first commit
This commit is contained in:
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20 changed files with 1964 additions and 0 deletions
3
.gitignore
vendored
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3
.gitignore
vendored
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__pycache__
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.vscode
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node_modules
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275
caller.py
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275
caller.py
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#!/usr/bin/env python3
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'''
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用RESTful API控制电机运动
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'''
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import subprocess
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from flask import Flask
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import RPi.GPIO as GPIO
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from worker import *
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from time import sleep
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APP = Flask(__name__)
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@APP.route('/carousel/clockwise')
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def carousel_clockwise():
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carousel.start(GPIO.HIGH)
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return 'Done'
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@APP.route('/carousel/counter-clockwise')
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def carousel_counter_clockwise():
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carousel.start(GPIO.LOW)
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return 'Done'
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@APP.route('/carousel/stop')
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def carousel_stop():
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carousel.stop()
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return 'Done'
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@APP.route('/carousel/presets/clockwise-90')
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def carousel_preset_clockwise_90():
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carousel.forward_degree(90)
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return 'Done'
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@APP.route('/carousel/presets/counter-clockwise-90')
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def carousel_preset_counter_clockwise_90():
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carousel.backward_degree(90)
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return 'Done'
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@APP.route('/elevator/down')
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def elevator_down():
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elevator.start(GPIO.HIGH)
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return 'Done'
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@APP.route('/elevator/up')
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def elevator_up():
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elevator.start(GPIO.LOW)
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return 'Done'
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@APP.route('/elevator/stop')
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def elevator_stop():
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elevator.stop()
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return 'Done'
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@APP.route('/elevator/presets/down-2-7')
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def elevator_preset_down_2_7():
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elevator.forward_degree(7200 * 2.7)
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return 'Done'
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@APP.route('/elevator/presets/up-2-7')
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def elevator_preset_up_2_7():
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elevator.backward_degree(7200 * 2.7)
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return 'Done'
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@APP.route('/conveyor/output')
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def conveyor_output():
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conveyor.start(GPIO.LOW)
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return 'Done'
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@APP.route('/conveyor/recycle')
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def conveyor_recycle():
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conveyor.start(GPIO.HIGH)
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return 'Done'
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@APP.route('/conveyor/stop')
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def conveyor_stop():
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conveyor.stop()
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return 'Done'
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@APP.route('/conveyor/presets/output')
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def conveyor_preset_output():
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conveyor.backward_degree(360 * 2)
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return 'Done'
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@APP.route('/conveyor/presets/recycle')
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def conveyor_preset_recycle():
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conveyor.forward_degree(360 * 2)
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return 'Done'
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@APP.route('/watchdog/open')
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def watchdog_open():
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watchdog.start(GPIO.HIGH)
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return 'Done'
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@APP.route('/watchdog/close')
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def watchdog_close():
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watchdog.start(GPIO.LOW)
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return 'Done'
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@APP.route('/watchdog/stop')
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def watchdog_stop():
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watchdog.stop()
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return 'Done'
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@APP.route('/watchdog/presets/open')
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def watchdog_preset_open():
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watchdog.backward_degree(360 * 2)
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return 'Done'
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@APP.route('/watchdog/presets/close')
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def watchdog_preset_close():
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watchdog.forward_degree(360 * 2)
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return 'Done'
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@APP.route('/recycleh/moveout')
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def recycleh_moveout():
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recycleh.start(GPIO.LOW)
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return 'Done'
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@APP.route('/recycleh/movein')
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def recycleh_movein():
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recycleh.start(GPIO.HIGH)
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return 'Done'
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@APP.route('/recycleh/stop')
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def recycleh_stop():
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recycleh.stop()
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return 'Done'
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@APP.route('/recycleh/presets/moveout')
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def recycleh_preset_moveout():
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recycleh.forward_degree(360 * 2)
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return 'Done'
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@APP.route('/recycleh/presets/movein')
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def recycleh_preset_movein():
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recycleh.backward_degree(360 * 2)
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return 'Done'
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@APP.route('/recyclev/rise')
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def recyclev_rise():
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recyclev.start(GPIO.HIGH)
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return 'Done'
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@APP.route('/recyclev/fall')
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def recyclev_fall():
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recyclev.start(GPIO.LOW)
