542 lines
33 KiB
Python
542 lines
33 KiB
Python
import bge # Bibliothèque Blender Game Engine (UPBGE)
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import twin # Bibliothèque de l'environnement 3D des jumeaux numériques
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import math
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import time
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import runpy # Exécution de script Python légère (sans import)
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###############################################################################
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# volrou.py
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# @title: Commandes pour le volet roulant
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# @project: Blender-EduTech
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# @lang: fr
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# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
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# @copyright: Copyright (C) 2022-2023 Philippe Roy
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# @license: GNU GPL
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###############################################################################
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# Récupérer la scène UPBGE
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scene = bge.logic.getCurrentScene()
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# Configuration des variables publiques
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# 'nom_variable' :
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# - 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)]
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# - Configuration de la broche : [nom de la propriété stockant l'object broche (pyfirmata),
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# type de broche par défaut : 'd' (digital), 'a' (analog) ou 'p' (pwm)), mode de la broche par défaut : 'i' (input) ou 'o' (output)]
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# - Configuration du graphique : ['marque', 'type de ligne', 'couleur', linewidth]] (Codification de Matplotlib)
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#
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# 'nom_variable_r' est la valeur réelle de la variable (valeur numérique) 'nom_variable' issue du jumelage numérique.
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# Dans ce cas, il n'y a pas configuration de broche car elle est présente sur la variable 'nom_variable'.
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# Ce distinguo ne concerne que les entrées, car les sorties sont pilotées par le numérique.
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#
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# 'mot_s' et 'mot_v' ne concernent que la maquette Grove (variante 1 et 2)
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public_vars = {
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't' : [['System','time','a'], [], []],
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'fdc_h' : [['Microrupteur haut','activated','d'], ['pin', 'd','i'], []],
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'fdc_h_r' : [['Microrupteur haut','activated_real','d'], [], []],
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'fdc_b' : [['Microrupteur bas','activated','d'], ['pin', 'd','i'], []],
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'fdc_b_r' : [['Microrupteur bas','activated_real','d'], [], []],
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'bp_m' : [['Bp monter','activated','d'], ['pin', 'd','i'], []],
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'bp_m_r' : [['Bp monter','activated_real','d'], [], []],
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'bp_d' : [['Bp descendre','activated','d'], ['pin', 'd','i'], []],
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'bp_d_r' : [['Bp descendre','activated_real','d'], [], []],
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'bp_a' : [['Bp arret','activated','d'], ['pin', 'd','i'], []],
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'bp_a_r' : [['Bp arret','activated_real','d'], [], []],
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'mot_m' : [['Moteur','up','d'], ['pin_up', 'd','o'], []],
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'mot_d' : [['Moteur','down','d'], ['pin_down', 'd','o'], []],
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'mot_s' : [['Moteur','direction','d'],['pin_direction','d','o'], []],
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'mot_v' : [['Moteur','speed_real','a'],['pin_speed','p','o'], []],
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'mot_angle' : [['Moteur','alpha','a'], [], []],
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'mot_vitesse' : [['Moteur','speed','a'], [], []],
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'mot_pas' : [['Moteur','step','a'], [], []],
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'bp_auto' : [['Bp auto','activated','d'], ['pin', 'd','i'], []],
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'bp_auto_r' : [['Bp auto','activated_real','d'], [], []],
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'bg_auto' : [['Bg auto','activated','d'], ['pin', 'd','i'], []],
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'bg_auto_r' : [['Bg auto','activated_real','d'], [], []],
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'voy_auto' : [['Led auto','activated','d'], ['pin', 'd','o'], []],
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'lum' : [['Recepteur LDR','value','a'], ['pin', 'a','i'], []],
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'lum_r' : [['Recepteur LDR','value_real','a'], [], []]}
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# Couleurs
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color_passive = (0.800, 0.005, 0.315,1) # bouton non activable : magenta
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color_active = (0.799, 0.130, 0.063,1) # bouton activable : orange
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color_hl = (0.8, 0.8, 0.8, 1) # bouton focus : blanc
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color_activated = (0.8, 0.619, 0.021, 1) # bouton activé numériquement uniquement : jaune
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color_activated_real = (0.799, 0.031, 0.038, 1) # élément activé physiquement uniquement : rouge (hors clic)
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color_activated_dbl = (0.246, 0.687, 0.078, 1) # élément activé physiquement et numériquement : vert clair
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# Constantes UPBGE
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JUST_ACTIVATED = bge.logic.KX_INPUT_JUST_ACTIVATED
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JUST_RELEASED = bge.logic.KX_INPUT_JUST_RELEASED
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ACTIVATE = bge.logic.KX_INPUT_ACTIVE
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# JUST_DEACTIVATED = bge.logic.KX_SENSOR_JUST_DEACTIVATED
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###############################################################################
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# Initialisation de la scène
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###############################################################################
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def init(cont):
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if cont.sensors['Init'].positive == False: # 1 seule fois
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return False
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twin.manip_init() # Manipulation du modèle 3D
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twin.cmd_init() # Commandes
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# Brochage
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for pin in public_vars:
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if public_vars[pin][1] != []:
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scene.objects[public_vars[pin][0][0]][public_vars[pin][1][0]] = None
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# Groupe de focus pour les actionneurs
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twin.cycle_def_focusgroup([["Moteur","blue"],
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["Capuchon moteur","blue"],
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["Arriere moteur","blue"],
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["Moteur axe-1","blue"],
