Source code for automate.extensions.arduino.arduino_actuators

# -*- coding: utf-8 -*-
# (c) 2015 Tuomas Airaksinen
# This file is part of automate-arduino.
# automate-arduino is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
# automate-arduino is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# GNU General Public License for more details.
# You should have received a copy of the GNU General Public License
# along with automate-arduino.  If not, see <>.

from __future__ import unicode_literals
from traits.api import CInt, Instance, CBool, CFloat

from automate.actuators import FloatActuator
from automate.service import AbstractSystemService
from automate.statusobject import AbstractActuator

[docs]class AbstractArduinoActuator(AbstractActuator): """ Abstract base class for Arduino actuators """ #: Arduino device number (specify, if more than 1 devices configured in ArduinoService) dev = CInt(0) #: Arduino pin number pin = CInt _arduino = Instance(AbstractSystemService, transient=True) view = AbstractActuator.view + ["pin"] simple_view = AbstractActuator.simple_view + ["pin"] def setup(self, *args, **kwargs): super(AbstractArduinoActuator, self).setup(*args, **kwargs) self._arduino = self.system.request_service('ArduinoService')
[docs]class ArduinoDigitalActuator(AbstractArduinoActuator): """ Boolean-valued actuator object for digital Arduino output pins """ _status = CBool(transient=True) def setup(self, *args, **kwargs): super(ArduinoDigitalActuator, self).setup(*args, **kwargs) self._arduino.setup_digital(, def _status_changed(self): self._arduino.change_digital(,, self._status) def cleanup(self): self._arduino.cleanup_digital_actuator(,
[docs]class ArduinoServoActuator(AbstractArduinoActuator): """ Float-valued actuator object for Arduino output pins that can be configured in Servo mode Status is servo angle (0-360). """ _status = CFloat(transient=True) #: Minimum pulse time (in microseconds) min_pulse = CInt(544) #: Maximum pulse time (in microseconds) max_pulse = CInt(2400) def _min_pulse_changed(self): if self.traits_inited(): self.setup() def _max_pulse_changed(self): if self.traits_inited(): self.setup() def setup(self, *args, **kwargs): super(ArduinoServoActuator, self).setup(*args, **kwargs) self.logger.debug("setup_servo %s %s %s %s %s %s", self,,, self.min_pulse, self.max_pulse, int(round(self._status))) self._arduino.setup_servo(,, self.min_pulse, self.max_pulse, int(round(self._status))) def _status_changed(self): self.logger.debug("change_servo %s %s %s",,, int(round(self._status))) self._arduino.change_digital(,, int(round(self._status))) def cleanup(self): self._arduino.cleanup_digital_actuator(,
[docs]class ArduinoPWMActuator(FloatActuator, AbstractArduinoActuator): """ Float-valued actuator object for Arduino output pins that can be configured in PWM mode Status is float between 0.0 and 1.0. """ def setup(self, *args, **kwargs): super(ArduinoPWMActuator, self).setup(*args, **kwargs) self._arduino.setup_pwm(, def _status_changed(self): self._arduino.change_digital(,, max(0., min(1., self._status))) def cleanup(self): self._arduino.cleanup_digital_actuator(,