{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "82162890",
   "metadata": {},
   "outputs": [],
   "source": [
    "from pyfirmata import Arduino\n",
    "import serial\n",
    "import time"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "2fc2905a",
   "metadata": {},
   "outputs": [],
   "source": [
    "class SimpleFeeder(Arduino):\n",
    "    pin_diode = 12\n",
    "    pin_feeder = 8\n",
    "    \n",
    "    def __init__(self, *args, **kwargs):\n",
    "        super(SimpleFeeder, self).__init__(*args, **kwargs)\n",
    "        self.digital[SimpleFeeder.pin_feeder].write(0)\n",
    "        self.digital[SimpleFeeder.pin_diode].write(0)\n",
    "\n",
    "    def blink(self):\n",
    "        self.digital[SimpleFeeder.pin_diode].write(1)\n",
    "        time.sleep(1)\n",
    "        self.digital[SimpleFeeder.pin_diode].write(0)        \n",
    "\n",
    "    def on(self):\n",
    "        self.digital[SimpleFeeder.pin_diode].write(1)\n",
    "        \n",
    "    def off(self):\n",
    "        self.digital[SimpleFeeder.pin_diode].write(0)\n",
    "        \n",
    "    def feed(self):\n",
    "        self.digital[SimpleFeeder.pin_feeder].write(1)\n",
    "        time.sleep(0.01)\n",
    "        print(0.01)\n",
    "        self.digital[SimpleFeeder.pin_feeder].write(0)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "fe78b7d4",
   "metadata": {},
   "outputs": [],
   "source": [
    "class MCSArduino(Arduino):\n",
    "    pin_diode = 13\n",
    "    pin_TTL_1 = 6\n",
    "    pin_TTL_2 = 5\n",
    "    pin_LED_lights = 7\n",
    "    pin_feeder = 8\n",
    "    pin_feeder_power = 4\n",
    "    \n",
    "    def __init__(self, *args, **kwargs):\n",
    "        self.last_cmd = False  # False - Arduino LOW, True - Arduino HIGH\n",
    "        self.is_light_off = False\n",
    "        super(MCSArduino, self).__init__(*args, **kwargs)\n",
    "        \n",
    "    def start_or_stop(self):  # acquisition\n",
    "        self.last_cmd = not self.last_cmd\n",
    "        self.digital[MCSArduino.pin_diode].write(self.last_cmd)\n",
    "        self.digital[MCSArduino.pin_TTL_1].write(self.last_cmd)\n",
    "        self.digital[MCSArduino.pin_TTL_2].write(self.last_cmd)\n",
    "\n",
    "    def switch_light(self):\n",
    "        self.is_light_off = not self.is_light_off\n",
    "        self.digital[MCSArduino.pin_LED_lights].write(self.is_light_off)\n",
    "        \n",
    "    def feed(self):\n",
    "        self.digital[MCSArduino.pin_feeder_power].write(True)\n",
    "        time.sleep(0.5)\n",
    "        self.digital[MCSArduino.pin_feeder].write(True)\n",
    "        time.sleep(0.02)\n",
    "        self.digital[MCSArduino.pin_feeder].write(False)\n",
    "        time.sleep(1.5)\n",
    "        self.digital[MCSArduino.pin_feeder_power].write(False)\n",
    "        \n",
    "        \n",
    "class FakeArduino():\n",
    "    def __init__(self):\n",
    "        self.is_light_off = False\n",
    "        \n",
    "    def start_or_stop(self):\n",
    "        print(\"Fake Arduino - sending a TTL pulse\")\n",
    "        \n",
    "    def exit(self):\n",
    "        print(\"Fake Arduino - exiting...\")\n",
    "        \n",
    "    def switch_light(self):\n",
    "        self.is_light_off = not self.is_light_off\n",
    "        print(\"Fake Arduino - switching light on/off...\")\n",
    "        \n",
    "    def feed(self):\n",
    "        print(\"Fake Arduino - feeding...\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "99209a2c",
   "metadata": {},
   "outputs": [],
   "source": [
    "class FakeDevice:\n",
    "    def write(self):\n",
    "        pass\n",
    "    def close(self):\n",
    "        pass\n",
    "\n",
    "class Feeder:\n",
    "    def __init__(self, port, baudrate=9600):\n",
    "        if port == 'fake':\n",
    "            self.device = FakeDevice()\n",
    "        else:\n",
    "            self.device = serial.Serial(port, baudrate=baudrate)\n",
    "        \n",
    "    def feed(self):\n",
    "        self.device.write('SP200\\r'.encode())\n",
    "        self.device.write('LR6175\\r'.encode())\n",
    "        self.device.write('m\\r'.encode())\n",
