a4988.py

import RPi.GPIO as GPIO
from time import sleep

import serial
import wiringpi
import sys

ser = serial.Serial("/dev/ttyUSB0", baudrate=9600)
  
from time import sleep  
# wiringpi.wiringPiSetupGpio()  
# wiringpi.pinMode(24, 1)  # sets GPIO 24 to output
# wiringpi.digitalWrite(24, 1) # sets port 24 to 1 (3V3, on)

data = ''
word = ''
direction =0
number = 0
count = 0

dictionary = {'59004312D': 'move forward','590045F232DC' : 'endtag', '59004312DDD5': 'move forward'}

GPIO.setmode(GPIO.BCM)

#Buttons Setup
#GPIO.setup(buttonPin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
'''
scanner_top_pin = 21
scanner_bottom_pin = 19 # was26
horizontal_top_pin = 16
horizontal_bottom_pin = 20
vertical_top_pin = 13
vertical_bottom_pin= 26 # was19

GPIO.setup(scanner_top_pin, GPIO.IN)
GPIO.setup(scanner_bottom_pin, GPIO.IN)
GPIO.setup(horizontal_top_pin, GPIO.IN)
GPIO.setup(horizontal_bottom_pin, GPIO.IN)
GPIO.setup(vertical_top_pin, GPIO.IN)
GPIO.setup(vertical_bottom_pin, GPIO.IN)'''
#scaenner
stepPin1 = 3
dirPin1 = 2
enablePin1 = 18
sleepPin1 = 4

#Motor Horizontal
stepPin2 = 27
dirPin2 = 17
enablePin2 = 23
sleepPin2 = 22

#Motor Vertical
stepPin3 = 9
dirPin3 = 10
enablePin3 = 24
sleepPin3 = 11


def init():
        #Motor Scanner Setup

    GPIO.setup(stepPin1, GPIO.OUT)
    GPIO.setup(dirPin1, GPIO.OUT)
    GPIO.setup(enablePin1, GPIO.OUT)
    GPIO.setup(sleepPin1, GPIO.OUT)

    GPIO.output(enablePin1, GPIO.LOW)
    GPIO.output(sleepPin1, GPIO.LOW)
    GPIO.output(dirPin1, GPIO.HIGH)


    #Motor Horizontal

    GPIO.setup(stepPin2, GPIO.OUT)
    GPIO.setup(dirPin2, GPIO.OUT)
    GPIO.setup(enablePin2, GPIO.OUT)
    GPIO.setup(sleepPin2, GPIO.OUT)

    GPIO.output(enablePin2, GPIO.LOW)
    GPIO.output(sleepPin2, GPIO.LOW)
    GPIO.output(dirPin2, GPIO.HIGH)

#vertical
    GPIO.setup(stepPin3, GPIO.OUT)
    GPIO.setup(dirPin3, GPIO.OUT)
    GPIO.setup(enablePin3, GPIO.OUT)
    GPIO.setup(sleepPin3, GPIO.OUT)

    GPIO.output(enablePin3, GPIO.LOW)
    GPIO.output(sleepPin3, GPIO.LOW)
    GPIO.output(dirPin3, GPIO.HIGH)

delay = .0005


#Moving Scanner Motor
def moveScannerUp(num):
    #step_count = input("Enter number of steps: ")
    step_count = num
    GPIO.output(dirPin1, GPIO.LOW)
    GPIO.output(sleepPin1, GPIO.HIGH)
    for x in range(step_count):
        GPIO.output(stepPin1, GPIO.HIGH)
        sleep(delay) 
        GPIO.output(stepPin1, GPIO.LOW)
        sleep(delay)
    GPIO.output(sleepPin1, GPIO.LOW)

def moveScannerDown(num):
    #step_count = input("Enter number of steps: ")
    print('inscanner')
    step_count = num
    GPIO.output(dirPin1, GPIO.HIGH)
    GPIO.output(sleepPin1, GPIO.HIGH)
    
    for x in range(step_count):
        #readRFID()
        GPIO.output(stepPin1, GPIO.HIGH)
        sleep(delay) 
        GPIO.output(stepPin1, GPIO.LOW)
        sleep(delay)
    GPIO.output(sleepPin1, GPIO.LOW)
    
    
def readRFID():
    
    """  with open('/dev/ttyUSB0','r') as tty:
        RFID_input = tty.readline()
        print(RFID_input)
        f = open( 'rfidAttack1.txt', 'a' )
    """   
    
    #with serial.Serial("/dev/ttyUSB0", 9600) as ser:
    with open('input/rfidAttack1.txt', 'w') as f:
        print('before while')
        while(ser.in_waiting > 1):
            data = ser.readline()
            code = str(data);
            if(not(code[1].isdigit() or code[1].isalpha())): 
                f.write(code[2:])
            else:
                f.write(code[1:])   
        
            print data
    
        
        
    print('hi')
            
