From 6c5fbe38b1058f1bc8f1cc96106fbb211e3c612b Mon Sep 17 00:00:00 2001
From: zwarenelle <tomie121@gmail.com>
Date: Fri, 28 Jun 2024 15:05:03 +0200
Subject: [PATCH] add motor scripting

---
 src/Client/RobotController/Motor.cs   | 128 +++++++++++---------------
 src/Client/RobotController/Test.cs    |  13 +++
 src/Client/RobotController/stepper.py |  17 ++++
 3 files changed, 82 insertions(+), 76 deletions(-)
 create mode 100644 src/Client/RobotController/Test.cs
 create mode 100644 src/Client/RobotController/stepper.py

diff --git a/src/Client/RobotController/Motor.cs b/src/Client/RobotController/Motor.cs
index be3d2f7..a5f153c 100644
--- a/src/Client/RobotController/Motor.cs
+++ b/src/Client/RobotController/Motor.cs
@@ -1,93 +1,69 @@
 using System;
 using System.Threading.Tasks;
-using System.Device.Gpio;
+using System.Diagnostics;
+using System.Text;
 
 namespace RobotController
 {
   class Motor
   {
-    public int STEP_PIN { get; set; }
-    public int DIR_PIN { get; set; }
-    public int ENABLE_PIN { get; set; }
-    private GpioPin stepPin;
-    private GpioPin directionPin;
-    private GpioPin enablePin;
-    private PinValue stepPinValue;
-    private PinValue directionPinValue;
-    private PinValue enablePinValue;
+    StringBuilder outputBuilder;
+    ProcessStartInfo processStartInfo;
+    Process process;
 
+    public int STEP_PIN1 { get; set; }
+    public int DIR_PIN1 { get; set; }
 
-    public Motor(int sTEP_PIN, int dIR_PIN)
+    public int STEP_PIN2 { get; set; }
+    public int DIR_PIN2 { get; set; }
+
+    public Motor(sTEP_PIN1, dIR_PIN1, sTEP_PIN2, dIR_PIN2)
     {
-      STEP_PIN = sTEP_PIN;
-      DIR_PIN = dIR_PIN;
+      this.STEP_PIN1 = sTEP_PIN1;
+      this.DIR_PIN1 = dIR_PIN1;
+
+      this.STEP_PIN2 = sTEP_PIN2;
+      this.DIR_PIN2 = dIR_PIN2;
+
     }
 
-    public Motor(int sTEP_PIN, int dIR_PIN, int eNABLE_PIN = 0)
+   public Drive(bool direction, int steps)
+   {
+outputBuilder = new StringBuilder();
+
+processStartInfo = new ProcessStartInfo();
+processStartInfo.CreateNoWindow = true;
+processStartInfo.RedirectStandardOutput = true;
+processStartInfo.RedirectStandardInput = true;
+processStartInfo.UseShellExecute = false;
+processStartInfo.Arguments = "/home/wouter/roommapper/src/Client/RobotController/stepper.py drive";
+processStartInfo.FileName = "/usr/bin/python3";
+
+process = new Process();
+process.StartInfo = processStartInfo;
+// enable raising events because Process does not raise events by default
+process.EnableRaisingEvents = true;
+// attach the event handler for OutputDataReceived before starting the process
+process.OutputDataReceived += new DataReceivedEventHandler
+(
+    delegate(object sender, DataReceivedEventArgs e)
     {
-      STEP_PIN = sTEP_PIN;
-      DIR_PIN = dIR_PIN;
-      ENABLE_PIN = eNABLE_PIN;
+        // append the new data to the data already read-in
+        outputBuilder.Append(e.Data);
     }
+);
+// start the process
+// then begin asynchronously reading the output
+// then wait for the process to exit
+// then cancel asynchronously reading the output
+process.Start();
+process.BeginOutputReadLine();
+process.WaitForExit();
+process.CancelOutputRead();
 
-    public void InitGPIO()
-    {
-      var gpio = new GpioController();
+// use the output
+string output = outputBuilder.ToString();
 
-      stepPin = gpio.OpenPin(STEP_PIN);
-      stepPin.SetPinMode(PinMode.Output);
-      stepPinValue = PinValue.Low;
-      stepPin.Write(stepPinValue);
+Console.WriteLine(output);
 
-      directionPin = gpio.OpenPin(DIR_PIN);
-      directionPin.SetPinMode(PinMode.Output);
-      directionPinValue = PinValue.Low;
-      directionPin.Write(directionPinValue);
-
-      if (ENABLE_PIN != 0)
-      {
-        enablePin = gpio.OpenPin(ENABLE_PIN);
-        enablePin.SetPinMode(PinMode.Output);
-        enablePinValue = PinValue.High;
-        enablePin.Write(enablePinValue);
-      }
-    }
-
-    private void OneStep()
-    {
-      var signal = Task.Run(async delegate { await Task.Delay(TimeSpan.FromMilliseconds(1)); });
-      var pavza = Task.Run(async delegate { await Task.Delay(TimeSpan.FromMilliseconds(1)); });
-
-      stepPinValue = PinValue.High;
-      stepPin.Write(stepPinValue);
-      signal.Wait();
-      stepPinValue = PinValue.Low;
-      stepPin.Write(stepPinValue);
-      pavza.Wait();
-    }
-
-    public void Step(int steps)
-    {
-      if (ENABLE_PIN != 0)
-      {
-        enablePinValue = PinValue.Low;
-        enablePin.Write(enablePinValue);
-      }
-
-      if (steps <= 0) { directionPinValue = PinValue.Low; }
-      else { directionPinValue = PinValue.High; }
-      directionPin.Write(directionPinValue);
-
-      for (int i = 0; i < Math.Abs(steps); i++)
-      {
-        OneStep();
-      }
-
-      if (ENABLE_PIN != 0)
-      {
-        enablePinValue = PinValue.High;
-        enablePin.Write(enablePinValue);
-      }
-    }
-  }
-}
+   }
\ No newline at end of file
diff --git a/src/Client/RobotController/Test.cs b/src/Client/RobotController/Test.cs
new file mode 100644
index 0000000..fefec33
--- /dev/null
+++ b/src/Client/RobotController/Test.cs
@@ -0,0 +1,13 @@
+using System;
+
+namespace RobotController
+{
+    class Program
+    {
+        static void Main(string[] args)
+        {
+            Motor motor = new Motor(1, 2, 3, 4);
+            motor.drive(True, 200);
+        }
+    }
+}
diff --git a/src/Client/RobotController/stepper.py b/src/Client/RobotController/stepper.py
new file mode 100644
index 0000000..fa198c2
--- /dev/null
+++ b/src/Client/RobotController/stepper.py
@@ -0,0 +1,17 @@
+import RPi.GPIO as GPIO
+from RpiMotorLib import RpiMotorLib
+import time
+import sys
+
+direction= 23 # Direction (DIR) GPIO Pin
+step = 22 # Step GPIO Pin
+
+def drive():
+    mymotortest = RpiMotorLib.A4988Nema(direction, step, (21,21,21), "DRV8825")
+
+    mymotortest.motor_go(False, "Full", 200, 0.0005, False, .05)
+
+    GPIO.cleanup()
+    
+if __name__ == '__main__':
+    globals()[sys.argv[1]]()
\ No newline at end of file