[Stirrer]

- put things into base class

git-svn-id: http://moon:8086/svn/projects/HendiControl@135 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/astirrer.py

@@ -3,36 +3,58 @@ import abc
 
 
 class AStirrer(abc.ABC):
-	def __init__(self):
+	def __init__(self, dt):
-		pass
+		self.dt = dt
+		self.speed = 0
+		self.cycleTime = 1
+		self.dutyCycle = 1
+		self.cycleCounter = 0
+		self.isOn = 0
 
 	def log(self, s):
 		print("{:.2f}: {}".format(time.time(), s))
 
-	@abc.abstractmethod
 	def process(self):
-		pass
+		isOn = self.isOn
+		self.cycleCounter += self.dt
+		if self.cycleCounter >= self.cycleTime:
+			self.cycleCounter -= self.cycleTime
+			isOn = 0
+
+		if self.cycleCounter >= (self.cycleTime * (1-self.dutyCycle)):
+			if not isOn:
+				isOn = 1
+
+		if self.isOn != isOn:
+			if isOn:
+				self.onSetSpeed(self.speed)
+			else:
+				self.onSetSpeed(0)
+
+		self.isOn = isOn
 
-	@abc.abstractmethod
 	def setSpeed(self, speed):
-		pass
+		self.speed = speed
+		if self.isOn:
+			self.onSetSpeed(speed)
+		self.log ("Stirrer: Set speed to {} %".format(speed))
 
-	@abc.abstractmethod
 	def setCycleTime(self, time):
-		pass
+		self.cycleTime = time
+		self.log ("Stirrer: Set cycle time to {} s".format(time))
 
-	@abc.abstractmethod
 	def setDutyCycle(self, dutyCycle):
-		pass
+		self.dutyCycle = dutyCycle
+		self.log ("Stirrer: Set duty cycle to {} %".format(100*dutyCycle))
 
 	@abc.abstractmethod
 	def getSpeed(self):
 		return None
 
 	@abc.abstractmethod
-	def start(self):
+	def activate(self):
 		pass
 
 	@abc.abstractmethod
-	def stop(self):
+	def deactivate(self):
 		pass

Control/brewpi/pololu1376.py

@@ -3,13 +3,8 @@ import serial
 import time
 
 class Pololu1376(AStirrer):
-	def __init__(self, params, com_port='/dev/ttyUSB0', com_baud=9600):
+	def __init__(self, dt, com_port='/dev/ttyUSB0', com_baud=9600):
-		self.params = params
+		super(Pololu1376, self).__init__(dt)
-		self.speed = 0
-		self.cycleTime = 1
-		self.dutyCycle = 1
-		self.cycleCounter = 0
-		self.isOn = 0
 		self.isMasterOn = 0
 
 		self.ser = serial.Serial(com_port, com_baud)
@@ -31,68 +26,49 @@ class Pololu1376(AStirrer):
 		s = self.ser.readline().decode("utf-8").replace("\n", '').replace("\r", '')
 		return s
 
-	def process(self):
-		dt = self.params["dt"]
-
-		self.cycleCounter -= dt
-		if self.cycleCounter <= 0:
-			self.cycleCounter = self.cycleTime
-
-		if self.cycleCounter <= (self.cycleTime * self.dutyCycle):
-			if not self.isOn:
-				self.__setMotorSpeed(self.speed)
-				self.log ("Stirrer: On")
-				self.isOn = 1
-		else:
-			if self.isOn:
-				self.__setMotorSpeed(0)
-				self.log ("Stirrer: Off")
-				self.isOn = 0
-
-	def setSpeed(self, speed):
-		self.log ("Stirrer: Set speed to {} %".format(speed))
-		self.speed = speed
-		if self.isOn:
-			self.__setMotorSpeed(speed)
-
-	def setCycleTime(self, time):
-		self.log ("Stirrer: Set cycle time to {} s".format(time))
-		self.cycleTime = time
-
-	def setDutyCycle(self, dutyCycle):
-		self.log ("Stirrer: Set duty cycle to {} %".format(100*dutyCycle))
-		self.dutyCycle = dutyCycle
-
 	def getSpeed(self):
 		if self.isOn and self.isMasterOn:
 			return self.speed
 		return 0
 
-	def start(self):
+	def activate(self):
 		self.isMasterOn = 1
-		self.log("Stirrer: switched On")
 		self.ser_send("go")
+		self.log("Stirrer: switched On")
 
