jumeaux-numeriques/volet_roulant/volrou.py

import bge # Bibliothèque Blender Game Engine (UPBGE)
import twin # Bibliothèque de l'environnement 3D des jumeaux numériques
import math
import time
import runpy # Exécution de script Python légère (sans import)

###############################################################################
# volrou.py
# @title: Commandes pour le volet roulant
# @project: Blender-EduTech
# @lang: fr
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
# @copyright: Copyright (C) 2022-2023 Philippe Roy
# @license: GNU GPL
###############################################################################

# Récupérer la scène UPBGE
scene = bge.logic.getCurrentScene()

# Configuration des variables publiques
# 'nom_variable' :
# - Objet 3D : [nom de l'objet 3D, propriété associée à la valeur (activate ou activated_real), type de la valeur ('d' (digital, binary), 'a', (analog) ou 'n' (numeric)), échelle (1 si ommis)]
# - Configuration de la broche : [nom de la propriété stockant l'object broche (pyfirmata),
#                                                                    type de broche par défaut : 'd' (digital), 'a' (analog) ou 'p' (pwm)), mode de la broche par défaut : 'i' (input) ou 'o' (output)]
# - Configuration du graphique : ['marque', 'type de ligne', 'couleur', linewidth]] (Codification de Matplotlib)
#
#  'nom_variable_r' est la valeur réelle de la variable (valeur numérique) 'nom_variable' issue du jumelage numérique.
#  Dans ce cas, il n'y a pas configuration de broche car elle est présente sur la variable 'nom_variable'.
#  Ce distinguo ne concerne que les entrées, car les sorties sont pilotées par le numérique.
#
# 'mot_s' et 'mot_v' ne concernent que la maquette Grove (variante 1 et 2)

public_vars = {
    't' : [['System','time','a'], [], []],
    'fdc_h' : [['Microrupteur haut','activated','d'], ['pin', 'd','i'], []],
    'fdc_h_r' : [['Microrupteur haut','activated_real','d'], [], []],
    'fdc_b' : [['Microrupteur bas','activated','d'], ['pin', 'd','i'], []],
    'fdc_b_r' : [['Microrupteur bas','activated_real','d'], [], []],
    'bp_m' : [['Bp monter','activated','d'], ['pin', 'd','i'], []],
    'bp_m_r' : [['Bp monter','activated_real','d'], [], []],
    'bp_d' : [['Bp descendre','activated','d'], ['pin', 'd','i'], []],
    'bp_d_r' : [['Bp descendre','activated_real','d'], [], []],
    'bp_a' : [['Bp arret','activated','d'], ['pin', 'd','i'], []],
    'bp_a_r' : [['Bp arret','activated_real','d'], [], []],
    'mot_m' : [['Moteur','up','d'], ['pin_up', 'd','o'], []],
    'mot_d' : [['Moteur','down','d'], ['pin_down', 'd','o'], []],
    'mot_s' : [['Moteur','direction','d'],['pin_direction','d','o'], []],
    'mot_v' : [['Moteur','speed_real','a'],['pin_speed','p','o'], []],
    'mot_angle' : [['Moteur','alpha','a'], [], []],
    'mot_vitesse' : [['Moteur','speed','a'], [], []],
    'mot_pas' : [['Moteur','step','a'], [], []],
    'bp_auto' : [['Bp auto','activated','d'], ['pin', 'd','i'], []],
    'bp_auto_r' : [['Bp auto','activated_real','d'], [], []],
    'bg_auto' : [['Bg auto','activated','d'], ['pin', 'd','i'], []],
    'bg_auto_r' : [['Bg auto','activated_real','d'], [], []],
    'voy_auto' : [['Led auto','activated','d'], ['pin', 'd','o'], []],
    'lum' : [['Recepteur LDR','value','a'], ['pin', 'a','i'], []],
    'lum_r' : [['Recepteur LDR','value_real','a'], [], []]}

