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FlexSurf_v3.py
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FlexSurf_v3.py
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"Deformable Surface VCM v3.0e"
"by Thassyo Pinto - [email protected]"
# Import Standard Libraries
import math
import time
# Import External Libraries
import tkinter
# Import Local Libraries
import PCA9956B
import VCM
SFT_VRS = "v3.0e"
I2C_ADDRESS = [0x05, 0x15, 0x65]
NUM_PORT = PCA9956B.LEDDriver().nPorts
VCM_ROW = 5
VCM_MAT = VCM_ROW * VCM_ROW
VCM_SIZE = 125 # pixels
WIN_X_OFF = 0
WIN_Y_OFF = 0
WIN_X_EXT = 100
WIN_Y_EXT = 200
PWM_MIN = 0 # %
PWM_MAX = 70 # %
FREQ_MIN = 0 # Hz
FREQ_MAX = 2 # Hz
UPDATE_TIME = 10 # ms
DFT_PWM = 50
DFT_FREQ = 1
class Application(tkinter.Tk):
def __init__(self):
tkinter.Tk.__init__(self)
self.title("VCM App " + SFT_VRS)
self.frame = tkinter.Frame(self, bg='grey')
self.frame.pack(fill='x')
self.moveState = False
self.ledAddress = I2C_ADDRESS
self.systemTime = 0
self.stopTimer = True
self.quitTimer = False
self.PWM_OFF = 30
self.SIN_AMP = 20
self.SIN_FRQ = 2
self.SIN_PRD = 2
self.SIN_PHA = [0, 72, 144, 216, 288]
self.sineCounterStart = [0, 0.4, 0.8, 1.2, 1.6]
self.sineCounterEnd = [1.0, 1.4, 1.8, 2.2, 2.6]
self.sineCounter = [0, 0, 0, 0, 0]
self.sineDirection = [False, False, False, False, False]
self.PWM_DC = [0, 0, 0, 0, 0]
self.SIN_DIR = [0, 0, 0, 0, 0]
self.createDriver()
self.createVCM()
self.createMenu()
self.createCanvas()
self.updateApp()
def updateTime(self):
if self.stopTimer:
self.systemTime = 0
else:
self.systemTime = self.systemTime + UPDATE_TIME/1000.0
self.systemTime = round(self.systemTime, 2)
print(self.systemTime)
self.updateWave()
for i in range(len(self.sineCounter)):
self.sineCounter[i] = self.sineCounter[i] + 0.01
self.sineCounter[i] = round(self.sineCounter[i], 2)
if self.sineCounter[i] >= self.sineCounterEnd[i]:
if self.sineDirection[i]:
self.sineDirection[i] = False
self.SIN_DIR[i] = 0
else:
self.sineDirection[i] = True
self.SIN_DIR[i] = 1
self.sineCounter[i] = self.sineCounterStart[i]
def createDriver(self):
self.ledDriver = []
if not self.ledAddress:
print("Error: No I2C addresses available!")
else:
for i in range(len(self.ledAddress)):
self.ledDriver.append(PCA9956B.LEDDriver(1, self.ledAddress[i]))
# self.ledDriver[i].begin()
# self.ledDriver[i].setCurrent(self.ledDriver[i].allPorts, 1.0)
def createVCM(self):
self.vcMotor = []
if not self.ledDriver:
print("Error: No LED drivers available!")
