                    x=self.ser.read()
-                except:
-                    sys.exit("aa..! error..! it seems correct firmware not loaded")
-            else:
+        i = 0
+        while i < 3:
+            self.ser.write(bytes([118])) #chr(118)
+            try: 
+                x=self.ser.read(2)
+                print(x.decode('UTF-8'))
+                #x=self.ser.read()
+                #print(x)
+                # if x==b'o':
+                #     try:
+                #         # x=self.ser.read()
+                #         # print(x.decode('UTF-8'))
+                #     except:
+                #         sys.exit("aa..! error..! it seems correct firmware not loaded")
+                # else:
+                #     sys.exit("aa..! error..! it seems correct firmware not loaded")
+            except:
                 sys.exit("aa..! error..! it seems correct firmware not loaded")
-        except:
-            sys.exit("aa..! error..! it seems correct firmware not loaded")
+            i = i + 1
     
         
 class Arduino(Initialization):
diff --git a/user-code/thermistor/python/Arduino/__pycache__/Arduino.cpython-36.pyc b/user-code/thermistor/python/Arduino/__pycache__/Arduino.cpython-36.pyc
new file mode 100644
index 0000000..2065df9
--- /dev/null
+++ b/user-code/thermistor/python/Arduino/__pycache__/Arduino.cpython-36.pyc
diff --git a/user-code/thermistor/python/Arduino/__pycache__/Arduino.cpython-38.pyc b/user-code/thermistor/python/Arduino/__pycache__/Arduino.cpython-38.pyc
index dafdab7..6761fc7 100644
--- a/user-code/thermistor/python/Arduino/__pycache__/Arduino.cpython-38.pyc
+++ b/user-code/thermistor/python/Arduino/__pycache__/Arduino.cpython-38.pyc
diff --git a/user-code/thermistor/python/Arduino/__pycache__/__init__.cpython-36.pyc b/user-code/thermistor/python/Arduino/__pycache__/__init__.cpython-36.pyc
new file mode 100644
index 0000000..19c20eb
--- /dev/null
+++ b/user-code/thermistor/python/Arduino/__pycache__/__init__.cpython-36.pyc