# Couleurs
color_passive = (0.800, 0.005, 0.315,1) # bouton non activable :  magenta
color_active =  (0.799, 0.130, 0.063,1) # bouton activable :  orange
color_hl =  (0.8, 0.8, 0.8, 1) # bouton focus : blanc
color_activated =  (0.8, 0.619, 0.021, 1) # bouton activé numériquement uniquement :  jaune
color_activated_real =  (0.799, 0.031, 0.038, 1) # élément activé physiquement uniquement :  rouge (hors clic)
color_activated_dbl =  (0.246, 0.687, 0.078, 1) # élément activé physiquement et numériquement :  vert clair

# Constantes UPBGE
JUST_ACTIVATED = bge.logic.KX_INPUT_JUST_ACTIVATED
JUST_RELEASED = bge.logic.KX_INPUT_JUST_RELEASED
ACTIVATE = bge.logic.KX_INPUT_ACTIVE
# JUST_DEACTIVATED = bge.logic.KX_SENSOR_JUST_DEACTIVATED

###############################################################################
# Initialisation de la scène
###############################################################################

def  init(cont):
    if cont.sensors['Init'].positive == False: # 1 seule fois 
        return False

    twin.manip_init() # Manipulation du modèle 3D 
    twin.cmd_init() # Commandes

    # Brochage
    for pin in public_vars:
        if public_vars[pin][1] != []:
            scene.objects[public_vars[pin][0][0]][public_vars[pin][1][0]] = None

    # Groupe de focus pour les actionneurs
    twin.cycle_def_focusgroup([["Moteur","blue"],
                               ["Capuchon moteur","blue"],
                               ["Arriere moteur","blue"],
                               ["Moteur axe-1","blue"],
                               ["Moteur coupleur","blue-dark"],
                               ["Moteur vis1","grey"],
                               ["Moteur vis2","grey"]], "Moteur : mot_m(True | False), mot_d(True | False)")
    twin.cycle_def_focusgroup([["Led auto", "led_yellow"]], "Voyant témoin mode automatique : voy_auto(True | False)")
    # twin.cycle_def_focusgroup([["Bg auto", "color_active"],
    #                            ["Bg auto-on", "color_active"]], "Voyant témoin mode automatique : voy_auto(True | False)")

    # Description des composants sensibles
    scene.objects['Bp monter']['description']="Bouton poussoir monter volet : bp_m()"
    scene.objects['Bp descendre']['description']="Bouton poussoir descendre volet : bp_d()"
    scene.objects['Bp arret']['description']="Bouton poussoir arrêt volet : bp_a()"
    scene.objects['Bp auto']['description']="Bouton poussoir mode automatique : bp_auto()"
    scene.objects['Bg auto']['description']="Bouton à glissière mode automatique : bg_auto()"
    scene.objects['Bg auto-on']['description']="Bouton à glissière mode automatique : bg_auto()"
    scene.objects['Microrupteur haut']['description']="Capteur fin de course volet en haut : fdc_h()"
    scene.objects['Microrupteur bas']['description']="Capteur fin de course volet en bas : fdc_b()" 
    scene.objects['Recepteur LDR']['description']="Capteur de luminosité (LDR) : lum()"

    # Initialisation du système
    system_init()

def get_public_vars():
    return public_vars

###############################################################################
# Actionneurs
###############################################################################

##
# Pour la commande du moteur des variantes 1 et 2 version Grove , le brochage du  shield moteur CC 4 x 1,2 A DRI0039 (DFROBOT) est fixe,
# il doit respecter le tableau suivant : 
# Motor Direction(Forward/Backward)	Speed Speed range
# M1 	4 	LOW 	HIGH 	        3 	0-255
# M2 	12 	HIGH 	LOW 	        11 	0-255
# M3 	8 	LOW 	HIGH 	        5 	0-255
# M4	7 	HIGH 	LOW 	        6 	0-255
##

##
# Moteur et volet
##

def mot (cont):
    if scene.objects['System']['run']:
        obj = cont.owner
        layer = 0
        