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return 'Done'
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@APP.route('/recyclev/stop')
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def recyclev_stop():
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recyclev.stop()
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return 'Done'
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@APP.route('/recyclev/presets/rise')
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def recyclev_preset_rise():
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recyclev.backward_degree(360 * 2)
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return 'Done'
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@APP.route('/recyclev/presets/fall')
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def recyclev_preset_fall():
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recyclev.forward_degree(360 * 2)
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return 'Done'
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@APP.route('/bag-pusher/push')
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def bag_pusher_push():
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bag_pusher.start(GPIO.HIGH)
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return 'Done'
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@APP.route('/bag-pusher/loose')
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def bag_pusher_loose():
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bag_pusher.start(GPIO.LOW)
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return 'Done'
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@APP.route('/bag-pusher/stop')
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def bag_pusher_stop():
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bag_pusher.stop()
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return 'Done'
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@APP.route('/bag-pusher/presets/push')
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def bag_pusher_preset_push():
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bag_pusher.backward_degree(360)
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return 'Done'
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@APP.route('/bag-pusher/presets/loose')
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def bag_pusher_preset_loose():
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bag_pusher.forward_degree(360)
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return 'Done'
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@APP.route('/scissors-pusher/close')
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def scissors_pusher_close():
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scissors_pusher.start(GPIO.HIGH)
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return 'Done'
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@APP.route('/scissors-pusher/far')
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def scissors_pusher_far():
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scissors_pusher.start(GPIO.LOW)
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return 'Done'
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@APP.route('/scissors-pusher/stop')
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def scissors_pusher_stop():
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scissors_pusher.stop()
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return 'Done'
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@APP.route('/scissors-pusher/presets/close')
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def scissors_pusher_preset_close():
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scissors_pusher.backward_degree(360)
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return 'Done'
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@APP.route('/scissors-pusher/presets/far')
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def scissors_pusher_preset_far():
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scissors_pusher.forward_degree(360)
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return 'Done'
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@APP.route('/scissors/cut')
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def scissors_cut():
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scissors.degree(150)
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return 'Done'
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@APP.route('/scissors/loose')
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def scissors_loose():
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scissors.degree(10)
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return 'Done'
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@APP.route('/spigot/open')
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def spigot_open():
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spigot.enable()
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return 'Done'
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@APP.route('/spigot/close')
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def spigot_close():
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spigot.disable()
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return 'Done'
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520
controller.html
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520
controller.html
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<!DOCTYPE html>
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<html lang="zh-CN">
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<head>
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<!-- Required meta tags -->
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<meta charset="utf-8" />
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<meta name="viewport" content="width=device-width, initial-scale=1" />
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<!-- Bootstrap CSS -->
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<link
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href="https://cdn.jsdelivr.net/npm/bootstrap@5.0.0-beta1/dist/css/bootstrap.min.css"
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rel="stylesheet"
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integrity="sha384-giJF6kkoqNQ00vy+HMDP7azOuL0xtbfIcaT9wjKHr8RbDVddVHyTfAAsrekwKmP1"
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crossorigin="anonymous"
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/>
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<!-- FontAwesone Icons -->
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<link
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href="node_modules/@fortawesome/fontawesome-free/css/all.min.css"
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rel="stylesheet"
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/>
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<title>Controller</title>
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</head>
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<body>
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<table class="table">
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<thead>
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<tr>
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<th scope="col">名称</th>
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<th scope="col">手动控制</th>
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<th scope="col">预设</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<th scope="row" class="align-middle">旋转木马</th>
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<td>
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<button
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id="carousel-clockwise"
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type="button"
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class="btn btn-outline-primary"
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>
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<i class="fas fa-redo"></i> 顺时针旋转
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</button>
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<button
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id="carousel-counter-clockwise"
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type="button"
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class="btn btn-outline-primary"
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>
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<i class="fas fa-undo"></i> 逆时针旋转
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</button>
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<button
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id="carousel-stop"
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type="button"
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class="btn btn-outline-danger"
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>
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<i class="fas fa-stop-circle"></i> 停止旋转
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</button>
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</td>
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<td>
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<button
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id="carousel-preset-clockwise-90"
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type="button"
