Erste überarbeitete Version

KranClass.py

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+import RPi.GPIO as GPIO
+
+class Kran:
+
+    def __init__(self, minus, plus, greifer, handgelenk, ellenbogen, armgelenk, basis, licht):
+        self.__Minus = minus
+        self.__Plus = plus
+        self.__Greifer = greifer
+        self.__Handgelenk = handgelenk
+        self.__Ellenbogen = ellenbogen
+        self.__Armgelenk = armgelenk
+        self.__Basis = basis
+        self.__Licht = licht
+        self.__pin_list = [minus, plus, greifer, handgelenk, ellenbogen, armgelenk, basis, licht]
+        self.__pin_list_plus = [greifer, handgelenk, ellenbogen, armgelenk, basis, licht]
+
+        GPIO.setmode(GPIO.BOARD)
+        GPIO.setup(self.__pin_list, GPIO.OUT)
+        self.move(0, 0)
+
+    def cleanup(self):
+        GPIO.cleanup(1)
+
+    def reset(self):
+        GPIO.output(self.__pin_list, 1)
+
+    def __on(self, on_pin):
+        GPIO.output(on_pin, 0)
+        GPIO.output(self.__Plus, 0)
+
+    def __off(self, out_pin):
+        GPIO.output(self.__pin_list_plus, 0)
+        GPIO.output(out_pin, 1)
+        GPIO.output(self.__Minus, 0)
+
+    def move(self, was, wie):
+        if was == "G" and wie == 1:
+            self.__on(self.__Greifer)
+        elif was == "G" and wie == 2:
+            self.__off(self.__Greifer)
+        elif was == "H" and wie == 1:
+            self.__on(self.__Handgelenk)
+        elif was == "H" and wie == 2:
+            self.__off(self.__Handgelenk)
+        elif was == "E" and wie == 1:
+            self.__on(self.__Ellenbogen)
+        elif was == "E" and wie == 2:
+            self.__off(self.__Ellenbogen)
+        elif was == "A" and wie == 1:
+            self.__on(self.__Armgelenk)
+        elif was == "A" and wie == 2:
+            self.__off(self.__Armgelenk)
+        elif was == "B" and wie == 1:
+            self.__on(self.__Basis)
+        elif was == "B" and wie == 2:
+            self.__off(self.__Basis)
+
+        elif was == "L" and wie == 1:
+            self.__on(self.__Licht)
+
+        else:
+            print "no match!!!!!"