-	def stop(self):
+	def deactivate(self):
 		self.isMasterOn = 0
-		self.log("Stirrer: switched Off")
 		self.ser_send("x")
+		self.log("Stirrer: switched Off")
 
-	def __setMotorSpeed(self, speed):
+	def onSetSpeed(self, speed):
 		self.ser_send("F" + str(speed) + "%")
 
+
 if __name__ == '__main__':
 	s = Pololu1376(None, "/dev/ttyACM0", "115200")
-	s.start()
+	s.activate()
-	s.setSpeed(1000)
-	time.sleep(2)
-	s.setSpeed(2000)
-	time.sleep(2)
-	s.setSpeed(3000)
-	time.sleep(2)
-	s.setSpeed(2000)
-	time.sleep(2)
-	s.setSpeed(1000)
-	time.sleep(2)
-	s.stop()	
 
+	print ("Set some speeds")
+	s.setSpeed(50)
+	time.sleep(2)
+	s.setSpeed(100)
+	time.sleep(2)
+	s.setSpeed(50)
+	time.sleep(2)
+
+	print ("Pulsed operation, duty cycle = 50%")
+	s.setDutyCycle(0.5)
+	s.setCycleTime(10)
+	for i in range(1,30):
+		s.process()
+		time.sleep(1)
+
+	print ("Pulsed operation, duty cycle = 20%")
+	s.setDutyCycle(0.2)
+	s.setCycleTime(10)
+	for i in range(1,30):
+		s.process()
+		time.sleep(1)
+
+	s.deactivate()

Control/brewpi/stirrer.py

@@ -1,52 +1,55 @@
 from astirrer import AStirrer
+import time
 
 class Stirrer(AStirrer):
-	def __init__(self, params):
+	def __init__(self, dt):
-		self.params = params
+		super(Stirrer, self).__init__(dt)
-		self.speed = 0
-		self.cycleTime = 1
-		self.dutyCycle = 1
-		self.cycleCounter = 0
-		self.isOn = 0
 		self.isMasterOn = 0
 
-	def process(self):
+	def __del__(self):
-		dt = self.params["dt"]
+		self.deactivate()
 
-		self.cycleCounter -= dt
+	def activate(self):
-		if self.cycleCounter <= 0:
+		self.isMasterOn = 1
-			self.cycleCounter = self.cycleTime
+		self.log("Stirrer: switched On")
 
-		if self.cycleCounter <= (self.cycleTime * self.dutyCycle):
+	def deactivate(self):
-			if not self.isOn:
+		self.isMasterOn = 0
-				self.log ("Stirrer: On")
+		self.log("Stirrer: switched Off")
-				self.isOn = 1
-		else:
-			if self.isOn:
-				self.log ("Stirrer: Off")
-				self.isOn = 0
-
-	def setSpeed(self, speed):
-		self.log ("Stirrer: Set speed to {} %".format(speed))
-		self.speed = speed
-
-	def setCycleTime(self, time):
-		self.log ("Stirrer: Set cycle time to {} s".format(time))
-		self.cycleTime = time
-
-	def setDutyCycle(self, dutyCycle):
-		self.log ("Stirrer: Set duty cycle to {} %".format(100*dutyCycle))
-		self.dutyCycle = dutyCycle
 
 	def getSpeed(self):
 		if self.isOn and self.isMasterOn:
 			return self.speed
 		return 0
 
-	def start(self):
+	def onSetSpeed(self, speed):
-		self.isMasterOn = 1
+		self.log("Stirrer: Set speed to {} %".format(speed))
-		self.log("Stirrer: switched On")
 
-	def stop(self):
+
-		self.isMasterOn = 0
+if __name__ == '__main__':
-		self.log("Stirrer: switched Off")
+	s = Stirrer(1.0)
+	s.activate()
+
+	print ("Set some speeds")
+	s.setSpeed(50)
+	time.sleep(2)
+	s.setSpeed(100)
+	time.sleep(2)
+	s.setSpeed(50)
+	time.sleep(2)
+
+	print ("Pulsed operation, duty cycle = 50%")
+	s.setDutyCycle(0.5)
+	s.setCycleTime(10)
+	for i in range(1,30):
+		s.process()
+		time.sleep(1)
+
+	print ("Pulsed operation, duty cycle = 20%")
+	s.setDutyCycle(0.2)
+	s.setCycleTime(10)
+	for i in range(1,30):
+		s.process()
+		time.sleep(1)
+
+	s.deactivate()