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class="btn btn-outline-success"
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>
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<i class="fas fa-redo"></i> 顺时针旋转90°
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</button>
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<button
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id="carousel-preset-counter-clockwise-90"
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type="button"
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class="btn btn-outline-success"
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>
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<i class="fas fa-undo"></i> 逆时针旋转90°
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</button>
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</td>
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</tr>
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<tr>
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<th scope="row" class="align-middle">观光电梯</th>
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<td>
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<button
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id="elevator-down"
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type="button"
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class="btn btn-outline-primary"
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>
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<i class="fas fa-arrow-down"></i> 下降
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</button>
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<button
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id="elevator-up"
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type="button"
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class="btn btn-outline-primary"
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>
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<i class="fas fa-arrow-up"></i> 上升
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</button>
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<button
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id="elevator-stop"
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type="button"
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class="btn btn-outline-danger"
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>
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<i class="fas fa-stop-circle"></i> 停止
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</button>
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</td>
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<td>
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<button
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id="elevator-preset-down-2-7"
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type="button"
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class="btn btn-outline-success"
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>
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<i class="fas fa-arrow-down"></i> 下降2.7CM
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</button>
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<button
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id="elevator-preset-up-2-7"
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type="button"
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class="btn btn-outline-success"
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>
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<i class="fas fa-arrow-up"></i> 上升2.7CM
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</button>
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</td>
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</tr>
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<tr>
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<th scope="row" class="align-middle">传送履带</th>
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<td>
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<button
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id="conveyor-output"
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||||
type="button"
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||||
class="btn btn-outline-primary"
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>
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<i class="fas fa-sign-out-alt"></i> 出药
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</button>
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<button
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id="conveyor-recycle"
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type="button"
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class="btn btn-outline-primary"
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>
|
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<i class="fas fa-recycle"></i> 回收
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</button>
|
||||
<button
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id="conveyor-stop"
|
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type="button"
|
||||
class="btn btn-outline-danger"
|
||||
>
|
||||
<i class="fas fa-stop-circle"></i> 停止
|
||||
</button>
|
||||
</td>
|
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<td>
|
||||
<button
|
||||
id="conveyor-preset-output"
|
||||
type="button"
|
||||
class="btn btn-outline-success"
|
||||
>
|
||||
<i class="fas fa-sign-out-alt"></i> 出药
|
||||
</button>
|
||||
<button
|
||||
id="conveyor-preset-recycle"
|
||||
type="button"
|
||||
class="btn btn-outline-success"
|
||||
>
|
||||
<i class="fas fa-recycle"></i> 回收
|
||||
</button>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th scope="row" class="align-middle">看门狗</th>
|
||||
<td>
|
||||
<button
|
||||
id="watchdog-open"
|
||||
type="button"
|
||||
class="btn btn-outline-primary"
|
||||
>
|
||||
<i class="fas fa-expand-arrows-alt"></i> 打开
|
||||
</button>
|
||||
<button
|
||||
id="watchdog-close"
|
||||
type="button"
|
||||
class="btn btn-outline-primary"
|
||||
>
|
||||
<i class="fas fa-compress-arrows-alt"></i> 关闭
|
||||
</button>
|
||||
<button
|
||||
id="watchdog-stop"
|
||||
type="button"
|
||||
class="btn btn-outline-danger"
|
||||
>
|
||||
<i class="fas fa-stop-circle"></i> 停止
|
||||
</button>
|
||||
</td>
|
||||
<td>
|
||||
<button
|
||||
id="watchdog-preset-open"
|
||||
type="button"
|
||||
class="btn btn-outline-success"
|
||||
>
|
||||
<i class="fas fa-expand-arrows-alt"></i> 打开
|
||||
</button>
|
||||
<button
|
||||
id="watchdog-preset-close"
|
||||
type="button"
|
||||
class="btn btn-outline-success"
|
||||
>
|
||||
<i class="fas fa-compress-arrows-alt"></i> 关闭
|
||||
</button>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th scope="row" class="align-middle">水平回收</th>
|
||||
<td>
|
||||
<button
|
||||
id="recycleh-moveout"
|
||||
type="button"
|
||||
class="btn btn-outline-primary"
|
||||
>
|
||||
<i class="fas fa-sign-out-alt"></i> 移出
|
||||
</button>
|
||||
<button
|
||||
id="recycleh-movein"
|
||||
type="button"
|
||||
class="btn btn-outline-primary"
|
||||
>
|
||||
<i class="fas fa-sign-in-alt"></i> 移入
|
||||
</button>
|
||||
<button
|
||||
id="recycleh-stop"
|
||||
type="button"
|
||||
class="btn btn-outline-danger"
|
||||
>
|
||||
<i class="fas fa-stop-circle"></i> 停止
|
||||
</button>
|
||||
</td>
|
||||
<td>
|
||||
<button
|
||||
id="recycleh-preset-moveout"
|
||||
type="button"
|
||||
class="btn btn-outline-success"
|
||||
>
|
||||
<i class="fas fa-sign-out-alt"></i> 移出
|
||||
</button>
|
||||
<button
|
||||
id="recycleh-preset-movein"
|
||||
type="button"
|
||||
class="btn btn-outline-success"
|
||||
>
|
||||
<i class="fas fa-sign-in-alt"></i> 移入
|
||||
</button>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th scope="row" class="align-middle">垂直回收</th>
|
||||
<td>
|
||||
<button
|
||||
id="recyclev-rise"
|
||||
type="button"
|
||||
class="btn btn-outline-primary"
|
||||
>
|
||||
<i class="fas fa-upload"></i> 上升
|
||||
</button>
|
||||
<button
|
||||
id="recyclev-fall"
|
||||
type="button"
|
||||
class="btn btn-outline-primary"
|
||||
>
|
||||
<i class="fas fa-download"></i> 下降
|
||||
</button>
|
||||
<button
|
||||
id="recyclev-stop"
|
||||
type="button"
|
||||
class="btn btn-outline-danger"
|
||||
>
|
||||
<i class="fas fa-stop-circle"></i> 停止
|
||||
</button>
|
||||
</td>
|
||||
<td>
|
||||
<button
|
||||
id="recyclev-preset-rise"
|
||||
type="button"
|
||||
class="btn btn-outline-success"
|
||||
>
|
||||
<i class="fas fa-upload"></i> 上升
|
||||
</button>
|
||||
<button
|
||||
id="recyclev-preset-fall"
|
||||
type="button"
|
||||
class="btn btn-outline-success"
|
||||
>
|
||||
<i class="fas fa-download"></i> 下降
|
||||
</button>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th scope="row" class="align-middle">推药袋</th>
|
||||
<td>
|
||||
<button
|
||||
id="bag-pusher-push"
|
||||
type="button"
|
||||
class="btn btn-outline-primary"
|
||||
>
|
||||
<i class="fas fa-compress-alt"></i> 推药袋
|
||||
</button>
|
||||
<button
|
||||
id="bag-pusher-loose"
|
||||
type="button"
|
||||
class="btn btn-outline-primary"
|
||||
>
|
||||
<i class="fas fa-expand-alt"></i> 松开
|
||||
</button>
|
||||
<button
|
||||
id="bag-pusher-stop"
|
||||
type="button"
|
||||
class="btn btn-outline-danger"
|
||||
>
|
||||
<i class="fas fa-stop-circle"></i> 停止
|
||||
</button>
|
||||
</td>
|
||||
<td>
|
||||
<button
|
||||
id="bag-pusher-preset-push"
|
||||
type="button"
|
||||
class="btn btn-outline-success"
|
