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sanduhr.py
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sanduhr.py
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import math
from time import sleep
from machine import Pin, I2C
from pca9685 import PCA9685
# for-Loop-Erweiterung für beliebige inkrementierbare Datentypen, range() geht nur für integer
def frange(start, end, increment):
f = start
while f < end:
yield f
f += increment
# Speicher für X/Y-Koordinaten
class Point:
def __init__(self, x, y):
self.x = x
self.y = y
# Positionen der Servo-Drehpunkte und des Sandkastens im Koordinatensystem
SERVO1_POS = Point(390, 50)
SERVO2_POS = Point(610, 50)
SANDBOX_START = Point(170, 580)
# Länge der Arme im Koordinatensystem
LENGTH_ARM_A = 320
LENGTH_ARM_B = 400
NEUNZIG_GRAD = math.pi / 2
CIRCLE_STEP = 1
# Breite einer Ziffer
FULL_WIDTH = 110
# Höhe einer Ziffer
FULL_HEIGHT = 230.0
HALF_HEIGHT = FULL_HEIGHT / 2
QUARTER_HEIGHT = FULL_HEIGHT / 4
# Abstand zwischen zwei Ziffern
spacing = 36
class Sanduhr:
def __init__(self):
self.id_left = 14
self.id_right = 15
self.id_stift = 12
self.init_hardware()
self.stift_ist_hoch = False
self.stift_hoch()
self.position = Point(
SANDBOX_START.x + (2 * FULL_WIDTH) + (3 * spacing),
SANDBOX_START.y - HALF_HEIGHT
)
self.move_arms_to(self.position)
def init_hardware(self):
# init Servo-Treiber
self.pca = PCA9685()
self.pca.frequeny = 50
self.pca.init_servo(self.id_left, 320, 2140, 177)
self.pca.init_servo(self.id_right, 320, 2140, 177)
self.pca.init_servo(self.id_stift, 320, 2140, 177)
def stift_hoch(self):
if not self.stift_ist_hoch:
for i in range(47, 30, -1):
self.pca.set_angle(self.id_stift, i)
sleep(0.01)
self.stift_ist_hoch = True
sleep(0.5)
def stift_runter(self):
if self.stift_ist_hoch:
for i in range(30, 47, 1):
self.pca.set_angle(self.id_stift, i)
sleep(0.01)
self.stift_ist_hoch = False
def move_arms(self, left_angle, right_angle):
# wir haben als Radius Teile von PI, der Servo braucht Grad-Zahlen
# außerdem läuft der Servo in die umgekehrte Richtung der Simulatiom
left_angle = 222 - (left_angle * 180.0 / math.pi)
right_angle = 142 - (right_angle * 180.0 / math.pi)
self.pca.set_angle(self.id_left, left_angle)
self.pca.set_angle(self.id_right, right_angle)
sleep(0.05)
def end_from_angle(self, starting_point, angle, length):
a = length * math.sin(angle)
b = length * math.cos(angle)
return Point(starting_point.x + b, starting_point.y + a)
def calculate_angle(self, start, ende, seite):
if (seite == 2):
DR = ende.y - start.y
BR = start.x - ende.x
BD = math.sqrt(BR * BR + DR * DR)
r1 = math.atan(DR / BR)
w1 = math.acos(
(LENGTH_ARM_A ** 2 + BD ** 2 - LENGTH_ARM_B ** 2)
/ (2 * LENGTH_ARM_A * BD)
) # Kosinussatz
alpha = 2 * NEUNZIG_GRAD - (r1 + w1)
if BR < 0:
alpha = alpha - 2 * NEUNZIG_GRAD
else:
DR = ende.y - start.y
AR = ende.x - start.x
AD = math.sqrt(AR * AR + DR * DR)
r1 = (math.asin(DR / AD))
w1 = math.acos(
(LENGTH_ARM_A ** 2 + AD ** 2 - LENGTH_ARM_B ** 2)
/ (2 * LENGTH_ARM_A * AD)
) # Kosinussatz
alpha = r1 + w1
if AR < 0:
alpha = (NEUNZIG_GRAD * 2 - r1) + w1
return alpha
def move_arms_to(self, ende):
alpha = self.calculate_angle(SERVO1_POS, ende, 1)
beta = self.calculate_angle(SERVO2_POS, ende, 2)
