firmware.py

import serial
import time
from tqdm import tqdm


def InitializeSerial():
    ''' 
    Initialize serial communication with the Arduino.

    Returns: Arduino serial object
    '''
    #arduino = serial.Serial("/dev/ttyACM0",115200, timeout=.1)
    arduino = serial.Serial("COM8",115200, timeout=.1)
    for i in tqdm(range(100), ascii= "---------#", desc = 'Connecting to Arduino'):
        time.sleep(.025)
    return arduino

def ORbytes(abytes, bbytes):
    '''
    Bitwise OR for two bytearrays.

    Args:
        abytes: a bytearray
        bbytes: another bytearray
    Returns:
        a byte array with the result
    '''
    return bytes([int(a) | int(b) for a, b in zip(abytes[::-1], bbytes[::-1])][::-1])


# # this has to be manually synced with the firmware if the opcodes are changed
# opcodes = {
#   "ZERO":  b'\x00\x00',
#   "T+X":   b'\x00\x10',
#   "T+Y":   b'\x00\x20',
#   "T-X":   b'\x00\x30',
#   "T-Y":   b'\x00\x40',
#   "X":     b'\x00\x50',
#   "Y":     b'\x00\x60',
#   "READY": b'\x00\x70',
# }

def ReadArduino(arduino):
    data = arduino.readline()
    return data


def MoveMotors(arduino, location: tuple):
    ''' 
    Send a command to the arduino to move the motors to a location

    Args:
        Tuple (X,Y) for where to move gantry

    Returns:
        NONE
    '''
    # this has to be manually synced with the firmware if the opcodes are changed
    opcodes = {
    "ZERO":  b'\x00\x00',
    "T+X":   b'\x00\x10',
    "T+Y":   b'\x00\x20',
    "T-X":   b'\x00\x30',
    "T-Y":   b'\x00\x40',
    "X":     b'\x00\x50',
    "Y":     b'\x00\x60',
    "READY": b'\x00\x70',
    }

    # the arduino is little endian which makes byte stuff slightly unintuitive
    # send the x command
    x_data = location[0].to_bytes(2, 'little');
    x_packet = ORbytes(x_data, opcodes["X"])
    arduino.write(x_packet);
    # then the y command
    y_data = location[1].to_bytes(2, 'little');
    y_packet = ORbytes(y_data, opcodes["Y"])
    arduino.write(y_packet);

def ZeroGantry(arduino):
    # the zero command is just two bytes of 0s
    arduino.write(bytearray(b'\x00\x00'))
    time.sleep(8)
    print('Axis zeroed')
    
def CenterGantry(arduino):
    # moves it to the center
    MoveMotors(arduino,(185,205))
    time.sleep(5)
    print('Gantry centered')