else:
k = 0
for i in range(len(self.ledDriver)):
for j in range(int(NUM_PORT/2)):
self.vcMotor.append(VCM.Actuator())
self.vcMotor[k].ID = k
self.vcMotor[k].ADDR = i
self.vcMotor[k].IN1 = (j*2)
self.vcMotor[k].IN2 = (j*2)+1
self.vcMotor[k].delayTime = 1 / DFT_FREQ
#print(self.vcMotor[k].ADDR, self.vcMotor[k].IN1)
k += 1
def createMenu(self):
self.buttonRun = tkinter.Button(self.frame, text='Run', command=self.runApp)
self.buttonRun.pack(side='left')
self.buttonStop = tkinter.Button(self.frame, text='Stop', command=self.stopApp)
self.buttonStop.pack(side='left')
self.buttonStop = tkinter.Button(self.frame, text='SineWave', command=self.sineWave)
self.buttonStop.pack(side='left')
self.buttonQuit = tkinter.Button(self.frame, text='Quit', command=self.quitApp)
self.buttonQuit.pack(side='right')
def createCanvas(self):
self.canvas = tkinter.Canvas(self, width=VCM_SIZE*VCM_ROW + WIN_X_EXT, height=VCM_SIZE*VCM_ROW + WIN_Y_EXT)
self.canvas.pack()
self.vcmBody = []
self.vcmCheck = []
self.vcmCheckState = []
self.vcmPWM = []
self.vcmPWMString = []
self.vcmFreq = []
self.vcmFreqString = []
for i in range(VCM_ROW):
for j in range(VCM_ROW):
matrixPosition = j + (VCM_ROW * i)
self.vcmPWMString.append(tkinter.StringVar())
self.vcmPWMString[matrixPosition].set(DFT_PWM)
self.vcmPWM.append(tkinter.Spinbox(self, from_=PWM_MIN, to_=PWM_MAX, width=3, textvariable=self.vcmPWMString[matrixPosition]))
self.vcmFreqString.append(tkinter.StringVar())
self.vcmFreqString[matrixPosition].set(DFT_FREQ)
self.vcmFreq.append(tkinter.Spinbox(self, from_=FREQ_MIN, to_=FREQ_MAX, width=3, textvariable=self.vcmFreqString[matrixPosition]))
self.vcmCheckState.append(tkinter.IntVar())
self.vcmCheck.append(tkinter.Checkbutton(self, text="On/Off", variable=self.vcmCheckState[matrixPosition]))
self.vcmBody.append(self.canvas.create_oval(VCM_SIZE * j, VCM_SIZE * i, VCM_SIZE * (j + 1), VCM_SIZE * (i + 1), fill="red"))
self.canvas.create_text(VCM_SIZE/2 + (VCM_SIZE * j) - 40, VCM_SIZE/2 + (VCM_SIZE * i) - 10, text="PWM")
self.canvas.create_text(VCM_SIZE/2 + (VCM_SIZE * j) + 40, VCM_SIZE/2 + (VCM_SIZE * i) - 10, text="(%)")
self.canvas.create_window(VCM_SIZE/2 + (VCM_SIZE * j), VCM_SIZE/2 + (VCM_SIZE * i) - 10, window=self.vcmPWM[matrixPosition])
self.canvas.create_text(VCM_SIZE/2 + (VCM_SIZE * j) - 40, VCM_SIZE/2 + (VCM_SIZE * i) + 10, text="FREQ")
self.canvas.create_text(VCM_SIZE/2 + (VCM_SIZE * j) + 40, VCM_SIZE/2 + (VCM_SIZE * i) + 10, text="(Hz)")
self.canvas.create_window(VCM_SIZE/2 + (VCM_SIZE * j), VCM_SIZE/2 + (VCM_SIZE * i) + 10, window=self.vcmFreq[matrixPosition])
self.canvas.create_text(VCM_SIZE/2 + (VCM_SIZE * j), VCM_SIZE/2 + (VCM_SIZE * i) - 40, text=(j + (VCM_ROW * i) + 1), font=('Arial', 20, 'bold'))
self.canvas.create_window(VCM_SIZE/2 + (VCM_SIZE * j), VCM_SIZE/2 + (VCM_SIZE * i) + 40, window=self.vcmCheck[matrixPosition])
self.vcmCheckColumn = []
self.vcmCheckColumnState = []
self.vcmCheckRow = []
self.vcmCheckRowState = []
self.columnTitle = ["1","2","3","4","5"]
self.rowTitle = ["A","B","C","D","E"]
self.selectColumnState = []
self.selectRowState = []
for i in range(VCM_ROW):
self.vcmCheckColumnState.append(tkinter.IntVar())
self.vcmCheckRowState.append(tkinter.IntVar())
self.vcmCheckColumn.append(tkinter.Checkbutton(self, variable=self.vcmCheckColumnState[i]))
self.vcmCheckRow.append(tkinter.Checkbutton(self, variable=self.vcmCheckRowState[i]))
self.canvas.create_window(VCM_SIZE/2 + (VCM_SIZE * i), VCM_SIZE*VCM_ROW + (VCM_SIZE/4), window=self.vcmCheckColumn[i])