self.move_arms(alpha, beta)
def draw_line_to(self, end):
if (end.y >= self.position.y):
a = self.position.y - end.y
else:
a = end.y - self.position.y
if (self.position.x >= end.x):
b = end.x - self.position.x
else:
b = end.x - self.position.x
c = math.sqrt((a ** 2) + (b ** 2))
abstand = FULL_HEIGHT / 60
angle = math.acos(b / c)
if (self.position.y > end.y):
angle = 2 * math.pi - angle
self.move_arms_to(self.position)
for actual_abstand in frange(abstand, c, abstand):
ende = self.end_from_angle(self.position, angle, actual_abstand)
self.move_arms_to(ende)
self.move_arms_to(end)
self.position = end
def draw_circle(self, radius_x, radius_y, mittelpunkt, start_winkel, end_winkel):
# die erste Position wird mit Stift_hoch angefahren
for winkel in frange(start_winkel, end_winkel, NEUNZIG_GRAD / 20):
pos = self.end_from_angle(mittelpunkt, winkel, radius_x)
# skalieren, damit es ein Oval wird
pos.y = mittelpunkt.y + \
(pos.y - mittelpunkt.y) * (radius_y / radius_x)
self.draw_line_to(pos)
# nach erster Position Stift runter für weiteren Kreis
self.stift_runter()
pos = self.end_from_angle(mittelpunkt, winkel, radius_x)
# skalieren, damit es ein Oval wird
pos.y = mittelpunkt.y + (pos.y - mittelpunkt.y) * (radius_y / radius_x)
self.draw_line_to(pos)
def draw_number_one(self, start):
self.draw_line_to(Point(start.x, start.y - (2 / 3 * FULL_HEIGHT)))
self.stift_runter()
self.draw_line_to(Point(start.x + FULL_WIDTH, start.y - FULL_HEIGHT))
self.draw_line_to(Point(start.x + FULL_WIDTH, start.y))
self.stift_hoch()
def draw_number_two(self, start):
pos = Point(start.x + FULL_WIDTH / 2,
start.y - (FULL_HEIGHT - QUARTER_HEIGHT))
# draw_circle macht den Stift runter
self.draw_circle(FULL_WIDTH / 2, QUARTER_HEIGHT, pos,
2 * NEUNZIG_GRAD, 4 * NEUNZIG_GRAD)
pos = Point(start.x + FULL_WIDTH, start.y - (FULL_HEIGHT - QUARTER_HEIGHT))
self.draw_line_to(start)
pos = Point(start.x + FULL_WIDTH, start.y)
self.draw_line_to(pos)
self.stift_hoch()
def draw_number_three(self, start):
pos = Point(start.x + FULL_WIDTH / 2,
start.y - FULL_HEIGHT + QUARTER_HEIGHT)
# draw_circle macht den Stift runter
self.draw_circle(FULL_WIDTH / 2, QUARTER_HEIGHT, pos,
2 * NEUNZIG_GRAD, 5 * NEUNZIG_GRAD)
pos = Point(start.x + FULL_WIDTH / 2, start.y - QUARTER_HEIGHT)
self.draw_circle(FULL_WIDTH / 2, QUARTER_HEIGHT, pos,
3 * NEUNZIG_GRAD, 6 * NEUNZIG_GRAD)
self.stift_hoch()
def draw_number_four(self, start):
self.draw_line_to(Point(start.x + FULL_WIDTH, start.y - (FULL_HEIGHT * 0.4)))
self.stift_runter()
self.draw_line_to(Point(start.x, start.y - (FULL_HEIGHT * 0.4)))
self.draw_line_to(Point(start.x + FULL_WIDTH / 2, start.y - FULL_HEIGHT))
self.stift_hoch()
self.draw_line_to(Point(start.x + FULL_WIDTH / 2, start.y - (FULL_HEIGHT * 0.6)))
self.stift_runter()
self.draw_line_to(Point(start.x + FULL_WIDTH / 2, start.y))
self.stift_hoch()
def draw_number_five(self, start):
self.draw_line_to(Point(start.x + FULL_WIDTH, start.y - FULL_HEIGHT))
self.stift_runter()
self.draw_line_to(Point(start.x, start.y - FULL_HEIGHT))
self.draw_line_to(Point(start.x, start.y - HALF_HEIGHT))
self.draw_line_to(Point(start.x + FULL_WIDTH / 2, start.y - HALF_HEIGHT))
next_pos = Point(start.x + FULL_WIDTH / 2, start.y - QUARTER_HEIGHT)
