PiDesk Main Script

PiDesk.py

#!/usr/bin/python3
#
# PiDesk Main script
#

# Make the necessary imports
import gertbot as gb
import RPi.GPIO as GPIO
import time
from os import system

# Map capacitive touch buttons to GPIO pins
BTN1 = 16
BTN2 = 19
BTN3 = 20
BTN4 = 21
BTN5 = 26

# Map relay channels to GPIO pins
RELAY1 = 5
RELAY2 = 6

# GPIO configuration parameters
GPIO.setmode(GPIO.BCM)									# set up GPIO using BCM numbering
GPIO.setup(BTN1, GPIO.IN, pull_up_down=GPIO.PUD_UP)		# configure GPIO 16 as input with internal pull-up
GPIO.setup(BTN2, GPIO.IN, pull_up_down=GPIO.PUD_UP)		# configure GPIO 19 as input with internal pull-up
GPIO.setup(BTN3, GPIO.IN, pull_up_down=GPIO.PUD_UP)		# configure GPIO 20 as input with internal pull-up
GPIO.setup(BTN4, GPIO.IN, pull_up_down=GPIO.PUD_UP)		# configure GPIO 21 as input with internal pull-up
GPIO.setup(BTN5, GPIO.IN, pull_up_down=GPIO.PUD_UP)		# configure GPIO 26 as input with internal pull-up
GPIO.setup(RELAY1, GPIO.OUT)		# configure GPIO 5 as output
GPIO.setup(RELAY2, GPIO.OUT)		# configure GPIO 6 as output

# Gertbot configuration parameters
BOARD = 0           # which board we talk to
STEPPER_A = 0       # channel for first stepper motor
STEPPER_B = 2       # channel for second stepper motor
MODE  = 24          # stepper control, gray code
FREQ = 900.0        # frequency
STEPS = 5000000		# steps to raise/lower screen until endstop is triggered
ENDSTOP_MODE = 1 	# trigger endstop when pin is low

# Open serial port to talk to Gertbot
gb.open_uart(0)

# Setup the channels and endstops for stepper motors
gb.set_mode(BOARD, STEPPER_A, MODE)
gb.set_mode(BOARD, STEPPER_B, MODE)
gb.freq_stepper(BOARD, STEPPER_A, FREQ)
gb.freq_stepper(BOARD, STEPPER_B, FREQ)
gb.set_endstop(BOARD, STEPPER_A, ENDSTOP_MODE, ENDSTOP_MODE)
gb.set_endstop(BOARD, STEPPER_B, ENDSTOP_MODE, ENDSTOP_MODE)

# Main loop
prev_millis = 0

while True :
  millis = int(round(time.time() * 1000))
  
  if((millis - prev_millis) > 500):
    if (not GPIO.input(BTN1)): # Screen Up
      system("sudo pkill -f pidesk-led.py") # stop any ongoing led animations
      system("sudo killall aplay") # stop any ongoing sound effects
      gb.emergency_stop() # stop all motors
      system("aplay -D hw:1,0 /home/pi/beep.wav &") # play audio beep to acknowledge button press
      gb.move_stepper(BOARD, STEPPER_A, STEPS) # rotate stepper motors clockwise
      gb.move_stepper(BOARD, STEPPER_B, STEPS) # rotate stepper motors clockwise
      system("sudo python /home/pi/rpi_ws281x/python/examples/pidesk-led.py sweep 0 255 0 &") # green sweep animation
      GPIO.output(RELAY1, 1) # power on desktop computer and screen by enabling relay
      time.sleep(0.05)
      prev_millis = int(round(time.time() * 1000))
    elif (not GPIO.input(BTN2)): # Screen Down
      system("sudo pkill -f pidesk-led.py") # stop any ongoing led animations
      system("sudo killall aplay") # stop any ongoing sound effects
      gb.emergency_stop() # stop all motors
      system("aplay -D hw:1,0 /home/pi/beep.wav &") # play audio beep to acknowledge button press
      gb.move_stepper(BOARD, STEPPER_A, -STEPS) # rotate stepper motors counter-clockwise
      gb.move_stepper(BOARD, STEPPER_B, -STEPS) # rotate stepper motors counter-clockwise
      system("sudo python /home/pi/rpi_ws281x/python/examples/pidesk-led.py sweep 255 0 0 &") # red sweep animation
      GPIO.output(RELAY1, 0) # power off desktop computer and screen by disabling relay
      time.sleep(0.05)
      prev_millis = int(round(time.time() * 1000))
    elif (not GPIO.input(BTN3)): # Stop everything
      system("sudo pkill -f pidesk-led.py") # stop any ongoing led animations
      system("sudo killall aplay") # stop any ongoing sound effects
      gb.emergency_stop() # stop all motors
      system("aplay -D hw:1,0 /home/pi/beep.wav &") # play audio beep to acknowledge button press
      system("sudo python /home/pi/rpi_ws281x/python/examples/pidesk-led.py off &") # turn off all leds
      # trigger additional actions
      time.sleep(0.05)
      prev_millis = int(round(time.time() * 1000))
    elif (not GPIO.input(BTN4)): # Spare
      system("aplay -D hw:1,0 /home/pi/beep.wav &") # play audio beep to acknowledge button press
      # trigger additional actions
      time.sleep(0.05)
      prev_millis = int(round(time.time() * 1000))
    elif (not GPIO.input(BTN5)): # Spare
      system("aplay -D hw:1,0 /home/pi/beep.wav &") # play audio beep to acknowledge button press
      # trigger additional actions
      time.sleep(0.05)
      prev_millis = int(round(time.time() * 1000))
    else: # No buttons pressed, reset states
      time.sleep(0.05)