self.canvas.create_window(VCM_SIZE*VCM_ROW + (VCM_SIZE/4), VCM_SIZE/2 + (VCM_SIZE * i), window=self.vcmCheckRow[i])
self.canvas.create_text(VCM_SIZE/2 + (VCM_SIZE * i), VCM_SIZE*(VCM_ROW+1) - (VCM_SIZE/2), text=self.columnTitle[i], font=('Arial', 20, 'bold'))
self.canvas.create_text(VCM_SIZE*(VCM_ROW+1) - (VCM_SIZE/2), VCM_SIZE/2 + (VCM_SIZE * i), text=self.rowTitle[i], font=('Arial', 20, 'bold'))
self.selectColumnState.append(0)
self.selectRowState.append(0)
self.rowTime = []
self.rowTimeString = []
for i in range(VCM_ROW):
self.rowTimeString.append(tkinter.StringVar())
self.rowTimeString[i].set(0)
self.rowTime.append(tkinter.Spinbox(self, format="%.2f", increment=0.05, from_=0, to_=10, width=4, textvariable=self.rowTimeString[i]))
self.canvas.create_window(VCM_SIZE/2 + (VCM_SIZE * i), VCM_SIZE*VCM_ROW + VCM_SIZE/1.25, window=self.rowTime[i])
self.canvas.create_text(VCM_SIZE/2 + (VCM_SIZE * i), VCM_SIZE*(VCM_ROW+1) - (VCM_SIZE/32), text="Delay (s)", font=('Arial', 10))
self.sinePeriodString = tkinter.StringVar()
self.sinePeriodString.set(0)
self.sinePeriod = tkinter.Spinbox(self, format="%.2f", increment=0.05, from_=0, to_=10, width=4, textvariable=self.sinePeriodString)
self.canvas.create_window(VCM_SIZE*VCM_ROW + VCM_SIZE/2, VCM_SIZE*VCM_ROW + VCM_SIZE/1.25, window=self.sinePeriod)
self.canvas.create_text(VCM_SIZE*VCM_ROW + VCM_SIZE/2, VCM_SIZE*(VCM_ROW+1) - (VCM_SIZE/2), text="P", font=('Arial', 20, 'bold'))
self.canvas.create_text(VCM_SIZE/2 + (VCM_SIZE*VCM_ROW), VCM_SIZE*(VCM_ROW+1) - (VCM_SIZE/32), text="Period (s)", font=('Arial', 10))
self.rowPWM = []
self.rowPWMString = []
for i in range(VCM_ROW):
self.rowPWMString.append(tkinter.StringVar())
self.rowPWMString[i].set(DFT_PWM)
self.rowPWM.append(tkinter.Spinbox(self, from_=PWM_MIN, to_=PWM_MAX, width=3, textvariable=self.rowPWMString[i]))
self.canvas.create_window(VCM_SIZE/2 + (VCM_SIZE * i), VCM_SIZE*(VCM_ROW+1) + VCM_SIZE/4, window=self.rowPWM[i])
self.canvas.create_text(VCM_SIZE/2 + (VCM_SIZE * i) - 40, VCM_SIZE*(VCM_ROW+1) + VCM_SIZE/4, text="PWM")
self.canvas.create_text(VCM_SIZE/2 + (VCM_SIZE * i) + 40, VCM_SIZE*(VCM_ROW+1) + VCM_SIZE/4, text="(%)")
self.vcmCheckTransverseState = tkinter.IntVar()
self.vcmCheckTransverse = tkinter.Checkbutton(self, text=" Transverse", variable=self.vcmCheckTransverseState)
self.canvas.create_window(VCM_SIZE/3 + (VCM_SIZE*VCM_ROW), VCM_SIZE*(VCM_ROW+1) + VCM_SIZE/5, window=self.vcmCheckTransverse)
self.selectFlipState = 0
self.vcmCheckFlipState = tkinter.IntVar()
self.vcmCheckFlip = tkinter.Checkbutton(self, text=" Flip", variable=self.vcmCheckFlipState)
self.canvas.create_window(VCM_SIZE/6 + (VCM_SIZE*VCM_ROW), VCM_SIZE*(VCM_ROW+1) + VCM_SIZE/3, window=self.vcmCheckFlip)
def runApp(self):
self.moveState = True
print("RUN!")
for i in range(VCM_MAT):
self.vcMotor[i].startClock()
def flipDirection(self):
self.stopTimer = True
newCounterStart = []
newCounterEnd = []
newCounterStart.clear()
newCounterEnd.clear()
for i in range(len(self.sineCounter)-1, -1, -1):
newCounterStart.append(self.sineCounterStart[i])
newCounterEnd.append(self.sineCounterEnd[i])
for i in range(len(self.sineCounter)):
self.sineCounter[i] = 0
self.sineDirection[i] = False
self.sineCounterStart[i] = newCounterStart[i]
self.sineCounterEnd[i] = newCounterEnd[i]
print(self.sineCounterStart[i], self.sineCounterEnd[i])
self.stopTimer = False
print("")
def sineWave(self):
self.stopTimer = False
print("SINE!")