||||
>
|
||||
<i class="fas fa-compress-alt"></i> 推药袋
|
||||
</button>
|
||||
<button
|
||||
id="bag-pusher-preset-loose"
|
||||
type="button"
|
||||
class="btn btn-outline-success"
|
||||
>
|
||||
<i class="fas fa-expand-alt"></i> 松开
|
||||
</button>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th scope="row" class="align-middle">剪刀移动</th>
|
||||
<td>
|
||||
<button
|
||||
id="scissors-pusher-close"
|
||||
type="button"
|
||||
class="btn btn-outline-primary"
|
||||
>
|
||||
<i class="fas fa-compress-alt"></i> 靠近
|
||||
</button>
|
||||
<button
|
||||
id="scissors-pusher-far"
|
||||
type="button"
|
||||
class="btn btn-outline-primary"
|
||||
>
|
||||
<i class="fas fa-expand-alt"></i> 远离
|
||||
</button>
|
||||
<button
|
||||
id="scissors-pusher-stop"
|
||||
type="button"
|
||||
class="btn btn-outline-danger"
|
||||
>
|
||||
<i class="fas fa-stop-circle"></i> 停止
|
||||
</button>
|
||||
</td>
|
||||
<td>
|
||||
<button
|
||||
id="scissors-pusher-preset-close"
|
||||
type="button"
|
||||
class="btn btn-outline-success"
|
||||
>
|
||||
<i class="fas fa-compress-alt"></i> 靠近
|
||||
</button>
|
||||
<button
|
||||
id="scissors-pusher-preset-far"
|
||||
type="button"
|
||||
class="btn btn-outline-success"
|
||||
>
|
||||
<i class="fas fa-expand-alt"></i> 远离
|
||||
</button>
|
||||
</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th scope="row" class="align-middle">剪切药袋</th>
|
||||
<td>
|
||||
<button
|
||||
id="scissors-cut"
|
||||
type="button"
|
||||
class="btn btn-outline-primary"
|
||||
>
|
||||
<i class="fas fa-cut"></i> 剪切
|
||||
</button>
|
||||
<button
|
||||
id="scissors-loose"
|
||||
type="button"
|
||||
class="btn btn-outline-danger"
|
||||
>
|
||||
<i class="fas fa-stop-circle"></i> 松开
|
||||
</button>
|
||||
</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<th scope="row" class="align-middle">水箱</th>
|
||||
<td>
|
||||
<button
|
||||
id="spigot-open"
|
||||
type="button"
|
||||
class="btn btn-outline-primary"
|
||||
>
|
||||
<i class="fas fa-faucet"></i> 打开阀门
|
||||
</button>
|
||||
<button
|
||||
id="spigot-close"
|
||||
type="button"
|
||||
class="btn btn-outline-danger"
|
||||
>
|
||||
<i class="fas fa-stop-circle"></i> 关闭阀门
|
||||
</button>
|
||||
</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
<!-- Optional JavaScript; choose one of the two! -->
|
||||
|
||||
<!-- Option 1: Bootstrap Bundle with Popper -->
|
||||
<script
|
||||
src="https://cdn.jsdelivr.net/npm/bootstrap@5.0.0-beta1/dist/js/bootstrap.bundle.min.js"
|
||||
integrity="sha384-ygbV9kiqUc6oa4msXn9868pTtWMgiQaeYH7/t7LECLbyPA2x65Kgf80OJFdroafW"
|
||||
crossorigin="anonymous"
|
||||
></script>
|
||||
|
||||
<!-- Option 2: Separate Popper and Bootstrap JS -->
|
||||
<!--
|
||||
<script src="https://cdn.jsdelivr.net/npm/@popperjs/core@2.5.4/dist/umd/popper.min.js" integrity="sha384-q2kxQ16AaE6UbzuKqyBE9/u/KzioAlnx2maXQHiDX9d4/zp8Ok3f+M7DPm+Ib6IU" crossorigin="anonymous"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/bootstrap@5.0.0-beta1/dist/js/bootstrap.min.js" integrity="sha384-pQQkAEnwaBkjpqZ8RU1fF1AKtTcHJwFl3pblpTlHXybJjHpMYo79HY3hIi4NKxyj" crossorigin="anonymous"></script>
|
||||
-->
|
||||
|
||||
<!-- jQuery -->
|
||||
<script src="node_modules/jquery/dist/jquery.min.js"></script>
|
||||
|
||||
<script type="text/javascript">
|
||||
$(function () {
|
||||
$("#carousel-clockwise").click(() => $.get("/api/carousel/clockwise"));
|
||||
$("#carousel-counter-clockwise").click(() =>
|
||||
$.get("/api/carousel/counter-clockwise")
|
||||
);
|
||||
$("#carousel-stop").click(() => $.get("/api/carousel/stop"));
|
||||
$("#carousel-preset-clockwise-90").click(() =>
|
||||
$.get("/api/carousel/presets/clockwise-90")
|
||||
);
|
||||
$("#carousel-preset-counter-clockwise-90").click(() =>
|
||||
$.get("/api/carousel/presets/counter-clockwise-90")
|
||||
);
|
||||
$("#elevator-down").click(() => $.get("/api/elevator/down"));
|
||||
$("#elevator-up").click(() => $.get("/api/elevator/up"));
|
||||
$("#elevator-stop").click(() => $.get("/api/elevator/stop"));
|
||||
$("#elevator-preset-down-2-7").click(() =>
|
||||
$.get("/api/elevator/presets/down-2-7")
|
||||
);
|
||||
$("#elevator-preset-up-2-7").click(() =>
|
||||
$.get("/api/elevator/presets/up-2-7")
|
||||
);
|
||||
$("#conveyor-output").click(() => $.get("/api/conveyor/output"));
|
||||
$("#conveyor-recycle").click(() => $.get("/api/conveyor/recycle"));
|
||||
$("#conveyor-stop").click(() => $.get("/api/conveyor/stop"));
|
||||
$("#conveyor-preset-output").click(() =>
|
||||
$.get("/api/conveyor/presets/output")
|
||||
);
|
||||
$("#conveyor-preset-recycle").click(() =>
|
||||
$.get("/api/conveyor/presets/recycle")
|
||||
);
|
||||
$("#watchdog-open").click(() => $.get("/api/watchdog/open"));
|
||||
$("#watchdog-close").click(() => $.get("/api/watchdog/close"));
|
||||
$("#watchdog-stop").click(() => $.get("/api/watchdog/stop"));
|
||||
$("#watchdog-preset-open").click(() =>
|
||||
$.get("/api/watchdog/presets/open")
|
||||
);
|
||||
$("#watchdog-preset-close").click(() =>
|
||||
$.get("/api/watchdog/presets/close")
|
||||
);
|
||||
$("#recycleh-moveout").click(() => $.get("/api/recycleh/moveout"));
|
||||
$("#recycleh-movein").click(() => $.get("/api/recycleh/movein"));
|
||||
$("#recycleh-stop").click(() => $.get("/api/recycleh/stop"));
|
||||
$("#recycleh-preset-moveout").click(() =>
|
||||
$.get("/api/recycleh/presets/moveout")
|
||||
);
|
||||
$("#recycleh-preset-movein").click(() =>
|
||||
$.get("/api/recycleh/presets/movein")
|
||||
);
|
||||
$("#recyclev-rise").click(() => $.get("/api/recyclev/rise"));
|
||||
$("#recyclev-fall").click(() => $.get("/api/recyclev/fall"));
|
||||
$("#recyclev-stop").click(() => $.get("/api/recyclev/stop"));
|
||||
$("#recyclev-preset-rise").click(() =>
|
||||
$.get("/api/recyclev/presets/rise")
|
||||
);
|
||||
$("#recyclev-preset-fall").click(() =>
|
||||
$.get("/api/recyclev/presets/fall")
|
||||
);
|
||||
$("#bag-pusher-push").click(() => $.get("/api/bag-pusher/push"));
|
||||
$("#bag-pusher-loose").click(() => $.get("/api/bag-pusher/loose"));
|
||||
$("#bag-pusher-stop").click(() => $.get("/api/bag-pusher/stop"));
|
||||
$("#bag-pusher-preset-push").click(() =>
|
||||
$.get("/api/bag-pusher/presets/push")
|
||||
);
|
||||
$("#bag-pusher-preset-loose").click(() =>
|
||||
$.get("/api/bag-pusher/presets/loose")
|
||||
);
|
||||
$("#scissors-pusher-close").click(() =>
|
||||
$.get("/api/scissors-pusher/close")
|
||||
);
|
||||
$("#scissors-pusher-far").click(() =>
|
||||
$.get("/api/scissors-pusher/far")
|
||||
);
|
||||
$("#scissors-pusher-stop").click(() =>
|
||||
$.get("/api/scissors-pusher/stop")
|
||||
);
|
||||
$("#scissors-pusher-preset-close").click(() =>
|
||||
$.get("/api/scissors-pusher/presets/close")
|
||||
);
|
||||
$("#scissors-pusher-preset-far").click(() =>
|
||||
$.get("/api/scissors-pusher/presets/far")
|
||||
);
|
||||
$("#scissors-cut").click(() => $.get("/api/scissors/cut"));
|
||||
$("#scissors-loose").click(() => $.get("/api/scissors/loose"));
|
||||
$("#spigot-open").click(() => $.get("/api/spigot/open"));
|
||||
$("#spigot-close").click(() => $.get("/api/spigot/close"));
|
||||
});
|
||||
</script>
|
||||
</body>
|
||||
</html>
|
||||
114
demo.html
Normal file
114
demo.html
Normal file
|
|
@ -0,0 +1,114 @@
|
|||
<!DOCTYPE html>
|
||||
<html lang="zh-CN">
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<meta
|
||||
name="viewport"
|
||||
content="width=device-width, initial-scale=1, shrink-to-fit=no"
|
||||
/>
|
||||
|
||||
<style type="text/css">
|
||||
body {
|
||||
background-image: url("images/homepage.png");
|
||||
overflow: hidden;
|
||||
height: 100%;
|
||||
}
|
||||
#clock {
|
||||
position: absolute;
|
||||
top: 40px;
|
||||
left: 40px;
|
||||
font-family: "Noto Sans CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 100pt;
|
||||
}
|
||||
#calendar {
|
||||
position: absolute;
|
||||
top: 220px;
|
||||
left: 42px;
|
||||
font-family: "Noto Sans CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 38pt;
|
||||
}
|
||||
#weather {
|
||||
position: absolute;
|
||||
top: 100px;
|
||||
left: 630px;
|
||||
font-family: "Noto Sans CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 32pt;
|
||||
}
|
||||
#temperature {
|
||||
position: absolute;
|
||||
top: 150px;
|
||||
left: 630px;
|
||||
font-family: "Noto Sans CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 70pt;
|
||||
}
|
||||
#settings {
|
||||
position: absolute;
|
||||
top: 300px;
|
||||
left: 0px;
|
||||
width: 512px;
|
||||
height: 300px;
|
||||
}
|
||||
#view {
|
||||
position: absolute;
|
||||
top: 300px;
|
||||
left: 512px;
|
||||
width: 512px;
|
||||
height: 300px;
|
||||
}
|
||||
</style>
|
||||
|
||||
<title>PiApp</title>
|
||||
</head>
|
||||
<body>
|
||||
<div id="clock">正在加载</div>
|
||||
<div id="calendar">正在加载</div>
|
||||
<div id="weather">正在加载</div>
|
||||
<div id="temperature">正在加载</div>
|
||||
<a href="select.html" id="settings"></a>
|
||||
<a href="view.html" id="view"></a>
|
||||
<script src="node_modules/moment/min/moment-with-locales.min.js"></script>
|
||||
<script>
|
||||
moment.locale("zh-cn");
|
||||
displayTime();
|
||||
function displayTime() {
|
||||
document.getElementById("clock").textContent = moment().format("LTS");
|
||||
}
|
||||
document.getElementById("calendar").textContent = moment().format(
|
||||
"LL dddd"
|
||||
);
|
||||
String.prototype.removeBlankLines = function () {
|
||||
return this.replace(/(\n[\s\t]*\r*\n)/g, "\n").replace(
|
||||
/^[\n\r\n\t]*|[\n\r\n\t]*$/g,
|
||||
""
|
||||
);
|
||||
};
|
||||
setInterval(displayTime, 1000);
|
||||
var Http = new XMLHttpRequest();
|
||||
var url =
|
||||