        # Monter 
        if obj['up']:

            # Physique du modèle 3D
            if obj['prior']:

                # Physique (sens horaire -> négatif)
                obj['step'] = abs(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x - scene.objects['Axe enrouleur']['last_alpha'])
                obj['alpha']=obj['last_alpha'] - obj['step']
                if scene.objects['System']['time'] != obj['last_time']:
                    obj['speed']= -obj['step']/(scene.objects['System']['time']-obj['last_time'])
                    # print (obj['speed'], obj['step'],scene.objects['System']['time']-obj['last_time'], scene.objects['System']['time'], obj['last_time'])

                # Animation 
                if obj['frame_down']<105: # Volet pas cassé
                    if obj['frame_up'] <0: # Réinit entre 0 et -4
                        obj['frame_up']=0
                    if obj['frame_up']<110 : # Cycle normal de 0 à 100 (butée en 110)
                        start = obj['frame_up']
                        end = 111
                        priority = 1
                        blendin = 1.0
                        mode = bge.logic.KX_ACTION_MODE_PLAY
                        layerWeight = 0.0
                        ipoFlags = 0
                        speed = 0.4 # FIXME
                        scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, 135, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, 135, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
                    else: # Tourner sans fin
                        # vitesse = 0.015
                        vitesse = 0.03
                        pas_axe_enrouleur = 0.5
                        pas_axe_fdc = 0.5/3
                        # scene.objects['Axe enrouleur'].applyRotation((pas_axe_enrouleur*vitesse, 0, 0), True)
                        scene.objects['Axe fdc'].stopAction(layer)
                        scene.objects['Axe fdc'].applyRotation((-pas_axe_fdc*vitesse, 0, 0), True)
                        if obj['frame_up'] ==170: # Réinit 
                            obj['frame_up']=110
                        start = obj['frame_up']
                        end = 171
                        priority = 1
                        blendin = 1.0
                        mode = bge.logic.KX_ACTION_MODE_PLAY
                        layerWeight = 0.0
                        ipoFlags = 0
                        speed = 0.4 # FIXME
                        scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        # scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
                    obj['frame_down']= 100-obj['frame_up']

                # Physique après mouvement (last_*)
                scene.objects['Axe enrouleur']['last_alpha'] = scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
                obj['last_time'] = scene.objects['System']['time']
                obj['last_alpha'] = obj['alpha']

            # Modele 3D -> Arduino
            if scene.objects['System']['twins'] and obj['prior_real']:

                # Version Grove
                if scene.objects['System']['variant'] == 1 or scene.objects['System']['variant'] == 2:
                    if  scene.objects['Moteur']['pin_direction'] is not None:
                        if  scene.objects['Moteur']['pin_speed'] is not None:
                            scene.objects['Moteur']['pin_direction'].write(1)
                            scene.objects['Moteur']['pin_speed'].write(scene.objects['Moteur']['speed_real_setting']/255)

                # Version AutoProg
                if scene.objects['System']['variant'] == 3:
                    if  scene.objects['Moteur']['pin_up'] is not None :
                        if  scene.objects['Moteur']['pin_down'] is not None:
                            scene.objects['Moteur']['pin_down'].write(0)
                            scene.objects['Moteur']['pin_up'].write(1)

        # Descendre
        if obj['down']:

            # Physique du modèle 3D
            if obj['prior']:

                # Physique (sens trigo -> positif)
                obj['step'] = abs(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x - scene.objects['Axe enrouleur']['last_alpha'])
                obj['alpha']=obj['last_alpha'] + obj['step']
                if scene.objects['System']['time'] != obj['last_time']:
                    obj['speed']= obj['step']/(scene.objects['System']['time']-obj['last_time'])
                # print (round(obj['last_alpha'], 3),  round(obj['step'], 3), round(obj['alpha'], 3), round(obj['speed'], 3),
                #        round(scene.objects['Axe enrouleur']['last_alpha'],3), round(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x,3))