robot.py

@@ -0,0 +1,290 @@
+#!/usr/bin/python2.7
+# -*- coding: latin-1 -*-
+
+from KranClass import Kran
+from evdev import *
+from select import select
+from multiprocessing import Process
+import time
+#  
+# 
+# gpio:	 minus plus greifer handgelenk ellenbogen armgelenk basis licht
+#	
+# gpio:	    3    5     7         8          11        10      12     16
+# gpio:	   40   38    37        36          35        33      32     31
+#
+# key r1:	     o l       p ö	   ü ä       + #     . -      ,   
+# key r2:            q a       w s         e d       r f     x c      y
+#
+# rel  1: in1  in2   in4       in3         in5       in7     in6    in8
+# rel  2: in1  in2   in4       in3         in5       in7     in6    in8 
+
+robot1 = Kran( 3,  5,  7,  8, 11, 10, 12, 16)
+robot2 = Kran(40, 38, 37, 36, 35, 33, 32, 31)
+
+dev = InputDevice('/dev/input/event1')
+
+def robot1func(event1):
+
+# handgelenk on
+# taste p 
+
+    if event1.code == 25:
+        robot1.move("H", 1)
+        return 1
+
+# handgelenk off
+# taste ö
+
+    elif event1.code == 39:
+        robot1.move("H", 2)
+        return 1
+
+# ellenbogen on
+# taste ü
+
+    elif event1.code == 26:
+        robot1.move("E", 1)
+        return 1
+
+# ellenbogen off
+# taste ä
+
+    elif event1.code == 40:
+        robot1.move("E", 2)
+        return 1
+
+# armgelenk on
+# taste +
+
+    elif event1.code == 27:
+        robot1.move("A", 1)
+        return 1
+
+# armgelenk off
+# taste #
+
+    elif event1.code == 43:
+        robot1.move("A", 2)
+        return 1
+
+# basis off 
+# taste .
+
+    elif event1.code == 52:
+        robot1.move("B", 2)
+        return 1
+
+# basis on
+# taste -
+
+    elif event1.code == 53:
+        robot1.move("B", 1)
+        return 1
+
+# greifer off
+# taste o
+
+    elif event1.code == 24:
+        robot1.move("G", 2)
+        return 1
+
+# greifer on
+# taste l
+
+    elif event1.code == 38:
+        robot1.move("G", 1)
+        return 1
+
+# licht on
+# taste ,
+
+    elif event1.code == 51:
+        robot1.move("L", 1)
+        return 1
+
+# taste m
+
+    elif event1.code == 50:
+        robot1.cleanup()
+        robot2.cleanup()
+        return 1
+
+
+def robot2func(event2):
+
+# handgelenk on
+# taste w 
+
+    if event2.code == 17:
+        robot2.move("H", 1)
+        return 1
+
+# handgelenk off
+# taste s
+
+    if event2.code == 31:
+	robot2.move("H", 2)
+	return 1
+
+# ellenbogen on
+# taste e
+
+    elif event2.code == 18:
+        robot2.move("E", 1)
+        return 1
+
+# ellenbogen off
+# taste d
+    elif event2.code == 32:
+        robot2.move("E", 2)
+        return 1
+
+# arm on
+# taste r
+
+    elif event2.code == 19:
+        robot2.move("A", 1)
+        return 1
+
+# arm off
+# taste f 
+
+    elif event2.code == 33:
+        robot2.move("A", 2)
+        return 1
+
+# basis off
+# taste x
+
+    elif event2.code == 45:
+        robot2.move("B", 2)
+        return 1
+
+# basis on
+# taste c
+
+    elif event2.code == 46:
+        robot2.move("B", 1)
+        return 1
+
+# greifer off
+# taste q 
+
+    elif event2.code == 16:
+        robot2.move("G", 2)
+        return 1
+
+# greifer on
+# taste a
+
+    elif event2.code == 30:
+        robot2.move("G", 1)
+        return 1
+
+# licht on
+# taste y
+
+    elif event2.code == 44:
+        robot2.move("L", 1)
+        return 1
+
+# taste v
+
+    elif event2.code == 47:
+        robot2.cleanup()
+        return 1
+
+
+def runInParallel(*fns):
+    proc = []
+    for fn in fns:
+        p = Process(target=fn)
+        p.start()
+        proc.append(p)
+    for p in proc:
+        p.join()
+
+
+def manuell():
+    flag1 = 0
+    flag2 = 0
+    for event in dev.read_loop():
+        if event.type == ecodes.EV_KEY:
+            if event.value == 1:
+                if flag1 == 0:
+                    flag1 = robot1func(event)
+                    if not flag1:
+                        flag1 = 0
+
+                if flag2 == 0:
+                    flag2 = robot2func(event)
+                    if not flag2:
+                        flag2 = 0
+
+            if event.value == 0:
+                if flag1 == 1:
+                    if robot1func(event) == 1:
+                        robot1.reset()
+                        flag1 = 0
+
+                if flag2 == 1:
+                    if robot2func(event) == 1:
+                        robot2.reset()
+                        flag2 = 0
+
+
+#def automatic1():
+    robot1.move("G", 1)
+    time.sleep(1.5)
+    robot1.reset()
+    robot1.move("E", 1)
+    time.sleep(4)
+    robot1.reset()
+    robot1.move("B", 2)
+    time.sleep(3)
+    robot1.reset()
+
+    automatic2()
+    robot2.move("B", 2)
+    time.sleep(4)
+    robot2.move("E", 2)
+    time.sleep(4)
+    robot2.reset()
+    robot1.move("B", 1)
+    time.sleep(3)
+    robot1.reset()
+    robot1.move("E", 2)
+    time.sleep(3.5)
+    robot1.reset()
+    robot2.move("E", 1)
+    time.sleep(3)
+    robot2.reset()
+    robot2.move("B", 1)
+    time.sleep(4)
+    robot2.reset()
+    robot2.move("E", 2)
+    time.sleep(1)
+    robot2.reset()
+    robot2.move("G", 2)
+    time.sleep(1)
+    robot2.reset()
+
+
+#def automatic2():
+    robot2.move("E", 2)
+    time.sleep(2)
+    robot2.reset()
+    robot2.move("G", 1)
+    time.sleep(1.5)
+    robot2.reset()
+    robot1.move("G", 2)
+    time.sleep(1)
+    robot1.reset()
+    robot2.move("E", 1)
+    time.sleep(4)
+    robot2.reset()
+
+
+manuell()
+#automatic1()

testkeys.py

@@ -0,0 +1,9 @@
+#!/bin/python2.7
+import evdev
+device = evdev.InputDevice('/dev/input/event0')
+print(device)
+
+for event in device.read_loop():
+	if event.type == evdev.ecodes.EV_KEY:
+		print(evdev.categorize(event))
+