"https://devapi.qweather.com/v7/weather/3d?location=101220109&key=cb36659932e04262904836976ac4e47a";
|
||||
Http.onreadystatechange = function () {
|
||||
if (this.readyState == 4 && this.status == 200) {
|
||||
var weatherJson = Http.responseText;
|
||||
var weatherObj = JSON.parse(weatherJson);
|
||||
document.getElementById("weather").textContent =
|
||||
weatherObj.daily[0].textDay +
|
||||
" " +
|
||||
weatherObj.daily[0].windDirDay +
|
||||
weatherObj.daily[0].windScaleDay +
|
||||
"级";
|
||||
document.getElementById("temperature").textContent =
|
||||
weatherObj.daily[0].tempMin +
|
||||
"-" +
|
||||
weatherObj.daily[0].tempMax +
|
||||
"℃";
|
||||
}
|
||||
};
|
||||
Http.open("GET", url);
|
||||
Http.send();
|
||||
</script>
|
||||
</body>
|
||||
</html>
|
||||
BIN
images/homepage.png
Normal file
BIN
images/homepage.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 138 KiB |
BIN
images/select-bg.png
Normal file
BIN
images/select-bg.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 86 KiB |
BIN
images/settings-bg.png
Normal file
BIN
images/settings-bg.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 97 KiB |
BIN
images/settings-item.png
Normal file
BIN
images/settings-item.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 5.7 KiB |
BIN
images/settings-new.png
Normal file
BIN
images/settings-new.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 24 KiB |
87
index.html
Normal file
87
index.html
Normal file
|
|
@ -0,0 +1,87 @@
|
|||
<!DOCTYPE html>
|
||||
<html lang="zh-CN">
|
||||
<head>
|
||||
<!-- Required meta tags -->
|
||||
<meta charset="utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
|
||||
<!-- Bootstrap CSS -->
|
||||
<link
|
||||
href="https://cdn.jsdelivr.net/npm/bootstrap@5.0.0-beta1/dist/css/bootstrap.min.css"
|
||||
rel="stylesheet"
|
||||
integrity="sha384-giJF6kkoqNQ00vy+HMDP7azOuL0xtbfIcaT9wjKHr8RbDVddVHyTfAAsrekwKmP1"
|
||||
crossorigin="anonymous"
|
||||
/>
|
||||
|
||||
<!-- FontAwesone Icons -->
|
||||
<link
|
||||
href="node_modules/@fortawesome/fontawesome-free/css/all.min.css"
|
||||
rel="stylesheet"
|
||||
/>
|
||||
|
||||
<style>
|
||||
@import url("https://fonts.googleapis.com/css2?family=Ma+Shan+Zheng&display=swap");
|
||||
.mytitle {
|
||||
font-family: "Ma Shan Zheng", cursive;
|
||||
font-size: 48px;
|
||||
text-align: center;
|
||||
padding-top: 20px;
|
||||
}
|
||||
.root {
|
||||
padding-top: 40px;
|
||||
}
|
||||
</style>
|
||||
|
||||
<title>遥控器</title>
|
||||
</head>
|
||||
<body>
|
||||
<div class="d-grid gap-4 col-10 col-sm-8 col-lg-6 mx-auto">
|
||||
<h1 class="mytitle">转盘遥控器</h1>
|
||||
<button class="btn btn-primary btn-lg" type="button" id="clockwise">
|
||||
<i class="fas fa-redo"></i> 顺时针转动
|
||||
</button>
|
||||
<button
|
||||
class="btn btn-primary btn-lg"
|
||||
type="button"
|
||||
id="counter-clockwise"
|
||||
>
|
||||
<i class="fas fa-undo"></i> 逆时针转动
|
||||
</button>
|
||||
<button class="btn btn-danger btn-lg" type="button" id="stop">
|
||||
<i class="fas fa-stop-circle"></i> 停止转动
|
||||
</button>
|
||||
</div>
|
||||
|
||||
<!-- jQuery -->
|
||||
<script src="node_modules/jquery/dist/jquery.min.js"></script>
|
||||
|
||||
<!-- Optional JavaScript; choose one of the two! -->
|
||||
|
||||
<!-- Option 1: Bootstrap Bundle with Popper -->
|
||||
<script
|
||||
src="https://cdn.jsdelivr.net/npm/bootstrap@5.0.0-beta1/dist/js/bootstrap.bundle.min.js"
|
||||
integrity="sha384-ygbV9kiqUc6oa4msXn9868pTtWMgiQaeYH7/t7LECLbyPA2x65Kgf80OJFdroafW"
|
||||
crossorigin="anonymous"
|
||||
></script>
|
||||
|
||||
<!-- Option 2: Separate Popper and Bootstrap JS -->
|
||||
<!--
|
||||
<script src="https://cdn.jsdelivr.net/npm/@popperjs/core@2.5.4/dist/umd/popper.min.js" integrity="sha384-q2kxQ16AaE6UbzuKqyBE9/u/KzioAlnx2maXQHiDX9d4/zp8Ok3f+M7DPm+Ib6IU" crossorigin="anonymous"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/bootstrap@5.0.0-beta1/dist/js/bootstrap.min.js" integrity="sha384-pQQkAEnwaBkjpqZ8RU1fF1AKtTcHJwFl3pblpTlHXybJjHpMYo79HY3hIi4NKxyj" crossorigin="anonymous"></script>
|
||||
-->
|
||||
|
||||
<script type="text/javascript">
|
||||
$(function () {
|
||||
$("#clockwise").click(() => {
|
||||
$.get("/api/carousel/clockwise");
|
||||
});
|
||||
$("#counter-clockwise").click(() => {
|
||||
$.get("/api/carousel/counter-clockwise");
|
||||
});
|
||||
$("#stop").click(() => {
|
||||
$.get("/api/carousel/stop");
|
||||
});
|
||||
});
|
||||
</script>
|
||||
</body>
|
||||
</html>
|
||||
2
launch_uwsgi.sh
Executable file
2
launch_uwsgi.sh
Executable file
|
|
@ -0,0 +1,2 @@
|
|||
#!/bin/bash
|
||||
uwsgi -s /tmp/piapp.sock --chmod-socket=666 --manage-script-name --mount /api=caller:APP --plugin python3
|
||||
272
old_controller.html
Normal file
272
old_controller.html
Normal file
|
|
@ -0,0 +1,272 @@
|
|||
<!DOCTYPE html>
|
||||
<html lang="en">
|
||||
<head>
|
||||
<!-- Required meta tags -->
|
||||
<meta charset="utf-8" />
|
||||
<meta
|
||||
name="viewport"
|
||||
content="width=device-width, initial-scale=1, shrink-to-fit=no"
|
||||
/>
|
||||
|
||||
<!-- Bootstrap CSS -->
|
||||
<link
|
||||
rel="stylesheet"
|
||||
href="https://stackpath.bootstrapcdn.com/bootstrap/4.5.2/css/bootstrap.min.css"
|
||||
integrity="sha384-JcKb8q3iqJ61gNV9KGb8thSsNjpSL0n8PARn9HuZOnIxN0hoP+VmmDGMN5t9UJ0Z"
|
||||
crossorigin="anonymous"
|
||||
/>
|
||||
|
||||
<link
|
||||
rel="stylesheet"
|
||||
href="node_modules/bootstrap-slider/dist/css/bootstrap-slider.min.css"
|
||||
/>
|
||||
|
||||
<style>
|
||||
.label {
|
||||
font-size: 22pt;
|
||||
}
|
||||
|
||||
#demo-start {
|
||||
font-size: 230pt;
|
||||
}
|
||||
</style>
|
||||
|
||||
<title>遥控器</title>
|
||||
</head>
|
||||
|
||||
<body>
|
||||
<!-- <button id="demo-start" type=" button" class="btn btn-success mt-5 mb-5">START</button> -->
|
||||
<div class="label mt-5">
|
||||
旋转木马：
|
||||
<button id="carousel-clockwise" type="button" class="btn btn-primary">
|
||||
顺时针旋转90度
|
||||
</button>
|
||||
<button
|
||||
id="carousel-counter-clockwise"
|
||||
type="button"
|
||||
class="btn btn-primary"
|
||||
>
|
||||
逆时针旋转90度
|
||||
</button>
|
||||
</div>
|
||||
<div class="label">
|
||||
观光电梯：
|
||||
<button id="elevator-up" type=" button" class="btn btn-primary">
|
||||
上升2.7CM
|
||||
</button>
|
||||
<button id="elevator-down" type="button" class="btn btn-primary">
|
||||
下降2.7CM
|
||||
</button>
|
||||
</div>
|
||||
<div class="label">
|
||||
滑梯：
|
||||
<button id="slide-degree-rise" type=" button" class="btn btn-primary">
|
||||
角度上升
|
||||
</button>
|
||||
<button id="slide-degree-fall" type="button" class="btn btn-primary">
|
||||
角度下降
|
||||
</button>
|
||||
<button id="slide-width-increase" type=" button" class="btn btn-primary">
|
||||
宽度增加
|
||||
</button>
|
||||
<button id="slide-width-decrease" type="button" class="btn btn-primary">
|
||||
宽度减少
|
||||
</button>
|
||||
</div>
|
||||
<div class="label">
|
||||
回收装置：
|
||||
<button id="recycleh-in" type=" button" class="btn btn-primary">
|
||||
移入药箱
|
||||
</button>
|
||||
<button id="recycleh-out" type="button" class="btn btn-primary">
|
||||
移出药箱
|
||||
</button>
|
||||
<button id="recyclev-up" type=" button" class="btn btn-primary">
|
||||
竖直上升
|
||||
</button>
|
||||
<button id="recyclev-down" type="button" class="btn btn-primary">
|
||||
竖直下降
|
||||
</button>
|
||||
</div>
|
||||
<div class="label">
|
||||
震动马达：
|
||||
<button id="vibrator-enable" type="button" class="btn btn-primary">
|
||||
开始震动
|
||||
</button>
|
||||
<button id="vibrator-disable" type="button" class="btn btn-primary">
|
||||
停止震动
|
||||
</button>
|
||||
</div>
|
||||
<div class="label">
|
||||
机械爪 <input id="servo"></input>
|
||||
<button id="set-servo"" type="button" class="btn btn-primary">
|
||||
设置
|
||||
</button>
|
||||
</div>
|
||||
<div class="label">
|
||||
继电器
|
||||
<button id="relay-enable" type="button" class="btn btn-primary">
|
||||
开
|
||||
</button>
|
||||
<button id="relay-disable" type="button" class="btn btn-primary">
|
||||
关
|
||||
</button>
|
||||
</div>
|
||||
<div class="label">
|
||||
端口测试
|
||||
<input id="test-port"></input>
|
||||
<button id="test-port-high" type="button" class="btn btn-primary">
|
||||
高
|
||||
</button>
|
||||
<button id="test-port-low" type="button" class="btn btn-primary">
|
||||
低
|
||||
</button>
|
||||
</div>
|
||||
<div class="label">
|
||||
爪子
|
||||
<button id="paw-close" type="button" class="btn btn-primary">
|
||||
靠近
|
||||
</button>
|
||||
<button id="paw-far" type="button" class="btn btn-primary">
|
||||
远离
|
||||
</button>
|
||||
</div>
|
||||
<div class="label">
|
||||
药袋
|
||||
<button id="bag-close" type="button" class="btn btn-primary">
|
||||
靠近
|
||||
</button>
|
||||
<button id="bag-far" type="button" class="btn btn-primary">
|
||||
远离
|
||||
</button>
|
||||
</div>
|
||||
<div class="label">
|
||||
上面的传感器
|
||||
<span id="sensor-up-data">未知</span>
|
||||
<button id="sensor-up" type="button" class="btn btn-primary">
|
||||
获取
|
||||
</button>
|
||||
</div>
|
||||
<div class="label">
|
||||
其它：
|
||||
<button id="init" type="button" class="btn btn-success">初始化</button>
|
||||
<button id="cleanup" type="button" class="btn btn-danger">停止</button>
|
||||
</div>
|
||||
|
||||
<!-- Optional JavaScript -->
|
||||
<!-- jQuery first, then Popper.js, then Bootstrap JS -->
|
||||
<!-- <script src="https://code.jquery.com/jquery-3.5.1.slim.min.js"
|
||||
integrity="sha384-DfXdz2htPH0lsSSs5nCTpuj/zy4C+OGpamoFVy38MVBnE+IbbVYUew+OrCXaRkfj"
|
||||
crossorigin="anonymous"></script> -->
|
||||
<script src="https://cdn.staticfile.org/jquery/3.5.1/jquery.min.js"></script>
|
||||
<script
|
||||
src="https://cdn.jsdelivr.net/npm/popper.js@1.16.1/dist/umd/popper.min.js"
|
||||