                # Animation 
                if obj['frame_up']<105: # Volet pas cassé
                    if obj['frame_down'] <0: # Réinit entre 0 et -4
                        obj['frame_down']=0
                    if obj['frame_down']<135 : # Cycle normal de 0 à 100 (butée en 135)
                        start = obj['frame_down']
                        end = 136
                        layer = 0
                        priority = 1
                        blendin = 1.0
                        mode = bge.logic.KX_ACTION_MODE_PLAY
                        layerWeight = 0.0
                        ipoFlags = 0
                        speed = 0.4 # FIXME
                        scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Axe fdc'].playAction('Axe fdc-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 1'].playAction('Lame volet 1-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 2'].playAction('Lame volet 2-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 3'].playAction('Lame volet 3-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 4'].playAction('Lame volet 4-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 5'].playAction('Lame volet 5-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 6'].playAction('Lame volet 6-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 7'].playAction('Lame volet 7-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 8'].playAction('Lame volet 8-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 9'].playAction('Lame volet 9-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 10'].playAction('Lame volet 10-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 11'].playAction('Lame volet 11-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 12'].playAction('Lame volet 12-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        scene.objects['Lame volet 13'].playAction('Lame volet 13-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
                        obj['frame_down'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
                    else: # Tourner sans fin et volet cassé
                        scene.objects['Axe enrouleur'].stopAction(layer)
                        scene.objects['Axe fdc'].stopAction(layer)
                        scene.objects['Lame volet 1'].stopAction(layer)
                        scene.objects['Lame volet 2'].stopAction(layer)
                        scene.objects['Lame volet 3'].stopAction(layer)
                        scene.objects['Lame volet 4'].stopAction(layer)
                        scene.objects['Lame volet 5'].stopAction(layer)
                        scene.objects['Lame volet 6'].stopAction(layer)
                        scene.objects['Lame volet 7'].stopAction(layer)
                        scene.objects['Lame volet 8'].stopAction(layer)
                        scene.objects['Lame volet 9'].stopAction(layer)
                        scene.objects['Lame volet 10'].stopAction(layer)
                        scene.objects['Lame volet 11'].stopAction(layer)
                        scene.objects['Lame volet 12'].stopAction(layer)
                        scene.objects['Lame volet 13'].stopAction(layer)
                        vitesse = 0.03 # FIXME
                        # vitesse = 0.015
                        pas_axe_enrouleur = 0.5
                        pas_axe_fdc = 0.5/3
                        pas_volet = 10
                        scene.objects['Axe enrouleur'].applyRotation((-pas_axe_enrouleur*vitesse, 0, 0), True)
                        scene.objects['Axe fdc'].applyRotation((pas_axe_fdc*vitesse, 0, 0), True)
                        scene.objects['Lame volet 1'].applyMovement((0, 0, -pas_volet*vitesse), False)
                        scene.objects['Lame volet 2'].applyMovement((0, 0, -pas_volet*vitesse), False)
                        scene.objects['Lame volet 3'].applyMovement((0, 0, -pas_volet*vitesse), False)
                        scene.objects['Lame volet 4'].applyMovement((0, 0, -pas_volet*vitesse), False)
                        scene.objects['Lame volet 5'].applyMovement((0, 0, -pas_volet*vitesse), False)
                        scene.objects['Lame volet 6'].applyMovement((0, 0, -pas_volet*vitesse), False)
                        scene.objects['Lame volet 7'].applyMovement((0, 0, -pas_volet*vitesse), False)
                        scene.objects['Lame volet 8'].applyMovement((0, 0, -pas_volet*vitesse), False)
                        scene.objects['Lame volet 9'].applyMovement((0, 0, -pas_volet*vitesse), False)
                        scene.objects['Lame volet 10'].applyMovement((0, 0, -pas_volet*vitesse), False)
                        scene.objects['Lame volet 11'].applyMovement((0, 0, -pas_volet*vitesse), False)
                        scene.objects['Lame volet 12'].applyMovement((0, 0, -pas_volet*vitesse), False)
                        scene.objects['Lame volet 13'].applyMovement((0, 0, -pas_volet*vitesse), False)
                        obj['frame_down'] +=1
                    obj['frame_up']= 100-obj['frame_down']

                # Physique après mouvement (last_*)
                scene.objects['Axe enrouleur']['last_alpha'] = scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
                obj['last_time'] = scene.objects['System']['time']
                obj['last_alpha'] = obj['alpha']

