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@mjkaufer
Created February 1, 2020 08:56
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boba bot baby
import time
import serial
# configure the serial connections (the parameters differs on the device you are connecting to)
ser = serial.Serial(
port='/dev/tty.usbserial-AD0JM61U',
baudrate=115200,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
bytesize=serial.EIGHTBITS,
timeout=2
)
ser.isOpen()
while ser.read():
pass
# configure the serial connections (the parameters differs on the device you are connecting to)
ser.close()
ser = serial.Serial(
port='/dev/tty.usbserial-AD0JM61U',
baudrate=115200,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
bytesize=serial.EIGHTBITS,
timeout=30
)
# G06 O=P0.1 # solenoid on, initialize w/ this, turn off at end
# G06 O=P1.0 # opens closes
ser.isOpen()
import atexit
def exitHandler():
print('calling exitHandler')
ser.write(b'\x30\x10\x30\x10')
print('exitHandler: sent those commands; waiting 1s')
time.sleep(1)
print('exitHandler: waited 1s; now closing ser port')
ser.close()
print('exitHandler: successfully closed ser port')
atexit.register(exitHandler)
# G07 VP=5 # (1-100)
commands = [
'\x30',# pause
'\x10',# exit
'\x14',# debug
'G00 J1=0 J2=0 J3=0 J4=0 J5=0 J6=0\r\n', # always send these 0 positions else weird shit happens
'G07 VP=5\r\n', # sets speed of robot to 15%
'G06 O=P0.1\r\n', # turns on solenoid
'G06 O=P1.1\r\n', # opens hook
'G00 J1=0 J2=-90 J3=0 J4=0 J5=0 J6=0\r\n',
'G06 O=P1.0\r\n', # 0 is closed
'G00 J1=0 J2=0 J3=0 J4=0 J5=-90 J6=0\r\n',
'G06 O=P1.1\r\n', # 1 is open
'G00 J1=0 J2=0 J3=0 J4=0 J5=0 J6=0\r\n', # try to always do this at the end
'G06 O=P0.0\r\n' # try to always do this at the end
]
for command in commands:
start_time = time.time()
print('running', str.encode(command))
ser.write(str.encode(command))
if command[0] == 'G':
while '%' != ser.read(1).decode('utf8'):
pass
print('assumed', command, 'succeeded')
time.sleep(1)
if 'G06 O=P0.1' in command:
time.sleep(9)
elif len(command) == 1:
# ser.read(1)
time.sleep(1)
print('ran', command, 'in', time.time() - start_time, 'seconds')
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