ZhengLiu-cart/AdaptedScissor
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Fix: update relay logic and improve comments for clarity

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Brunsmeier
2026-06-25 18:26:34 +08:00
parent 443705ced3
commit 5b7f44a9b9
2 changed files with 38 additions and 24 deletions
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59
main.py
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@ -32,8 +32,10 @@ DIN_PINS = (25, 26, 27, 32)
DOUT_PINS = (18, 19) DOUT_PINS = (18, 19)
digital_inputs = [Pin(pin, Pin.IN, Pin.PULL_UP) for pin in DIN_PINS] digital_inputs = [Pin(pin, Pin.IN, Pin.PULL_UP) for pin in DIN_PINS]
digital_outputs = [Pin(pin, Pin.OUT, value=0) for pin in DOUT_PINS] # Low-level trigger relay:
# GPIO HIGH = relay OFF
# GPIO LOW = relay ON
digital_outputs = [Pin(pin, Pin.OUT, value=1) for pin in DOUT_PINS]
# ---------------- SERIAL CONFIG ---------------- # ---------------- SERIAL CONFIG ----------------
@ -102,15 +104,18 @@ poller.register(sys.stdin, select.POLLIN)
# ============================================================ # ============================================================
# DOUT / gripper # DOUT / gripper
# ============================================================ # ============================================================
def clear_douts(): def clear_douts():
global dout_shadow global dout_shadow
# Logical DOUT state reported to PC.
# 0 means no gripper command active.
dout_shadow = 0 dout_shadow = 0
# Low-level trigger relay:
# HIGH = relay OFF
# LOW = relay ON
for pin in digital_outputs: for pin in digital_outputs:
pin.value(0) pin.value(1)
def set_gripper(mode): def set_gripper(mode):
global dout_shadow global dout_shadow
@ -120,39 +125,47 @@ def set_gripper(mode):
# 1 = OPEN # 1 = OPEN
# 2 = CLOSE # 2 = CLOSE
# #
# DOUT[0] = GPIO18 # DOUT[0] = GPIO18 -> relay IN1
# DOUT[1] = GPIO19 # DOUT[1] = GPIO19 -> relay IN2
#
# Low-level trigger relay:
# GPIO HIGH = relay OFF
# GPIO LOW = relay ON
#
# Tested hardware behavior:
# IN1 = LOW, IN2 = HIGH -> CLOSE
# IN1 = HIGH, IN2 = LOW -> OPEN
if mode == 1: if mode == 1:
# OPEN -> DOUT=[0, 1] # OPEN -> logical DOUT=[0, 1]
dout_shadow = 0b10 dout_shadow = 0b10
elif mode == 2: elif mode == 2:
# CLOSE -> DOUT=[1, 0] # CLOSE -> logical DOUT=[1, 0]
dout_shadow = 0b01 dout_shadow = 0b01
else: else:
# STOP -> DOUT=[0, 0] # STOP -> logical DOUT=[0, 0]
dout_shadow = 0b00 dout_shadow = 0b00
# Shadow test mode: do not touch real GPIO pins. # Shadow test mode: do not touch real GPIO pins.
if not USE_REAL_DOUT: if not USE_REAL_DOUT:
return return
# Real output mode. # First turn both relays OFF.
digital_outputs[0].value(0) digital_outputs[0].value(1) # GPIO18 / IN1 OFF
digital_outputs[1].value(0) digital_outputs[1].value(1) # GPIO19 / IN2 OFF
time.sleep_ms(20) time.sleep_ms(20)
if mode == 1: if mode == 1:
# OPEN # OPEN -> trigger IN2 / GPIO19
digital_outputs[1].value(1) digital_outputs[1].value(0)
elif mode == 2: elif mode == 2:
# CLOSE # CLOSE -> trigger IN1 / GPIO18
digital_outputs[0].value(1) digital_outputs[0].value(0)
# mode 0 keeps both LOW # mode 0 keeps both HIGH/OFF
# ============================================================ # ============================================================
@ -256,11 +269,11 @@ def make_packet():
for index, pin in enumerate(digital_inputs): for index, pin in enumerate(digital_inputs):
din_mask |= pin.value() << index din_mask |= pin.value() << index
if USE_REAL_DOUT: # if USE_REAL_DOUT:
dout_mask = 0 # dout_mask = 0
for index, pin in enumerate(digital_outputs): # for index, pin in enumerate(digital_outputs):
dout_mask |= pin.value() << index # dout_mask |= pin.value() << index
else: # else:
dout_mask = dout_shadow dout_mask = dout_shadow
# Packet layout: # Packet layout:

1
pc_reader.py
View File

@ -119,3 +119,4 @@ def main():
if __name__ == "__main__": if __name__ == "__main__":
main() main()
# python3 /home/shun/esp/pc_reader.py /dev/ttyUSB0 --baud 115200