boba bot baby

robotanno.py

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')