    "        \n",
    "    def exit(self):\n",
    "        self.device.close()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "4b6156b5",
   "metadata": {},
   "outputs": [],
   "source": [
    "class ArduinoDevice(object):\n",
    "    \"\"\"\n",
    "    NOTE for LINUX users! Include user in the 'dialout' group and restart to\n",
    "    access USB devices.\n",
    "    \"\"\"\n",
    "\n",
    "    def __init__(self, port=None, baud=9600):\n",
    "        self.device = serial.Serial(port, baud, timeout=.1)\n",
    "\n",
    "    @staticmethod\n",
    "    def serial_ports():\n",
    "        \"\"\"\n",
    "        Lists available serial ports\n",
    "\n",
    "        :raises EnvironmentError:\n",
    "            On unsupported or unknown platforms\n",
    "        :returns:\n",
    "            A list of the serial ports available on the system\n",
    "        \"\"\"\n",
    "        return comports()\n",
    "\n",
    "    def read(self):\n",
    "        return self.device.readline()\n",
    "\n",
    "    def write(self, data):\n",
    "        return self.device.write(data)\n",
    "\n",
    "    def close(self):\n",
    "        self.device.close()\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "56d33a31",
   "metadata": {},
   "source": [
    "### Testing Arduino TTL pulses"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "id": "a8ee4492",
   "metadata": {},
   "outputs": [],
   "source": [
    "board = MCSArduino('COM10')  # Windows - 'COM10', Linux - '/dev/ttyACM0', check /dev/tty*"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "id": "8aef8b20",
   "metadata": {},
   "outputs": [],
   "source": [
    "# check the light on-off\n",
    "board.switch_light()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "id": "94466a46",
   "metadata": {},
   "outputs": [],
   "source": [
    "# testing sync with acquisition system\n",
    "board.start_or_stop()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "31ee1a03",
   "metadata": {},
   "outputs": [],
   "source": [
    "board.feed()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 25,
   "id": "015a0777",
   "metadata": {},
   "outputs": [],
   "source": [
    "board.digital[8].write(0)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "id": "a221e00c",
   "metadata": {},
   "outputs": [],
   "source": [
    "board.digital[13].write(True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "id": "aaf301bc",
   "metadata": {},
   "outputs": [],
   "source": [
    "board.digital[8].write(1)\n",
    "board.digital[13].write(1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "id": "8887f991",
   "metadata": {},
   "outputs": [],
   "source": [
    "for i in range(10):\n",
    "    time.sleep(5)\n",
    "    board.feed()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "c0687f02",
   "metadata": {},
   "outputs": [],
   "source": [
    "# Arduino should blink 2 times\n",
    "for i in range(4):\n",
    "    board.start_or_stop()\n",
    "    time.sleep(2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "id": "bc432891",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "False"
      ]
     },
     "execution_count": 14,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "board.digital[5].value"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "id": "e3445339",
   "metadata": {},
   "outputs": [],
   "source": [
    "board.exit()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "ff6d72c0",
   "metadata": {},
   "source": [
    "## Testing blinking"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "id": "8e7610f3",
   "metadata": {},
   "outputs": [],
   "source": [
    "board = SimpleFeeder('COM5')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "id": "c06dd049",
   "metadata": {},
   "outputs": [],
   "source": [
    "board.on()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 25,
   "id": "fa65a126",
   "metadata": {},
   "outputs": [],
   "source": [
    "board.off()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 26,
   "id": "4be6a3b7",
   "metadata": {},
   "outputs": [],
   "source": [
    "board.exit()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "89b10d38",
   "metadata": {},
   "source": [