            # Modele 3D -> Arduino
            if scene.objects['System']['twins'] and obj['prior_real']:

                # Version Grove
                if scene.objects['System']['variant'] == 1 or scene.objects['System']['variant'] == 2:
                    if  scene.objects['Moteur']['pin_direction'] is not None:
                        if  scene.objects['Moteur']['pin_speed'] is not None:
                            scene.objects['Moteur']['pin_direction'].write(0)
                            scene.objects['Moteur']['pin_speed'].write(scene.objects['Moteur']['speed_real_setting']/255)

                # Version AutoProg
                if scene.objects['System']['variant'] == 3:
                    if  scene.objects['Moteur']['pin_down'] is not None:
                        if  scene.objects['Moteur']['pin_up'] is not None:
                            scene.objects['Moteur']['pin_up'].write(0)
                            scene.objects['Moteur']['pin_down'].write(1)

        # Arrêt
        if obj['up'] == False and obj['down'] == False:

            # Physique du modèle 3D
            if obj['prior']:
                obj['speed']= 0
                scene.objects['Axe enrouleur']['last_alpha'] = scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
                obj['last_time'] = scene.objects['System']['time']
                obj['last_alpha'] = obj['alpha']

                # Animation 
                if scene.objects['Axe enrouleur'].isPlayingAction(layer):
                    scene.objects['Axe enrouleur'].stopAction(layer)
                    scene.objects['Axe fdc'].stopAction(layer)
                    scene.objects['Lame volet 1'].stopAction(layer)
                    scene.objects['Lame volet 2'].stopAction(layer)
                    scene.objects['Lame volet 3'].stopAction(layer)
                    scene.objects['Lame volet 4'].stopAction(layer)
                    scene.objects['Lame volet 5'].stopAction(layer)
                    scene.objects['Lame volet 6'].stopAction(layer)
                    scene.objects['Lame volet 7'].stopAction(layer)
                    scene.objects['Lame volet 8'].stopAction(layer)
                    scene.objects['Lame volet 9'].stopAction(layer)
                    scene.objects['Lame volet 10'].stopAction(layer)
                    scene.objects['Lame volet 11'].stopAction(layer)
                    scene.objects['Lame volet 12'].stopAction(layer)
                    scene.objects['Lame volet 13'].stopAction(layer)

            # Modele 3D -> Arduino
            if scene.objects['System']['twins'] and obj['prior_real']:

                # Version Grove
                if scene.objects['System']['variant'] == 1 or scene.objects['System']['variant'] == 2:
                    if  scene.objects['Moteur']['pin_direction'] is not None:
                        if  scene.objects['Moteur']['pin_speed'] is not None:
                            scene.objects['Moteur']['pin_direction'].write(0)
                            scene.objects['Moteur']['pin_speed'].write(0)

                # Version AutoProg
                if scene.objects['System']['variant'] == 3:
                    if  scene.objects['Moteur']['pin_down'] is not None:
                        if  scene.objects['Moteur']['pin_up'] is not None:
                            scene.objects['Moteur']['pin_up'].write(0)
                            scene.objects['Moteur']['pin_down'].write(0)

###############################################################################
# Capteurs fin de course
###############################################################################

##
# Etat capteur fin de course volet en haut
##

def fdc_h (cont):
    if scene.objects['System']['run'] :
        obj = cont.owner

        # Arduino -> Modele 3D
        if scene.objects['System']['twins'] and obj['prior_real']:
            if  obj['pin'] is not None:
                if obj['pin'].read()==True and obj['activated_real'] == False :
                    obj['activated_real'] = True
                if obj['pin'].read()==False and obj['activated_real'] == True :
                    obj['activated_real'] = False

        # Etat capteur en fonction du volet
        scene.objects['Axe fdc']['rx']= scene.objects['Axe fdc'].localOrientation.to_euler().x *(180/math.pi)
        if scene.objects['Axe fdc']['rx'] >= -175 and scene.objects['Axe fdc']['rx'] <= -155  and obj['activated'] == False and obj['prior']:
            obj['activated'] = True
        if scene.objects['Axe fdc']['rx'] < -175 or scene.objects['Axe fdc']['rx'] > -155  and obj['activated'] == True and obj['prior']:
            obj['activated'] = False
   