integrity="sha384-9/reFTGAW83EW2RDu2S0VKaIzap3H66lZH81PoYlFhbGU+6BZp6G7niu735Sk7lN"
|
||||
crossorigin="anonymous"
|
||||
></script>
|
||||
<script
|
||||
src="https://stackpath.bootstrapcdn.com/bootstrap/4.5.2/js/bootstrap.min.js"
|
||||
integrity="sha384-B4gt1jrGC7Jh4AgTPSdUtOBvfO8shuf57BaghqFfPlYxofvL8/KUEfYiJOMMV+rV"
|
||||
crossorigin="anonymous"
|
||||
></script>
|
||||
<script src="node_modules/bootstrap-slider/dist/bootstrap-slider.min.js"></script>
|
||||
|
||||
<script>
|
||||
$(document).ready(function () {
|
||||
$.ajax({ url: "api/init" });
|
||||
$("#carousel-clockwise").click(function () {
|
||||
$.ajax({ url: "api/carousel/clockwise" });
|
||||
});
|
||||
$("#carousel-counter-clockwise").click(function () {
|
||||
$.ajax({ url: "api/carousel/counter-clockwise" });
|
||||
});
|
||||
$("#elevator-up").click(function () {
|
||||
$.ajax({ url: "api/elevator/up" });
|
||||
});
|
||||
$("#elevator-down").click(function () {
|
||||
$.ajax({ url: "api/elevator/down" });
|
||||
});
|
||||
$("#slide-degree-rise").click(function () {
|
||||
$.ajax({ url: "api/slide/degree/rise" });
|
||||
});
|
||||
$("#slide-degree-fall").click(function () {
|
||||
$.ajax({ url: "api/slide/degree/fall" });
|
||||
});
|
||||
$("#slide-width-increase").click(function () {
|
||||
$.ajax({ url: "api/slide/width/increase" });
|
||||
});
|
||||
$("#slide-width-decrease").click(function () {
|
||||
$.ajax({ url: "api/slide/width/decrease" });
|
||||
});
|
||||
$("#recycleh-in").click(function () {
|
||||
$.ajax({ url: "api/recycle/horizonal/in" });
|
||||
});
|
||||
$("#recycleh-out").click(function () {
|
||||
$.ajax({ url: "api/recycle/horizonal/out" });
|
||||
});
|
||||
$("#recyclev-up").click(function () {
|
||||
$.ajax({ url: "api/recycle/vertical/up" });
|
||||
});
|
||||
$("#recyclev-down").click(function () {
|
||||
$.ajax({ url: "api/recycle/vertical/down" });
|
||||
});
|
||||
$("#vibrator-enable").click(function () {
|
||||
$.ajax({ url: "api/vibrator/enable" });
|
||||
});
|
||||
$("#vibrator-disable").click(function () {
|
||||
$.ajax({ url: "api/vibrator/disable" });
|
||||
});
|
||||
$("#relay-enable").click(function () {
|
||||
$.ajax({ url: "api/relay/enable" });
|
||||
});
|
||||
$("#relay-disable").click(function () {
|
||||
$.ajax({ url: "api/relay/disable" });
|
||||
});
|
||||
$("#set-servo").click(function () {
|
||||
$.ajax({
|
||||
url:
|
||||
"api/servo/" + document.getElementById("servo").value,
|
||||
});
|
||||
});
|
||||
$("#paw-close").click(function () {
|
||||
$.ajax({ url: "api/paw/close" });
|
||||
});
|
||||
$("#paw-far").click(function () {
|
||||
$.ajax({ url: "api/paw/far" });
|
||||
});
|
||||
$("#bag-close").click(function () {
|
||||
$.ajax({ url: "api/bag/close" });
|
||||
});
|
||||
$("#bag-far").click(function () {
|
||||
$.ajax({ url: "api/bag/far" });
|
||||
});
|
||||
$("#sensor-up").click(function(){
|
||||
$.ajax({ url: "api/sensor/up",success: function(result) {
|
||||
document.getElementById("sensor-up-data").innerText = result;
|
||||
} });
|
||||
});
|
||||
$("#init").click(function () {
|
||||
$.ajax({ url: "api/init" });
|
||||
});
|
||||
$("#cleanup").click(function () {
|
||||
$.ajax({ url: "api/cleanup" });
|
||||
});
|
||||
$("#demo-start").click(function () {
|
||||
$.ajax({ url: "api/demo" });
|
||||
});
|
||||
$("#test-port-high").click(function () {
|
||||
$.ajax({
|
||||
url:
|
||||
"api/sethigh/" + document.getElementById("test-port").value,
|
||||
});
|
||||
});
|
||||
$("#test-port-low").click(function () {
|
||||
$.ajax({
|
||||
url:
|
||||
"api/setlow/" + document.getElementById("test-port").value,
|
||||
});
|
||||
});
|
||||
});
|
||||
</script>
|
||||
</body>
|
||||
</html>
|
||||
106
old_worker.py
Normal file
106
old_worker.py
Normal file
|
|
@ -0,0 +1,106 @@
|
|||
'''
|
||||
worker模块包含两个类：Motor和port_enaMotor
|
||||
前者就是普通的马达，后者多了一个启用的端口。
|
||||
'''
|
||||
from time import sleep
|
||||
import RPi.GPIO as GPIO
|
||||
|
||||
|
||||
class Motor():
|
||||
'''
|
||||
步进电机
|
||||
'''
|
||||
|
||||
def __init__(self, port_dir, port_pul, degree_per_cycle, steps):
|
||||
self.port_dir = port_dir
|
||||
self.port_pul = port_pul
|
||||
self.degree_per_cycle = degree_per_cycle
|
||||
self.steps = steps
|
||||
GPIO.setup(port_dir, GPIO.OUT, initial=GPIO.HIGH)
|
||||
GPIO.setup(port_pul, GPIO.OUT, initial=GPIO.HIGH)
|
||||
|
||||
def turn_degree(self, degree, direction):
|
||||
'''
|
||||
转动角度
|
||||
'''
|
||||
GPIO.output(self.port_dir, direction)
|
||||
cycle = int(degree / self.degree_per_cycle * self.steps)
|
||||
for _ in range(cycle):
|
||||
GPIO.output(self.port_pul, GPIO.LOW)
|
||||
sleep(0.0001)
|
||||
GPIO.output(self.port_pul, GPIO.HIGH)
|
||||
sleep(0.0001)
|
||||
|
||||
|
||||
class ENAMotor(Motor):
|
||||
'''
|
||||
带有port_ena信号的步进电机
|
||||
'''
|
||||
|
||||
def __init__(self, port_dir, port_pul, degree_per_cycle, steps, port_ena):
|
||||
super(ENAMotor, self).__init__(
|
||||
port_dir, port_pul, degree_per_cycle, steps)
|
||||
self.port_ena = port_ena
|
||||
GPIO.setup(port_ena, GPIO.OUT, initial=GPIO.HIGH)
|
||||
|
||||
def enable(self):
|
||||
'''
|
||||
启用电机
|
||||
'''
|
||||
GPIO.output(self.port_ena, GPIO.LOW)
|
||||
|
||||
def disable(self):
|
||||
'''
|
||||
停用电机
|
||||
'''
|
||||
GPIO.output(self.port_ena, GPIO.HIGH)
|
||||
|
||||
|
||||
class VibratorMotor:
|
||||
'''震动马达'''
|
||||
|
||||
def __init__(self, port):
|
||||
'''
|
||||
初始化
|
||||
'''
|
||||
self.port = port
|
||||
GPIO.setup(port, GPIO.OUT, initial=GPIO.LOW)
|
||||
|
||||
def enable(self):
|
||||
'''开始震动'''
|
||||
GPIO.output(self.port, GPIO.HIGH)
|
||||
|
||||
def disable(self):
|
||||
'''停止震动'''
|
||||
GPIO.output(self.port, GPIO.LOW)
|
||||
|
||||
|
||||
class Servo:
|
||||
'''舵机'''
|
||||
|
||||
def __init__(self, port):
|
||||
'''初始化'''
|
||||
self.port = port
|
||||
GPIO.setup(port, GPIO.OUT, initial=GPIO.LOW)
|
||||
|
||||
def degree(self, degree):
|
||||
'''转到某个角度'''
|
||||
dc = (degree / 180 * 2 + 0.5) * 5
|
||||
p = GPIO.PWM(self.port, 50)
|
||||
p.start(dc)
|
||||
sleep(1)
|
||||
p.stop()
|
||||
|
||||
|
||||
class Relay:
|
||||
"继电器"
|
||||
|
||||
def __init__(self, port):
|
||||
self.port = port
|
||||
GPIO.setup(port, GPIO.OUT, initial=GPIO.LOW)
|
||||
|
||||
def enable(self):
|
||||
GPIO.output(self.port, GPIO.HIGH)
|
||||
|
||||
def disable(self):
|
||||
GPIO.output(self.port, GPIO.LOW)
|
||||
21
package-lock.json
generated
Normal file
21
package-lock.json
generated
Normal file
|
|
@ -0,0 +1,21 @@
|
|||
{
|
||||
"requires": true,
|
||||
"lockfileVersion": 1,
|
||||
"dependencies": {
|
||||
"@fortawesome/fontawesome-free": {
|
||||
"version": "5.15.1",
|
||||
"resolved": "https://registry.npm.taobao.org/@fortawesome/fontawesome-free/download/@fortawesome/fontawesome-free-5.15.1.tgz",
|
||||
"integrity": "sha1-zP723b5Z+P6PaUeD4dPriJAtxes="
|
||||
},
|
||||
"jquery": {
|
||||
"version": "3.5.1",
|
||||
"resolved": "https://registry.npm.taobao.org/jquery/download/jquery-3.5.1.tgz",
|
||||
"integrity": "sha1-17TQjhv9uGrS8aPQOeoXMEcXq7U="
|
||||
},
|
||||
"moment": {
|
||||
"version": "2.29.1",
|
||||
"resolved": "https://registry.npm.taobao.org/moment/download/moment-2.29.1.tgz?cache=0&sync_timestamp=1601983320283&other_urls=https%3A%2F%2Fregistry.npm.taobao.org%2Fmoment%2Fdownload%2Fmoment-2.29.1.tgz",
|
||||
"integrity": "sha1-sr52n6MZQL6e7qZGnAdeNQBvo9M="
|
||||
}
|
||||
}
|
||||
}
|
||||
7
package.json
Normal file
7
package.json
Normal file
|
|
@ -0,0 +1,7 @@
|
|||
{
|
||||
"dependencies": {
|
||||
"@fortawesome/fontawesome-free": "^5.15.1",
|
||||
"jquery": "^3.5.1",
|
||||
"moment": "^2.29.1"
|
||||
}
|
||||
}
|
||||
65
scheduler.py
Normal file
65
scheduler.py
Normal file
|
|
@ -0,0 +1,65 @@
|
|||
#!/usr/bin/env python3
|
||||
'''
|
||||
电机调度器
|
||||
'''
|
||||
from RPi import GPIO
|
||||
from worker import Motor, ENAMotor
|
||||
from time import sleep
|
||||
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
|
||||
# carousel = ENAMotor(20, 21, 1.8, 32, 26)
|
||||
# elevator = Motor(19, 16, 18, 16)
|
||||
# slide_degree = ENAMotor(12, 13, 1.8, 32, 6)
|
||||
# slide_width = Motor(0, 5, 0.18, 16)
|
||||
# recycleh = ENAMotor(7, 1, 1.8, 32, 8)
|
||||
# recyclev = ENAMotor(9, 11, 1.8, 32, 10)
|
||||
|
||||
# '''旋转木马可能卡住，只转90度可能没有问题。'''
|
||||
# '''旋转木马逆时针旋转90度'''
|
||||
# carousel.turn_degree(90, GPIO.LOW)
|
||||
|
||||
# # '''旋转木马顺时针旋转90度'''
|
||||
# # carousel.turn_degree(90, GPIO.HIGH)
|
||||
|
||||
# '''电梯：药片几乎下不去，下去之后下落速度特别快，直接弹飞了。'''
|
||||
# '''电梯下降2.7CM'''
|
||||
# elevator.turn_degree(7200 * 2.8, GPIO.HIGH)
|
||||
# '''sleep'''
|
||||
# sleep(1)
|
||||
# '''电梯上升2.7CM'''
|
||||
# elevator.turn_degree(7200 * 2.8, GPIO.LOW)
|
||||
|
||||
# '''宽度现在不能调，等电阻来了之后再弄。'''
|
||||
# # slide_width.turn_degree(360, GPIO.HIGH)
|
||||
# # sleep(1)
|
||||
# # slide_width.turn_degree(360, GPIO.LOW)
|
||||
|
||||
# '''滑梯角度抬升'''
|
||||
# slide_degree.turn_degree(360 * 2, GPIO.HIGH)
|
||||
# sleep(2)
|
||||
|
||||
# # '''不考虑回收'''
|
||||
# # slide_degree.turn_degree(360 * 2, GPIO.LOW)
|
||||
|
||||
# '''考虑回收'''
|
||||
# slide_degree.turn_degree(360 * 4, GPIO.LOW)
|
||||
# sleep(2)
|
||||
# slide_degree.turn_degree(360 * 2, GPIO.HIGH)
|
||||
|
||||
|
||||
# '''回收部分：废了'''
|
||||
# # '''回收上升'''
|
||||
# # recyclev.turn_degree(360 * 42, GPIO.HIGH)
|
||||
# # '''回收伸入'''
|
||||
# # recycleh.turn_degree(360 * 4.5, GPIO.HIGH)
|
||||
# # sleep(2)
|
||||
# # recycleh.turn_degree(360 * 4.5, GPIO.LOW)
|
||||
# # '''回收下降'''
|
||||
# # recyclev.turn_degree(360 * 42, GPIO.LOW)
|
||||
|
||||
GPIO.setup(4, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
|
||||
GPIO.wait_for_edge(4, GPIO.FALLING)
|
||||
print("catched falling pill.")
