first commit

worker.py

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+'''
+经过重构后的船新代码
+使用GPIO.PWM来生成PWM波。
+可以指定固定角度或时间，也可以手动控制。
+'''
+from time import sleep
+import RPi.GPIO as GPIO
+
+'''
+端口的定义
+'''
+CAROUSEL_ENA = 19
+CAROUSEL_DIR = 26
+CAROUSEL_PUL = 21
+ELEVATOR_DIR = 16
+ELEVATOR_PUL = 20
+CONVEYOR_ENA = 12
+CONVEYOR_DIR = 6
+CONVEYOR_PUL = 13
+WATCHDOG_DIR = 9
+WATCHDOG_PUL = 5
+HORIZONAL_ENA = 14
+HORIZONAL_DIR = 18
+HORIZONAL_PUL = 15
+VERTICAL_ENA = 11
+VERTICAL_DIR = 7
+VERTICAL_PUL = 1
+BAG_PUSHER_ENA = 23
+BAG_PUSHER_DIR = 22
+BAG_PUSHER_PUL = 24
+SCISSORS_PUSHER_ENA = 0
+SCISSORS_PUSHER_DIR = 3
+SCISSORS_PUSHER_PUL = 8
+SPIGOT = 17
+SCISSORS = 25
+
+
+class Motor():
+    '''
+    小板控制的电机，只有DIR和PUL引脚，用于控制方向和速度。
+    '''
+
+    def __init__(self, DIR, PUL, step_angle, subdivision, degree_per_second):
+        '''
+        初始化，指定引脚，步进角和细分。
+        '''
+        self.__DIR = DIR
+        self.__PUL = PUL
+        self.__degree_per_cycle = step_angle / subdivision
+        self.__degree_per_second = degree_per_second
+        self.__half_cycle = self.__degree_per_cycle / self.__degree_per_second / 2
+        self.__frequency = degree_per_second / self.__degree_per_cycle
+        GPIO.setup(DIR, GPIO.OUT)
+        GPIO.setup(PUL, GPIO.OUT)
+        self.__pwm = GPIO.PWM(PUL, self.__frequency)
+
+    def __set_direction(self, output_DIR):
+        '''
+        设置转动的角度
+        '''
+        GPIO.output(self.__DIR, output_DIR)
+
+    def __pwm_start(self):
+        '''
+        开始产生PWM波
+        '''
+        self.__pwm.ChangeFrequency(self.__frequency)
+        self.__pwm.start(50)
+
+    def stop(self):
+        '''
+        停止产生PWM波
+        '''
+        self.__pwm.stop()
+
+    def start(self, direction):
+        '''
+        开始转动
+        '''
+        self.__set_direction(direction)
+        self.__pwm_start()
+
+    def __turn_time(self, second):
+        '''
+        转动指定时间
+        '''
+        self.__pwm_start()
+        sleep(second)
+        self.stop()
+
+    def __turn_degree(self, degree):
+        '''
+        转动指定角度 
+        '''
+        cycle = int(degree / self.__degree_per_cycle)
+        for _ in range(cycle):
+            GPIO.output(self.__PUL, GPIO.LOW)
+            sleep(self.__half_cycle)
+            GPIO.output(self.__PUL, GPIO.HIGH)
+            sleep(self.__half_cycle)
+
+    def forward_time(self, second):
+        '''
+        设置时间，正转
+        '''
+        self.__set_direction(GPIO.HIGH)
+        self.__turn_time(second)
+
+    def backward_time(self, second):
+        '''
+        设置时间，反转
+        '''
+        self.__set_direction(GPIO.LOW)
+        self.__turn_time(second)
+
+    def forward_degree(self, degree):
+        '''
+        设置角度，正转
+        '''
+        self.__set_direction(GPIO.HIGH)
+        self.__turn_degree(degree)
+
+    def backward_degree(self, degree):
+        '''
+        设置角度，反转
+        '''
+        self.__set_direction(GPIO.LOW)
+        self.__turn_degree(degree)
+
+
+class ENAMotor(Motor):