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["Moteur coupleur","blue-dark"],
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["Moteur vis1","grey"],
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["Moteur vis2","grey"]], "Moteur : mot_m(True | False), mot_d(True | False)")
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twin.cycle_def_focusgroup([["Led auto", "led_yellow"]], "Voyant témoin mode automatique : voy_auto(True | False)")
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# twin.cycle_def_focusgroup([["Bg auto", "color_active"],
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# ["Bg auto-on", "color_active"]], "Voyant témoin mode automatique : voy_auto(True | False)")
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# Description des composants sensibles
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scene.objects['Bp monter']['description']="Bouton poussoir monter volet : bp_m()"
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scene.objects['Bp descendre']['description']="Bouton poussoir descendre volet : bp_d()"
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scene.objects['Bp arret']['description']="Bouton poussoir arrêt volet : bp_a()"
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scene.objects['Bp auto']['description']="Bouton poussoir mode automatique : bp_auto()"
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scene.objects['Bg auto']['description']="Bouton à glissière mode automatique : bg_auto()"
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scene.objects['Bg auto-on']['description']="Bouton à glissière mode automatique : bg_auto()"
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scene.objects['Microrupteur haut']['description']="Capteur fin de course volet en haut : fdc_h()"
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scene.objects['Microrupteur bas']['description']="Capteur fin de course volet en bas : fdc_b()"
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scene.objects['Recepteur LDR']['description']="Capteur de luminosité (LDR) : lum()"
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# Initialisation du système
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system_init()
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def get_public_vars():
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return public_vars
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###############################################################################
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# Actionneurs
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###############################################################################
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##
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# 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,
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# il doit respecter le tableau suivant :
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# Motor Direction(Forward/Backward) Speed Speed range
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# M1 4 LOW HIGH 3 0-255
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# M2 12 HIGH LOW 11 0-255
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# M3 8 LOW HIGH 5 0-255
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# M4 7 HIGH LOW 6 0-255
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##
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##
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# Moteur et volet
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##
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def mot (cont):
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if scene.objects['System']['run']:
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obj = cont.owner
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layer = 0
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# Monter
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if obj['up']:
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# Physique du modèle 3D
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if obj['prior']:
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# Physique (sens horaire -> négatif)
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obj['step'] = abs(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x - scene.objects['Axe enrouleur']['last_alpha'])
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obj['alpha']=obj['last_alpha'] - obj['step']
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if scene.objects['System']['time'] != obj['last_time']:
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obj['speed']= -obj['step']/(scene.objects['System']['time']-obj['last_time'])
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# print (obj['speed'], obj['step'],scene.objects['System']['time']-obj['last_time'], scene.objects['System']['time'], obj['last_time'])
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# Animation
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if obj['frame_down']<105: # Volet pas cassé
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if obj['frame_up'] <0: # Réinit entre 0 et -4
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obj['frame_up']=0
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if obj['frame_up']<110 : # Cycle normal de 0 à 100 (butée en 110)
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start = obj['frame_up']
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end = 111
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priority = 1
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blendin = 1.0
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mode = bge.logic.KX_ACTION_MODE_PLAY
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layerWeight = 0.0
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ipoFlags = 0
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speed = 0.4 # FIXME
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scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, 135, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, 135, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
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else: # Tourner sans fin
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# vitesse = 0.015
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vitesse = 0.03
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pas_axe_enrouleur = 0.5
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pas_axe_fdc = 0.5/3
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# scene.objects['Axe enrouleur'].applyRotation((pas_axe_enrouleur*vitesse, 0, 0), True)
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scene.objects['Axe fdc'].stopAction(layer)
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scene.objects['Axe fdc'].applyRotation((-pas_axe_fdc*vitesse, 0, 0), True)
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if obj['frame_up'] ==170: # Réinit
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obj['frame_up']=110
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start = obj['frame_up']
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end = 171
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priority = 1
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blendin = 1.0
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mode = bge.logic.KX_ACTION_MODE_PLAY
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layerWeight = 0.0
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ipoFlags = 0
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speed = 0.4 # FIXME
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scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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# scene.objects['Axe fdc'].playAction('Axe fdc-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 1'].playAction('Lame volet 1-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 2'].playAction('Lame volet 2-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 3'].playAction('Lame volet 3-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 4'].playAction('Lame volet 4-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 5'].playAction('Lame volet 5-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 6'].playAction('Lame volet 6-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 7'].playAction('Lame volet 7-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 8'].playAction('Lame volet 8-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 9'].playAction('Lame volet 9-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 10'].playAction('Lame volet 10-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 11'].playAction('Lame volet 11-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 12'].playAction('Lame volet 12-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 13'].playAction('Lame volet 13-Up', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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obj['frame_up'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