|
||||
|
||||
GPIO.cleanup()
|
||||
54
select.html
Normal file
54
select.html
Normal file
|
|
@ -0,0 +1,54 @@
|
|||
<!DOCTYPE html>
|
||||
<html lang="zh-CN">
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<meta
|
||||
name="viewport"
|
||||
content="width=device-width, initial-scale=1, shrink-to-fit=no"
|
||||
/>
|
||||
|
||||
<style type="text/css">
|
||||
body {
|
||||
background-image: url("images/select-bg.png");
|
||||
overflow: hidden;
|
||||
height: 100%;
|
||||
}
|
||||
#a {
|
||||
position: absolute;
|
||||
top: 0px;
|
||||
left: 0px;
|
||||
width: 512px;
|
||||
height: 300px;
|
||||
}
|
||||
#b {
|
||||
position: absolute;
|
||||
top: 0px;
|
||||
left: 512px;
|
||||
width: 512px;
|
||||
height: 300px;
|
||||
}
|
||||
#c {
|
||||
position: absolute;
|
||||
top: 300px;
|
||||
left: 0px;
|
||||
width: 512px;
|
||||
height: 300px;
|
||||
}
|
||||
#d {
|
||||
position: absolute;
|
||||
top: 300px;
|
||||
left: 512px;
|
||||
width: 512px;
|
||||
height: 300px;
|
||||
}
|
||||
</style>
|
||||
|
||||
<title>PiApp</title>
|
||||
</head>
|
||||
<body>
|
||||
<a href="settings.html" id="a"></a>
|
||||
<a href="settings.html" id="b"></a>
|
||||
<a href="settings.html" id="c"></a>
|
||||
<a href="settings.html" id="d"></a>
|
||||
</body>
|
||||
</html>
|
||||
156
settings.html
Normal file
156
settings.html
Normal file
|
|
@ -0,0 +1,156 @@
|
|||
<!DOCTYPE html>
|
||||
<html lang="zh-CN">
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<meta
|
||||
name="viewport"
|
||||
content="width=device-width, initial-scale=1, shrink-to-fit=no"
|
||||
/>
|
||||
|
||||
<style type="text/css">
|
||||
body {
|
||||
background-image: url("images/settings-bg.png");
|
||||
overflow: hidden;
|
||||
height: 100%;
|
||||
}
|
||||
#new {
|
||||
position: absolute;
|
||||
top: 230px;
|
||||
left: 160px;
|
||||
}
|
||||
#item1 {
|
||||
position: absolute;
|
||||
top: 420px;
|
||||
left: 160px;
|
||||
}
|
||||
#item2 {
|
||||
position: absolute;
|
||||
top: 490px;
|
||||
left: 160px;
|
||||
}
|
||||
#h1 {
|
||||
position: absolute;
|
||||
top: 282px;
|
||||
left: 202px;
|
||||
font-family: "Noto Sans Mono CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 36pt;
|
||||
}
|
||||
#h2 {
|
||||
position: absolute;
|
||||
top: 407px;
|
||||
left: 202px;
|
||||
font-family: "Noto Sans Mono CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 36pt;
|
||||
}
|
||||
#h3 {
|
||||
position: absolute;
|
||||
top: 477px;
|
||||
left: 202px;
|
||||
font-family: "Noto Sans Mono CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 36pt;
|
||||
}
|
||||
#s1 {
|
||||
position: absolute;
|
||||
top: 280px;
|
||||
left: 267px;
|
||||
font-family: "Noto Sans Mono CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 36pt;
|
||||
}
|
||||
#s2 {
|
||||
position: absolute;
|
||||
top: 405px;
|
||||
left: 267px;
|
||||
font-family: "Noto Sans Mono CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 36pt;
|
||||
}
|
||||
#s3 {
|
||||
position: absolute;
|
||||
top: 475px;
|
||||
left: 267px;
|
||||
font-family: "Noto Sans Mono CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 36pt;
|
||||
}
|
||||
#m1 {
|
||||
position: absolute;
|
||||
top: 282px;
|
||||
left: 307px;
|
||||
font-family: "Noto Sans Mono CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 36pt;
|
||||
}
|
||||
#m2 {
|
||||
position: absolute;
|
||||
top: 407px;
|
||||
left: 307px;
|
||||
font-family: "Noto Sans Mono CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 36pt;
|
||||
}
|
||||
#m3 {
|
||||
position: absolute;
|
||||
top: 477px;
|
||||
left: 307px;
|
||||
font-family: "Noto Sans Mono CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 36pt;
|
||||
}
|
||||
#p1 {
|
||||
position: absolute;
|
||||
top: 282px;
|
||||
left: 427px;
|
||||
font-family: "Noto Sans Mono CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 36pt;
|
||||
}
|
||||
#p2 {
|
||||
position: absolute;
|
||||
top: 407px;
|
||||
left: 427px;
|
||||
font-family: "Noto Sans Mono CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 36pt;
|
||||
}
|
||||
#p3 {
|
||||
position: absolute;
|
||||
top: 477px;
|
||||
left: 427px;
|
||||
font-family: "Noto Sans Mono CJK SC";
|
||||
font-weight: 700;
|
||||
font-size: 36pt;
|
||||
}
|
||||
#back {
|
||||
position: absolute;
|
||||
top: 300px;
|
||||
left: 600px;
|
||||
width: 424px;
|
||||
height: 300px;
|
||||
}
|
||||
</style>
|
||||
|
||||
<title>PiApp</title>
|
||||
</head>
|
||||
<body>
|
||||
<img src="images/settings-new.png" id="new" />
|
||||
<img src="images/settings-item.png" id="item1" />
|
||||
<img src="images/settings-item.png" id="item2" />
|
||||
<div id="h1">07</div>
|
||||
<div id="h2">12</div>
|
||||
<div id="h3">17</div>
|
||||
<div id="m1">00</div>
|
||||
<div id="m2">30</div>
|
||||
<div id="m3">00</div>
|
||||
<div id="s1">:</div>
|
||||
<div id="s2">:</div>
|
||||
<div id="s3">:</div>
|
||||
<div id="p1">3</div>
|
||||
<div id="p2">3</div>
|
||||
<div id="p3">3</div>
|
||||
<a href="demo.html" id="back"></a>
|
||||
</body>
|
||||
</html>
|
||||
29
test.http
Normal file
29
test.http
Normal file
|
|
@ -0,0 +1,29 @@
|
|||
### 初始化
|
||||
GET http://127.0.0.1:5000/init
|
||||
|
||||
### 旋转木马顺时针旋转90度
|
||||
GET http://127.0.0.1:5000/carousel/clockwise
|
||||
|
||||
### 旋转木马逆时针旋转90度
|
||||
GET http://127.0.0.1:5000/carousel/counter-clockwise
|
||||
|
||||
### 观光电梯上升1CM
|
||||
GET http://127.0.0.1:5000/elevator/up
|
||||
|
||||
### 观光电梯下降1CM
|
||||
GET http://127.0.0.1:5000/elevator/down
|
||||
|
||||
### 滑梯角度抬升
|
||||
GET http://127.0.0.1:5000/slide/degree/rise
|
||||
|
||||
### 滑梯角度下降
|
||||
GET http://127.0.0.1:5000/slide/degree/fall
|
||||
|
||||
### 滑梯宽度增加
|
||||
GET http://127.0.0.1:5000/slide/width/increase
|
||||
|
||||
### 滑梯宽度减少
|
||||
GET http://127.0.0.1:5000/slide/width/decrease
|
||||
|
||||
### 停
|
||||
GET http://127.0.0.1:5000/cleanup
|
||||
253
worker.py
Normal file
253
worker.py
Normal file
|
|
@ -0,0 +1,253 @@
|
|||
'''
|
||||
经过重构后的船新代码
|
||||
使用GPIO.PWM来生成PWM波。
|
||||
可以指定固定角度或时间，也可以手动控制。
|
||||
'''
|
||||
from time import sleep
|
||||
import RPi.GPIO as GPIO
|
||||