for i in range(len(self.sineCounter)):
self.sineCounterStart[i] = float(self.rowTime[i].get())
self.sineCounterEnd[i] = float(self.rowTime[i].get()) + float(self.sinePeriod.get())/2.0
print(self.sineCounterStart[i], self.sineCounterEnd[i])
def updateWave(self):
for i in range(VCM_ROW):
for j in range(VCM_ROW):
if self.vcmCheckTransverseState.get() == 1:
VCM_ID = j + i*5
else:
VCM_ID = j*5 + i
#self.PWM_DC[i] = self.PWM_OFF + self.SIN_AMP * math.sin(2 * math.pi * self.systemTime * self.SIN_FRQ + math.radians(self.SIN_PHA[i]));
self.PWM_DC[i] = float(self.rowPWM[i].get()) / 100.0
#print(i, self.PWM_DC[i])
if self.sineDirection[i]:
self.driveMotor(self.vcMotor[VCM_ID].ADDR, self.vcMotor[VCM_ID].IN1, self.PWM_DC[i])
self.driveMotor(self.vcMotor[VCM_ID].ADDR, self.vcMotor[VCM_ID].IN2, 0)
else:
self.driveMotor(self.vcMotor[VCM_ID].ADDR, self.vcMotor[VCM_ID].IN1, 0)
self.driveMotor(self.vcMotor[VCM_ID].ADDR, self.vcMotor[VCM_ID].IN2, self.PWM_DC[i])
def stopApp(self):
self.moveState = False
self.stopTimer = True
self.stopAll()
print("STOP!")
def quitApp(self):
self.quitTimer = True
self.stopApp()
self.destroy()
print("QUIT!")
def driveMotor(self, addressNumber, portNumber, pwmDC):
test = 1
#print("DRIVING!",addressNumber,portNumber,pwmDC)
#self.ledDriver[addressNumber].setPWM(portNumber, pwmDC)
def stopMotor(self, motorID):
if self.vcMotor[motorID].PWR == 1:
self.vcMotor[motorID].PWR = 0
self.driveMotor(self.vcMotor[motorID].ADDR, self.vcMotor[motorID].IN1, 0)
self.driveMotor(self.vcMotor[motorID].ADDR, self.vcMotor[motorID].IN2, 0)
def stopAll(self):
print("STOP ALL!")
for i in range(VCM_MAT):
self.driveMotor(self.vcMotor[i].ADDR, self.vcMotor[i].IN1, 0)
self.driveMotor(self.vcMotor[i].ADDR, self.vcMotor[i].IN2, 0)
def moveVCM(self):
if self.moveState == True:
for i in range(VCM_MAT):
driverPWM = float(self.vcmPWM[i].get()) / 100.0
if self.vcmCheckState[i].get() == 1:
self.vcMotor[i].PWR = 1
self.vcMotor[i].delayTime = 1 / float(self.vcmFreq[i].get())
elapsedTime = time.time() - self.vcMotor[i].startTime
if elapsedTime >= self.vcMotor[i].delayTime:
self.vcMotor[i].startTime = time.time()
if self.vcMotor[i].DIR == 1:
self.vcMotor[i].DIR = 0
self.driveMotor(self.vcMotor[i].ADDR, self.vcMotor[i].IN1, driverPWM)
self.driveMotor(self.vcMotor[i].ADDR, self.vcMotor[i].IN2, 0)
else:
self.vcMotor[i].DIR = 1
self.driveMotor(self.vcMotor[i].ADDR, self.vcMotor[i].IN1, 0)
self.driveMotor(self.vcMotor[i].ADDR, self.vcMotor[i].IN2, driverPWM)
else:
self.stopMotor(self.vcMotor[i].ID)
def updateColor(self):
for i in range(VCM_MAT):
if self.vcmCheckState[i].get() == 1:
self.canvas.itemconfig(self.vcmBody[i], fill='green')
else:
self.canvas.itemconfig(self.vcmBody[i], fill='red')
def updateSelect(self):
for i in range(VCM_ROW):
if self.vcmCheckColumnState[i].get() == 1:
self.selectColumnState[i] = 1
for j in range(VCM_ROW):
self.vcmCheck[j*5 + i].select()
else:
if self.selectColumnState[i] == 1:
self.selectColumnState[i] = 0
for j in range(VCM_ROW):
self.vcmCheck[j*5 + i].deselect()
for i in range(VCM_ROW):
if self.vcmCheckRowState[i].get() == 1:
self.selectRowState[i] = 1
for j in range(VCM_ROW):
self.vcmCheck[j + i*5].select()
else:
if self.selectRowState[i] == 1:
self.selectRowState[i] = 0
for j in range(VCM_ROW):
self.vcmCheck[j + i*5].deselect()
if self.vcmCheckFlipState.get() == 1:
if self.selectFlipState == 0:
self.selectFlipState = 1
self.flipDirection()
else:
if self.selectFlipState == 1:
self.selectFlipState = 0
self.flipDirection()
def updateApp(self):
self.updateSelect()
self.updateColor()
self.moveVCM()
self.updateTime()
self.after(UPDATE_TIME, self.updateApp)
if __name__=="__main__":
app = Application()
app.mainloop()