        # Forçage par clic
        if obj['click'] == True and obj['prior']:
            obj['activated'] = True

        # Couleurs
        twin.cycle_sensitive_color(obj)

##
# Etat capteur fin de course volet en bas
##

def fdc_b (cont):
    if scene.objects['System']['run'] :
        obj = cont.owner

        # Arduino -> Modele 3D
        if scene.objects['System']['twins'] and obj['prior_real']:
            if  obj['pin'] is not None:
                if obj['pin'].read()==True and obj['activated_real'] == False :
                    obj['activated_real'] = True
                if obj['pin'].read()==False and obj['activated_real'] == True :
                    obj['activated_real'] = False

        # Etat capteur en fonction du volet
        if scene.objects['Axe fdc']['rx'] >= -10 and scene.objects['Axe fdc']['rx'] <= 10  and obj['activated'] == False and obj['prior']:
            obj['activated'] = True
        if scene.objects['Axe fdc']['rx'] < -10 or scene.objects['Axe fdc']['rx'] > 10  and obj['activated'] == True and obj['prior']:
            obj['activated'] = False

        # Forçage par clic
        if obj['click'] == True and obj['prior']:
            obj['activated'] = True

        # Couleurs
        twin.cycle_sensitive_color(obj)

###############################################################################
# Système
###############################################################################

##
# Initialisation du système
# Le moteur est géré en continue.
##

def system_init ():

    # Voyants statiques
    scene.objects['Led capteur courant'].setVisible(True,False)
    scene.objects['Led capteur courant-on'].setVisible(False,False)
    scene.objects['Led moteur'].setVisible(True,False)
    scene.objects['Led moteur-on'].setVisible(False,False)
    scene.objects['Led alimentation'].setVisible(True,False)
    scene.objects['Led alimentation-on'].setVisible(False,False)
    system_reset()

##
# Réinitialisation du système
##
def system_reset ():

    # Mise en place de la variante
    runpy.run_path(scene.objects['System']['script'], run_name='init')

    # Entrées à l'état initial
    objs= ['Bp monter', 'Bp arret', 'Bp descendre', 'Bp auto', 'Bg auto', 'Microrupteur haut','Microrupteur bas']
    for obj in objs:
        scene.objects[obj]['activated']=False
        scene.objects[obj]['activated_real']=False
    scene.objects['Recepteur LDR']['value']=0
    scene.objects['Recepteur LDR']['value_real']=0
    scene.objects['Bg auto-on'].setVisible(False,False)

    # Voyants aux états initiaux
    scene.objects['Led auto']['activated']=False
    scene.objects['Led auto'].setVisible(True,False)
    scene.objects['Led auto-on'].setVisible(False,False)

    # Volet et moteur
    scene.objects['Moteur']['up']=False
    scene.objects['Moteur']['down']=False
    scene.objects['Moteur']['alpha']=0
    scene.objects['Moteur']['last_alpha']=0
    scene.objects['Moteur']['speed']=0
    scene.objects['Moteur']['speed_setting']=125.6 # Vitesse du moteur numérique : 125.6 rad /s ( 20 tr / s )
    scene.objects['Moteur']['speed_real_setting']=255 # Vitesse du moteur réel sur maquette Grove
    scene.objects['Moteur']['step']=0
    scene.objects['Axe enrouleur']['last_alpha']=scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
    obj = scene.objects['Moteur']
    start = 49
    end = 50
    priority = 1
    layer = 0
    blendin = 1.0
    mode = bge.logic.KX_ACTION_MODE_PLAY
    layerWeight = 0.0
    ipoFlags = 0
    speed = 0.4
    scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
    obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
    obj['frame_down']= 100-obj['frame_up']

    # Priorités activées
    objs= ['Bp monter', 'Bp arret', 'Bp descendre', 'Bp auto', 'Bg auto', 'Microrupteur haut','Microrupteur bas', 'Recepteur LDR',
           'Moteur', 'Led auto']
    for obj in objs:
        scene.objects[obj]['prior']=True
        scene.objects[obj]['prior_real']=True