    "### Testing feeder"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "7f0affc0",
   "metadata": {},
   "outputs": [],
   "source": [
    "feeder = SimpleFeeder('COM6')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "id": "608b6193",
   "metadata": {},
   "outputs": [],
   "source": [
    "feeder.feed()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "9579b355",
   "metadata": {},
   "outputs": [],
   "source": [
    "feeder.exit()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "990f5a4f",
   "metadata": {},
   "outputs": [],
   "source": [
    "feeder = Feeder('COM8')\n",
    "\n",
    "time.sleep(5)  # time to get inside the chamber and see that it works\n",
    "feeder.feed()\n",
    "\n",
    "feeder.exit()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "e6df6e15",
   "metadata": {},
   "source": [
    "### Motors - speaker position calibration"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "7aac6801",
   "metadata": {},
   "outputs": [],
   "source": [
    "class SpeakerMotor:\n",
    "    \"\"\"\n",
    "    example command to the arduino: +20:600\n",
    "    \n",
    "    +/-   direction\n",
    "    20    number of steps to rotate\n",
    "    600   speed in steps per second\n",
    "    \"\"\"\n",
    "    \n",
    "    def __init__(self, port, baud=9600):\n",
    "        self.port = port\n",
    "        self.baud = baud\n",
    "        self.diodes_on = False\n",
    "        self.device = serial.Serial(port, baud, timeout=.1)\n",
    "\n",
    "    def microstep_left(self):\n",
    "        self.device.write('-10:200\\n'.encode('utf-8'))  # 90deg is 17120 steps\n",
    "        #time.sleep(0.05)\n",
    "        #print(self.device.readline())\n",
    "\n",
    "    def microstep_right(self):\n",
    "        self.device.write('+10:200\\n'.encode('utf-8'))\n",
    "\n",
    "    def switch_diodes(self):\n",
    "        self.device.write('d\\n'.encode('utf-8'))\n",
    "        self.diodes_on = not self.diodes_on\n",
    "        \n",
    "    def rotate(self, direction, degrees, duration):\n",
    "        # direction True CCW, False CW\n",
    "        # degrees in deg, 45, 90 etc.\n",
    "        # duration in sec\n",
    "        speed = 190 * (degrees / duration)\n",
    "        steps = 190 * degrees\n",
    "        \n",
    "        self.turn(1 if direction else -1, int(steps), int(speed))\n",
    "        time.sleep(0.1)\n",
    "        \n",
    "    def turn(self, direction, steps, speed):\n",
    "        assert type(steps) == type(1)\n",
    "        assert type(speed) == type(1)\n",
    "        assert speed > 0\n",
    "        assert speed < 1200\n",
    "        assert steps < 20000\n",
    "        assert abs(direction) == 1\n",
    "        \n",
    "        # +CCW, -CW\n",
    "        command = '%s%s:%s\\n' % ('+' if direction > 0 else '-', str(steps), str(speed))\n",
    "        print('sending ' + command)\n",
    "        self.device.write(command.encode('utf-8'))\n",
    "        \n",
    "    def exit(self):\n",
    "        self.device.close()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "f069063a",
   "metadata": {},
   "outputs": [],
   "source": [
    "class CableMotor:\n",
    "    \"\"\"\n",
    "    example command to the arduino: +800:600\n",
    "    \n",
    "    +/-   direction\n",
    "    800    number of steps to rotate (1600 is one turn)\n",
    "    600   speed in steps per second\n",
    "    \"\"\"\n",
    "    \n",
    "    def __init__(self, port, baud=9600):\n",
    "        self.port = port\n",
    "        self.baud = baud\n",
    "        self.diodes_on = False\n",
    "        self.device = serial.Serial(port, baud, timeout=.1)\n",
    "\n",
    "    def turn_CW(self):\n",
    "        self.device.write('+1600:800\\n'.encode('utf-8'))\n",
    "\n",
    "    def turn_CCW(self):\n",
    "        self.device.write('-1600:800\\n'.encode('utf-8'))\n",
    "\n",
    "    def exit(self):\n",
    "        self.device.close()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "6cb83682",
   "metadata": {},
   "outputs": [
    {
     "ename": "NameError",
     "evalue": "name 'SpeakerMotor' is not defined",
     "output_type": "error",
     "traceback": [
