93 lines
2.6 KiB
Python
93 lines
2.6 KiB
Python
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#! /usr/bin/env python
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# Sample.py sample code to use python with comedi via the compy interface.
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# Compy: COMedi PYthon interface
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#
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# Blaine Lee Copyright 11/2000 Licence GPL 2.0
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#
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# V0 hacked out of working code for others to look at.
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############# imports
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import os
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import stat
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import time
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import compy # important if you want to use compy
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from string import *
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# this project uses 3 advantech PCM-3730's
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# 8 isolated outputs on dev 0
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# 8 isolated inputs on dev 3
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# 8 ttl outputs each on dev 1 & 2 not used
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# 8 ttl inputs each on dev 4 & 5 not used
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compypath0 = "/dev/comedi0" # a little abstraction
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compypath1 = "/dev/comedi1"
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compypath2 = "/dev/comedi2"
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# ************ I/O definitions
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SolderSOV = (0,0,1)
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Work0SOV = (0,0,2) # input card 0, dev 0, channel 2
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Work1SOV = (0,0,3)
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Move1SOV = (0,0,4)
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BlowSOV = (0,0,5)
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SolderDn = (0,3,2)
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SolderUp = (0,3,3)
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Work0In = (0,3,4)
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Work0Out = (0,3,5)
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SolderPresent0 = (0,3,6)
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Work1In = (1,3,0)
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Work1Out = (1,3,1)
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SolderPresent1 = (1,3,2)
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MoveAt1 = (1,3,3)
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MoveAt0 = (1,3,4)
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PalmL = (2,3,0)
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PalmR = (2,3,1) # input card 2, dev 3, channel 1
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PartPres0 = (2,3,2)
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PartPres1 = (2,3,3)
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compyif = compy.trig # got rid of old work around of compy v2
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# all new code should use compy.trig directly!!!
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# *********************************************
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def inout(SOV, Sin, Sout, Ppres, Head ):
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"A task to manage one arm of a 'ping-pong' machine"
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global SolderNow
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compyif(SOV,0) # reset
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SolderNow[Head] = 0
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while 1:
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while not compyif(Sout,0): # wait until out and ready
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time.sleep(.001)
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while compyif(Ppres,0): # Wait for part to be removed
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time.sleep(.001)
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while not compyif(Ppres,0): # Wait for part to be replaced
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time.sleep(.001)
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while compyif(PalmL,0) or compyif(PalmR,0): # palms must not be blocked
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time.sleep(.001)
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while (not compyif(PalmL,0)) or (not compyif(PalmR,0)): # wait for palms
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time.sleep(.001)
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SolderNow[Head] = 1 # signal that this side will be ready soon
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compyif(SOV,1) # go in
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while not compyif(Sin,0): # wait for in
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time.sleep(.001)
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SolderNow[Head] = 2
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while SolderNow[Head]: # wait for process
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time.sleep(.001)
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# Of course this won't exit, you don't have the other tasks that run
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# the machine!!!!
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compyif(SOV,0) # go out
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# ************ comedi setup
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compy.open(0,compypath0,0)
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compy.open(1,compypath1,0)
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compy.open(2,compypath2,0)
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compyif(SolderSOV,0) # solder up
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inout(Work0SOV,Work0In,Work0Out,PartPres0,0)
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compy.close(0)
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compy.close(1)
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compy.close(2)
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