+    '''
+    带有ENA信号的步进电机
+    '''
+
+    def __init__(self, ENA, DIR, PUL, step_angle, subdivision, degree_per_second):
+        super(ENAMotor, self).__init__(DIR, PUL, step_angle,
+                                       subdivision, degree_per_second)
+        self.__ena = ENA
+        GPIO.setup(ENA, GPIO.OUT)
+
+    def enable(self):
+        '''
+        启用电机
+        '''
+        GPIO.output(self.__ena, GPIO.HIGH)
+
+    def disable(self):
+        '''
+        停用电机
+        '''
+        GPIO.output(self.__ena, GPIO.LOW)
+
+    def start(self, direction):
+        '''
+        开始转动
+        '''
+        self.enable()
+        super(ENAMotor, self).start(direction)
+
+    def stop(self):
+        '''
+        停止转动
+        '''
+        super(ENAMotor, self).stop()
+        self.disable()
+
+    def forward_degree(self, degree):
+        '''
+        设置角度，正转
+        '''
+        self.enable()
+        super(ENAMotor, self).forward_degree(degree)
+        self.disable()
+
+    def backward_degree(self, degree):
+        '''
+        设置角度，反转
+        '''
+        self.enable()
+        super(ENAMotor, self).backward_degree(degree)
+        self.disable()
+
+    def forward_time(self, second):
+        '''
+        设置时间，正转
+        '''
+        self.enable()
+        super(ENAMotor, self).forward_time(second)
+        self.disable()
+
+    def backward_time(self, second):
+        '''
+        设置时间，反转
+        '''
+        self.enable()
+        super(ENAMotor, self).backward_time(second)
+        self.disable()
+
+
+class Servo:
+    '''
+    舵机
+    '''
+
+    def __init__(self, port):
+        '''初始化'''
+        self.port = port
+        GPIO.setup(port, GPIO.OUT)
+        self.__pwm = GPIO.PWM(self.port, 50)
+
+    def degree(self, degree):
+        '''转到某个角度'''
+        dc = (degree / 180 * 2 + 0.5) * 5
+        self.__pwm.ChangeFrequency(50)
+        self.__pwm.start(dc)
+        sleep(1)
+        self.__pwm.stop()
+
+
+class Relay:
+    '''
+    继电器
+    '''
+
+    def __init__(self, port):
+        self.port = port
+        GPIO.setup(port, GPIO.OUT)
+
+    def enable(self):
+        GPIO.output(self.port, GPIO.HIGH)
+
+    def disable(self):
+        GPIO.output(self.port, GPIO.LOW)
+
+
+GPIO.setwarnings(False)
+GPIO.setmode(GPIO.BCM)
+carousel = ENAMotor(CAROUSEL_ENA, CAROUSEL_DIR, CAROUSEL_PUL, 1.8, 32, 30)
+elevator = Motor(ELEVATOR_DIR, ELEVATOR_PUL, 18, 16, 1800)
+conveyor = ENAMotor(CONVEYOR_ENA, CONVEYOR_DIR, CONVEYOR_PUL, 1.8, 32, 30)
+watchdog = Motor(WATCHDOG_DIR, WATCHDOG_PUL, 18, 16, 3600)
+recycleh = ENAMotor(
+    HORIZONAL_ENA, HORIZONAL_DIR, HORIZONAL_PUL, 1.8, 32, 360)
+recyclev = ENAMotor(
+    VERTICAL_ENA, VERTICAL_DIR, VERTICAL_PUL, 1.8, 32, 360)
+bag_pusher = ENAMotor(BAG_PUSHER_ENA, BAG_PUSHER_DIR,
+                      BAG_PUSHER_PUL, 1.8, 32, 360)
+scissors_pusher = ENAMotor(
+    SCISSORS_PUSHER_ENA, SCISSORS_PUSHER_DIR, SCISSORS_PUSHER_PUL, 1.8, 32, 360)
+spigot = Relay(SPIGOT)
+spigot.disable()
+scissors = Servo(SCISSORS)