|
||||
'''
|
||||
端口的定义
|
||||
'''
|
||||
CAROUSEL_ENA = 19
|
||||
CAROUSEL_DIR = 26
|
||||
CAROUSEL_PUL = 21
|
||||
ELEVATOR_DIR = 16
|
||||
ELEVATOR_PUL = 20
|
||||
CONVEYOR_ENA = 12
|
||||
CONVEYOR_DIR = 6
|
||||
CONVEYOR_PUL = 13
|
||||
WATCHDOG_DIR = 9
|
||||
WATCHDOG_PUL = 5
|
||||
HORIZONAL_ENA = 14
|
||||
HORIZONAL_DIR = 18
|
||||
HORIZONAL_PUL = 15
|
||||
VERTICAL_ENA = 11
|
||||
VERTICAL_DIR = 7
|
||||
VERTICAL_PUL = 1
|
||||
BAG_PUSHER_ENA = 23
|
||||
BAG_PUSHER_DIR = 22
|
||||
BAG_PUSHER_PUL = 24
|
||||
SCISSORS_PUSHER_ENA = 0
|
||||
SCISSORS_PUSHER_DIR = 3
|
||||
SCISSORS_PUSHER_PUL = 8
|
||||
SPIGOT = 17
|
||||
SCISSORS = 25
|
||||
|
||||
|
||||
class Motor():
|
||||
'''
|
||||
小板控制的电机，只有DIR和PUL引脚，用于控制方向和速度。
|
||||
'''
|
||||
|
||||
def __init__(self, DIR, PUL, step_angle, subdivision, degree_per_second):
|
||||
'''
|
||||
初始化，指定引脚，步进角和细分。
|
||||
'''
|
||||
self.__DIR = DIR
|
||||
self.__PUL = PUL
|
||||
self.__degree_per_cycle = step_angle / subdivision
|
||||
self.__degree_per_second = degree_per_second
|
||||
self.__half_cycle = self.__degree_per_cycle / self.__degree_per_second / 2
|
||||
self.__frequency = degree_per_second / self.__degree_per_cycle
|
||||
GPIO.setup(DIR, GPIO.OUT)
|
||||
GPIO.setup(PUL, GPIO.OUT)
|
||||
self.__pwm = GPIO.PWM(PUL, self.__frequency)
|
||||
|
||||
def __set_direction(self, output_DIR):
|
||||
'''
|
||||
设置转动的角度
|
||||
'''
|
||||
GPIO.output(self.__DIR, output_DIR)
|
||||
|
||||
def __pwm_start(self):
|
||||
'''
|
||||
开始产生PWM波
|
||||
'''
|
||||
self.__pwm.ChangeFrequency(self.__frequency)
|
||||
self.__pwm.start(50)
|
||||
|
||||
def stop(self):
|
||||
'''
|
||||
停止产生PWM波
|
||||
'''
|
||||
self.__pwm.stop()
|
||||
|
||||
def start(self, direction):
|
||||
'''
|
||||
开始转动
|
||||
'''
|
||||
self.__set_direction(direction)
|
||||
self.__pwm_start()
|
||||
|
||||
def __turn_time(self, second):
|
||||
'''
|
||||
转动指定时间
|
||||
'''
|
||||
self.__pwm_start()
|
||||
sleep(second)
|
||||
self.stop()
|
||||
|
||||
def __turn_degree(self, degree):
|
||||
'''
|
||||
转动指定角度
|
||||
'''
|
||||
cycle = int(degree / self.__degree_per_cycle)
|
||||
for _ in range(cycle):
|
||||
GPIO.output(self.__PUL, GPIO.LOW)
|
||||
sleep(self.__half_cycle)
|
||||
GPIO.output(self.__PUL, GPIO.HIGH)
|
||||
sleep(self.__half_cycle)
|
||||
|
||||
def forward_time(self, second):
|
||||
'''
|
||||
设置时间，正转
|
||||
'''
|
||||
self.__set_direction(GPIO.HIGH)
|
||||
self.__turn_time(second)
|
||||
|
||||
def backward_time(self, second):
|
||||
'''
|
||||
设置时间，反转
|
||||
'''
|
||||
self.__set_direction(GPIO.LOW)
|
||||
self.__turn_time(second)
|
||||
|
||||
def forward_degree(self, degree):
|
||||
'''
|
||||
设置角度，正转
|
||||
'''
|
||||
self.__set_direction(GPIO.HIGH)
|
||||
self.__turn_degree(degree)
|
||||
|
||||
def backward_degree(self, degree):
|
||||
'''
|
||||
设置角度，反转
|
||||
'''
|
||||
self.__set_direction(GPIO.LOW)
|
||||
self.__turn_degree(degree)
|
||||
|
||||
|
||||
class ENAMotor(Motor):
|
||||
'''
|
||||
带有ENA信号的步进电机
|
||||
'''
|
||||
|
||||
def __init__(self, ENA, DIR, PUL, step_angle, subdivision, degree_per_second):
|
||||
super(ENAMotor, self).__init__(DIR, PUL, step_angle,
|
||||
subdivision, degree_per_second)
|
||||
self.__ena = ENA
|
||||
GPIO.setup(ENA, GPIO.OUT)
|
||||
|
||||
def enable(self):
|
||||
'''
|
||||
启用电机
|
||||
'''
|
||||
GPIO.output(self.__ena, GPIO.HIGH)
|
||||
|
||||
def disable(self):
|
||||
'''
|
||||
停用电机
|
||||
'''
|
||||
GPIO.output(self.__ena, GPIO.LOW)
|
||||
|
||||
def start(self, direction):
|
||||
'''
|
||||
开始转动
|
||||
'''
|
||||
self.enable()
|
||||
super(ENAMotor, self).start(direction)
|
||||
|
||||
def stop(self):
|
||||
'''
|
||||
停止转动
|
||||
'''
|
||||
super(ENAMotor, self).stop()
|
||||
self.disable()
|
||||
|
||||
def forward_degree(self, degree):
|
||||
'''
|
||||
设置角度，正转
|
||||
'''
|
||||
self.enable()
|
||||
super(ENAMotor, self).forward_degree(degree)
|
||||
self.disable()
|
||||
|
||||
def backward_degree(self, degree):
|
||||
'''
|
||||
设置角度，反转
|
||||
'''
|
||||
self.enable()
|
||||
super(ENAMotor, self).backward_degree(degree)
|
||||
self.disable()
|
||||
|
||||
def forward_time(self, second):
|
||||
'''
|
||||
设置时间，正转
|
||||
'''
|
||||
self.enable()
|
||||
super(ENAMotor, self).forward_time(second)
|
||||
self.disable()
|
||||
|
||||
def backward_time(self, second):
|
||||
'''
|
||||
设置时间，反转
|
||||
'''
|
||||
self.enable()
|
||||
super(ENAMotor, self).backward_time(second)
|
||||
self.disable()
|
||||
|
||||
|
||||
class Servo:
|
||||
'''
|
||||
舵机
|
||||
'''
|
||||
|
||||
def __init__(self, port):
|
||||
'''初始化'''
|
||||
self.port = port
|
||||
GPIO.setup(port, GPIO.OUT)
|
||||
self.__pwm = GPIO.PWM(self.port, 50)
|
||||
|
||||
def degree(self, degree):
|
||||
'''转到某个角度'''
|
||||
dc = (degree / 180 * 2 + 0.5) * 5
|
||||
self.__pwm.ChangeFrequency(50)
|
||||
self.__pwm.start(dc)
|
||||
sleep(1)
|
||||
self.__pwm.stop()
|
||||
|
||||
|
||||
class Relay:
|
||||
'''
|
||||
继电器
|
||||
'''
|
||||
|
||||
def __init__(self, port):
|
||||
self.port = port
|
||||
GPIO.setup(port, GPIO.OUT)
|
||||
|
||||
def enable(self):
|
||||
GPIO.output(self.port, GPIO.HIGH)
|
||||
|
||||
def disable(self):
|
||||
GPIO.output(self.port, GPIO.LOW)
|
||||
|
||||
|
||||
GPIO.setwarnings(False)
|
||||
GPIO.setmode(GPIO.BCM)
|
||||
carousel = ENAMotor(CAROUSEL_ENA, CAROUSEL_DIR, CAROUSEL_PUL, 1.8, 32, 30)
|
||||
elevator = Motor(ELEVATOR_DIR, ELEVATOR_PUL, 18, 16, 1800)
|
||||
conveyor = ENAMotor(CONVEYOR_ENA, CONVEYOR_DIR, CONVEYOR_PUL, 1.8, 32, 30)
|
||||
watchdog = Motor(WATCHDOG_DIR, WATCHDOG_PUL, 18, 16, 3600)
|
||||
recycleh = ENAMotor(
|
||||
HORIZONAL_ENA, HORIZONAL_DIR, HORIZONAL_PUL, 1.8, 32, 360)
|
||||
recyclev = ENAMotor(
|
||||
VERTICAL_ENA, VERTICAL_DIR, VERTICAL_PUL, 1.8, 32, 360)
|
||||
bag_pusher = ENAMotor(BAG_PUSHER_ENA, BAG_PUSHER_DIR,
|
||||
BAG_PUSHER_PUL, 1.8, 32, 360)
|
||||
scissors_pusher = ENAMotor(
|
||||
SCISSORS_PUSHER_ENA, SCISSORS_PUSHER_DIR, SCISSORS_PUSHER_PUL, 1.8, 32, 360)
|
||||
spigot = Relay(SPIGOT)
|
||||
spigot.disable()
|
||||
scissors = Servo(SCISSORS)
|
||||
Loading…
Reference in a new issue