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obj['frame_down']= 100-obj['frame_up']
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# Physique après mouvement (last_*)
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scene.objects['Axe enrouleur']['last_alpha'] = scene.objects['Axe enrouleur'].worldOrientation.to_euler().x
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obj['last_time'] = scene.objects['System']['time']
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obj['last_alpha'] = obj['alpha']
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# Modele 3D -> Arduino
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if scene.objects['System']['twins'] and obj['prior_real']:
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# Version Grove
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if scene.objects['System']['variant'] == 1 or scene.objects['System']['variant'] == 2:
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if scene.objects['Moteur']['pin_direction'] is not None:
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if scene.objects['Moteur']['pin_speed'] is not None:
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scene.objects['Moteur']['pin_direction'].write(1)
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scene.objects['Moteur']['pin_speed'].write(scene.objects['Moteur']['speed_real_setting']/255)
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# Version AutoProg
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if scene.objects['System']['variant'] == 3:
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if scene.objects['Moteur']['pin_up'] is not None :
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if scene.objects['Moteur']['pin_down'] is not None:
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scene.objects['Moteur']['pin_down'].write(0)
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scene.objects['Moteur']['pin_up'].write(1)
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# Descendre
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if obj['down']:
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# Physique du modèle 3D
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if obj['prior']:
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# Physique (sens trigo -> positif)
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obj['step'] = abs(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x - scene.objects['Axe enrouleur']['last_alpha'])
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obj['alpha']=obj['last_alpha'] + obj['step']
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if scene.objects['System']['time'] != obj['last_time']:
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obj['speed']= obj['step']/(scene.objects['System']['time']-obj['last_time'])
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# print (round(obj['last_alpha'], 3), round(obj['step'], 3), round(obj['alpha'], 3), round(obj['speed'], 3),
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# round(scene.objects['Axe enrouleur']['last_alpha'],3), round(scene.objects['Axe enrouleur'].worldOrientation.to_euler().x,3))
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# Animation
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if obj['frame_up']<105: # Volet pas cassé
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if obj['frame_down'] <0: # Réinit entre 0 et -4
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obj['frame_down']=0
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if obj['frame_down']<135 : # Cycle normal de 0 à 100 (butée en 135)
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start = obj['frame_down']
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end = 136
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layer = 0
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priority = 1
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blendin = 1.0
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mode = bge.logic.KX_ACTION_MODE_PLAY
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layerWeight = 0.0
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ipoFlags = 0
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speed = 0.4 # FIXME
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scene.objects['Axe enrouleur'].playAction('Axe enrouleur-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Axe fdc'].playAction('Axe fdc-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 1'].playAction('Lame volet 1-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 2'].playAction('Lame volet 2-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 3'].playAction('Lame volet 3-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 4'].playAction('Lame volet 4-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 5'].playAction('Lame volet 5-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 6'].playAction('Lame volet 6-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 7'].playAction('Lame volet 7-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 8'].playAction('Lame volet 8-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 9'].playAction('Lame volet 9-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 10'].playAction('Lame volet 10-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 11'].playAction('Lame volet 11-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 12'].playAction('Lame volet 12-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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scene.objects['Lame volet 13'].playAction('Lame volet 13-Down', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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obj['frame_down'] = scene.objects['Axe enrouleur'].getActionFrame(layer)
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else: # Tourner sans fin et volet cassé
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scene.objects['Axe enrouleur'].stopAction(layer)
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scene.objects['Axe fdc'].stopAction(layer)
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scene.objects['Lame volet 1'].stopAction(layer)
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scene.objects['Lame volet 2'].stopAction(layer)
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scene.objects['Lame volet 3'].stopAction(layer)
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scene.objects['Lame volet 4'].stopAction(layer)
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scene.objects['Lame volet 5'].stopAction(layer)
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scene.objects['Lame volet 6'].stopAction(layer)
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scene.objects['Lame volet 7'].stopAction(layer)
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scene.objects['Lame volet 8'].stopAction(layer)
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scene.objects['Lame volet 9'].stopAction(layer)
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scene.objects['Lame volet 10'].stopAction(layer)
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scene.objects['Lame volet 11'].stopAction(layer)
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scene.objects['Lame volet 12'].stopAction(layer)
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scene.objects['Lame volet 13'].stopAction(layer)
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vitesse = 0.03 # FIXME
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# vitesse = 0.015
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pas_axe_enrouleur = 0.5
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pas_axe_fdc = 0.5/3
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pas_volet = 10
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scene.objects['Axe enrouleur'].applyRotation((-pas_axe_enrouleur*vitesse, 0, 0), True)
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scene.objects['Axe fdc'].applyRotation((pas_axe_fdc*vitesse, 0, 0), True)
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scene.objects['Lame volet 1'].applyMovement((0, 0, -pas_volet*vitesse), False)
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scene.objects['Lame volet 2'].applyMovement((0, 0, -pas_volet*vitesse), False)
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|
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
|
|
|