1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
|
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
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:
sys.exit("aa..! error..! it seems correct firmware not loaded")
except:
sys.exit("aa..! error..! it seems correct firmware not loaded")
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)
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)
|