self.draw_circle(FULL_WIDTH / 2, QUARTER_HEIGHT, next_pos,
3 * NEUNZIG_GRAD, 6 * NEUNZIG_GRAD)
self.stift_hoch()
def draw_number_six(self, start):
pos = Point(start.x + FULL_WIDTH / 2, start.y - QUARTER_HEIGHT)
self.draw_circle(FULL_WIDTH / 2, QUARTER_HEIGHT,
pos, 0, 4 * NEUNZIG_GRAD)
self.draw_line_to(Point(start.x, start.y - (3 * QUARTER_HEIGHT)))
pos = Point(start.x + FULL_WIDTH / 2,
start.y - (FULL_HEIGHT - QUARTER_HEIGHT))
self.draw_circle(FULL_WIDTH / 2, QUARTER_HEIGHT, pos,
2 * NEUNZIG_GRAD, 4 * NEUNZIG_GRAD)
self.stift_hoch()
def draw_number_seven(self, start):
self.draw_line_to(Point(start.x, start.y - FULL_HEIGHT))
self.stift_runter()
self.draw_line_to(Point(start.x + FULL_WIDTH, start.y - FULL_HEIGHT))
self.draw_line_to(start)
self.stift_hoch()
self.draw_line_to(Point(start.x, start.y - HALF_HEIGHT))
self.stift_runter()
self.draw_line_to(Point(start.x + FULL_WIDTH, start.y - HALF_HEIGHT))
self.stift_hoch()
def draw_number_eight(self, start):
pos = Point(start.x + FULL_WIDTH / 2, start.y - QUARTER_HEIGHT)
self.draw_circle(FULL_WIDTH / 2, QUARTER_HEIGHT,
pos,
3 * NEUNZIG_GRAD, 7 * NEUNZIG_GRAD)
pos.y -= HALF_HEIGHT
self.draw_circle(FULL_WIDTH / 2, QUARTER_HEIGHT,
pos,
1 * NEUNZIG_GRAD, 5 * NEUNZIG_GRAD)
self.stift_hoch()
def draw_number_nine(self, start):
pos = Point(start.x + FULL_WIDTH / 2,
start.y - (FULL_HEIGHT - QUARTER_HEIGHT))
self.draw_circle(FULL_WIDTH / 2, QUARTER_HEIGHT,
pos, 0, 4 * NEUNZIG_GRAD)
self.draw_line_to(Point(start.x + FULL_WIDTH, start.y - FULL_WIDTH / 2))
pos = Point(start.x + FULL_WIDTH / 2, start.y - QUARTER_HEIGHT)
self.draw_circle(FULL_WIDTH / 2, QUARTER_HEIGHT,
pos, 0, 2 * NEUNZIG_GRAD)
self.stift_hoch()
def draw_number_zero(self, start):
pos = Point(start.x + FULL_WIDTH / 2,
start.y - 3 * QUARTER_HEIGHT)
self.draw_circle(FULL_WIDTH / 2, QUARTER_HEIGHT, pos,
2 * NEUNZIG_GRAD, 4 * NEUNZIG_GRAD)
self.draw_line_to(Point(start.x + FULL_WIDTH, start.y - QUARTER_HEIGHT))
pos = Point(start.x + FULL_WIDTH / 2, start.y - QUARTER_HEIGHT)
self.draw_circle(FULL_WIDTH / 2, QUARTER_HEIGHT,
pos, 0, 2 * NEUNZIG_GRAD)
self.draw_line_to(Point(start.x, start.y - 3 * QUARTER_HEIGHT))
self.stift_hoch()
def draw_number(self, start, number):
number_painter = [self.draw_number_zero, self.draw_number_one, self.draw_number_two,
self.draw_number_three, self.draw_number_four, self.draw_number_five,
self.draw_number_six, self.draw_number_seven, self.draw_number_eight,
self.draw_number_nine]
number_painter[number](start)
def draw_doppelpunkt(self, start):
pos = Point(start.x + (spacing / 2), start.y - (1 / 3) * FULL_HEIGHT)
self.draw_line_to()
self.stift_runter()
self.stift_hoch()
pos.y -= 1/3 * FULL_HEIGHT
self.draw_line_to(pos)
self.stift_runter()
self.stift_hoch()
def draw_time_from_str(self, timestr):
timestr = ('0'+timestr)[-5:]
start = Point(SANDBOX_START.x, SANDBOX_START.y)
self.draw_number(start, int(timestr[0]))
start.x += FULL_WIDTH + spacing
self.draw_number(start, int(timestr[1]))
start.x += FULL_WIDTH + spacing
self.draw_doppelpunkt(start)
start.x += spacing
self.draw_number(start, int(timestr[3]))
start.x += FULL_WIDTH + spacing
self.draw_number(start, int(timestr[4]))
self.move_arms(3 * NEUNZIG_GRAD / 2, NEUNZIG_GRAD / 2)