Jukebox/jukebox-software
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update sensor system

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This commit is contained in:
Cole Deck 2024-05-14 20:07:35 -05:00
parent b56d176c82
commit 38ee4f9b9a
1 changed files with 12 additions and 12 deletions
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24
run.py
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@ -460,7 +460,6 @@ def handle_error(error):
def get_sensors(): def get_sensors():
global mbconn global mbconn
global sensors global sensors
oldsens = sensors
#print("Reading sensors") #print("Reading sensors")
mbconn.open() mbconn.open()
""" """
@ -474,27 +473,28 @@ def get_sensors():
port 8: 368 port 8: 368
""" """
out = list()
if real: if real:
for reg in [352, 288, 304, 368]: sens = [352, 288, 304, 368]
for idx in range(len(sens)):
reg = sens[idx]
val = mbconn.read_holding_registers(reg) val = mbconn.read_holding_registers(reg)
if val is not None: if val is not None:
val = val[0] val = val[0]
if val == 1: if val == 1 and sensors[idx] >= 0: # skip negative values
out.append(1) sensors[idx] += 1
else: else:
out.append(0) sensors[idx] = 0
else: else:
out = [0, 0, 0, 0] out = [0, 0, 0, 0]
if len(out) != 4: if len(out) != 4:
return -1 return -1
sensors = out
#fprint("Values: " + str(sensors)) #fprint("Values: " + str(sensors))
mbconn.close() mbconn.close()
for x in range(len(oldsens)): for x in range(len(sensors)):
if oldsens[x] == 0 and out[x] == 1: if sensors[x] >= 180: # 3 sec
# cable newly detected on tray # cable newly detected on tray
sensors[x] = -1
fprint("Precense detected: slot " + str(x)) fprint("Precense detected: slot " + str(x))
return x return x
@ -771,10 +771,9 @@ def mainloop_server(pool, manager):
global mainloop_get global mainloop_get
#print("Checking sensors..") #print("Checking sensors..")
newtube = get_sensors() newtube = get_sensors()
if newtube >= 0 and newtube != just_placed: if newtube >= 0:
# need to return a cable # need to return a cable
mainloop_get.put(("return", newtube)) mainloop_get.put(("return", newtube))
just_placed = -1
if not mainloop_get.empty(): if not mainloop_get.empty():
fprint("Movement requested. Keep clear of the machine!") fprint("Movement requested. Keep clear of the machine!")
@ -796,7 +795,7 @@ def mainloop_server(pool, manager):
fprint("Getting cable at position " + str(get_cable)) fprint("Getting cable at position " + str(get_cable))
mode = "Pickup" mode = "Pickup"
cable_list_state[get_cable] = False # mark as removed cable_list_state[get_cable] = False # mark as removed
get_sensors()
if action == "return": if action == "return":
arm_ready = False arm_ready = False
@ -904,6 +903,7 @@ def mainloop_server(pool, manager):
else: # camera not ready else: # camera not ready
timecount += 1 timecount += 1
if timecount > 180: if timecount > 180:
print("Camera timeout reached.")
timecount = 0 timecount = 0
camera_ready = True camera_ready = True
arm_ready = True arm_ready = True