      "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[1;31mNameError\u001b[0m                                 Traceback (most recent call last)",
      "\u001b[1;32m<ipython-input-1-c34f87c6d5ba>\u001b[0m in \u001b[0;36m<module>\u001b[1;34m\u001b[0m\n\u001b[0;32m      4\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      5\u001b[0m \u001b[1;31m# r - rotate right, t - rotate left, q - quit\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m----> 6\u001b[1;33m \u001b[0msm\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mSpeakerMotor\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;34m'COM12'\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m      7\u001b[0m \u001b[0mout1\u001b[0m \u001b[1;33m=\u001b[0m \u001b[1;34m''\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      8\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;31mNameError\u001b[0m: name 'SpeakerMotor' is not defined"
     ]
    }
   ],
   "source": [
    "import keyboard\n",
    "import serial\n",
    "import time\n",
    "\n",
    "# r - rotate right, t - rotate left, q - quit\n",
    "sm = SpeakerMotor('COM12')\n",
    "out1 = ''\n",
    "\n",
    "try:\n",
    "    while True:\n",
    "        if keyboard.is_pressed('d'):  # turn diodes on / off\n",
    "            sm.device.write('d\\n'.encode('utf-8'))\n",
    "        \n",
    "        if keyboard.is_pressed('r'):  # microstepping right\n",
    "            sm.microstep_right()\n",
    "            time.sleep(0.1)\n",
    "        if keyboard.is_pressed('t'):  # microstepping left\n",
    "            sm.microstep_left()\n",
    "            time.sleep(0.1)\n",
    "\n",
    "        if keyboard.is_pressed('u'):  # slow motion\n",
    "            sm.turn(-1, 17120, 60)\n",
    "            time.sleep(0.1)\n",
    "        if keyboard.is_pressed('y'):  # slow motion\n",
    "            sm.turn(1, 17120, 60)\n",
    "            time.sleep(0.1)\n",
    "\n",
    "        if keyboard.is_pressed('i'):  # fast motion\n",
    "            sm.turn(-1, 17120, 200)\n",
    "            time.sleep(0.1)\n",
    "        if keyboard.is_pressed('o'):  # fast motion\n",
    "            sm.turn(1, 17120, 200)\n",
    "            time.sleep(0.1)\n",
    "\n",
    "        if keyboard.is_pressed('m'):\n",
    "            print(\"Still running the thread\")\n",
    "            time.sleep(0.1)\n",
    "            \n",
    "        if keyboard.is_pressed('q'):\n",
    "            print(\"q pressed, ending loop\")\n",
    "            break\n",
    "                \n",
    "finally:\n",
    "    sm.exit()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "fdb584fe",
   "metadata": {},
   "source": [
    "## Rotate speakers manually"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "97e091e6",
   "metadata": {},
   "outputs": [],
   "source": [
    "import keyboard\n",
    "import serial\n",
    "import time\n",
    "import threading\n",
    "\n",
    "degrees = 90\n",
    "duration = 30\n",
    "\n",
    "# 1st - CW\n",
    "direction = False\n",
    "\n",
    "# 2nd - CCW\n",
    "#direction = True"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "e2e5b88d",
   "metadata": {},
   "outputs": [],
   "source": [
    "sm = SpeakerMotor('COM12')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "affd93ca",
   "metadata": {},
   "outputs": [],
   "source": [
    "sm.switch_diodes()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "id": "822ff96a",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "sending +17100:570\n",
      "\n"
     ]
    }
   ],
   "source": [
    "sm.rotate(direction, degrees, duration)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "8263dee5",
   "metadata": {},
   "outputs": [],
   "source": [
    "sm.exit()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "7d4201fb",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "2c6a6aa2",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "markdown",
   "id": "ae2fe188",
   "metadata": {},
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "b6b43cc0",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "raw",
   "id": "f4a5438a",
   "metadata": {},
   "source": []
  }
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