    """data = serial.read()
    print(data)
    print('data')
    code = ''
    if data == '\r':
            print(code)
            print('printing
            c and writing')
            f.write( code+'\n' )
            code = ''
            tag = ""
    else:
        print('in else')
        code = code + data
        count = count+1
        f = open( 'rfidAttack.txt', 'w' )
        f.write(code)
        f.close()
        if(count == 13):
            f.write('\n')
            tag[count] = code
            count = count+1
        #if (len(tag) == 11):
            code = code[1:]"""

#Moving Horizontal Motor
def moveHorizontalUp(num):
    print"yola"
    #step_count = input("Enter number of steps: ")
    step_count = num
    GPIO.output(dirPin2, GPIO.LOW)
    GPIO.output(sleepPin2, GPIO.HIGH)
    for x in range(step_count):
        GPIO.output(stepPin2, GPIO.HIGH)
        sleep(delay) 
        GPIO.output(stepPin2, GPIO.LOW)
        sleep(delay)
    print('sleep pin 2')
    GPIO.output(sleepPin2, GPIO.LOW)

def moveHorizontalDown(num):
    #step_count = input("Enter number of steps: ")
    step_count = num
    GPIO.output(dirPin2, GPIO.HIGH)
    GPIO.output(sleepPin2, GPIO.HIGH)
    for x in range(step_count):
        GPIO.output(stepPin2, GPIO.HIGH)
        sleep(delay) 
        GPIO.output(stepPin2, GPIO.LOW)
        sleep(delay)
    GPIO.output(sleepPin2, GPIO.LOW)

#Moving vertical Motor
def moveVerticalUp(num):
    #step_count = input("Enter number of steps: ")
##    print('in a4988 move vertical up')
    step_count = num
    GPIO.output(dirPin3, GPIO.LOW)
    GPIO.output(sleepPin3, GPIO.HIGH)
    f = open('rfidAttack.txt', 'w')
    for x in range(step_count):
        sleep(delay)
        GPIO.output(stepPin3, GPIO.HIGH)
        sleep(delay)
        GPIO.output(stepPin3, GPIO.LOW)
    GPIO.output(sleepPin3, GPIO.LOW)

def moveVerticalDown(num):
    #step_count = input("Enter number of steps: ")
    step_count = num
    GPIO.output(dirPin3, GPIO.HIGH)
    GPIO.output(sleepPin3, GPIO.HIGH)
    for x in range(step_count):
        GPIO.output(stepPin3, GPIO.HIGH)
        sleep(delay) 
        GPIO.output(stepPin3, GPIO.LOW)
        sleep(delay)
    GPIO.output(sleepPin3, GPIO.LOW)


#GPIO.add_event_detect(scanner_bottom_pin, GPIO.FALLING, callback=stop1, bouncetime=2000)
'''
GPIO.add_event_detect(scanner_top_pin, GPIO.FALLING, callback=stop2, bouncetime=2000)
GPIO.add_event_detect(horizontal_top_pin, GPIO.FALLING, callback=stop3, bouncetime=2000)
GPIO.add_event_detect(horizontal_bottom_pin, GPIO.FALLING, callback=stop4, bouncetime=2000)
GPIO.add_event_detect(vertical_top_pin, GPIO.FALLING, callback=stop5, bouncetime=2000)
GPIO.add_event_detect(vertical_bottom_pin, GPIO.FALLING, callback=stop6, bouncetime=2000)
#add interrupt and handler for start and reset button
'''
#the following method isn't needed once CS is integrated
#def reset(): #motor 
 #   moveScannerUp(10000)
  #  moveScannerDown(200) #release from pressing the switch
   # moveVerticalUp(10000)
   # moveVerticalDown(200) #release from pressing the switch
   # moveHorizontalLeft(10000)
   # moveHorizontalRight(200) #release from pressing the switch
"""
while(1):

    #command = raw_input("Enter command: ")
    #steps = input("Enter number of steps: ")
    command = ''
    steps = 0
    if command == "move scanner up":
       moveScannerUp(steps)

    if command == "move scanner down":
       moveScannerDown(steps)
       
    if command == "move vertical up":
       moveVerticalUp(steps)
       
    if command == "move vertical down":
       moveVerticalDown(steps)
       
    if command == "move horizontal up":
       moveHorizontalUp(steps)
       
    if command == "move horizontal down":
       moveHorizontalDown(steps)
    
    if(number ==0):
        moveScannerDown(50000)
    number = number+1
    data = serial.read()
    if data == '\r':
        print('in if')
        print(code)
        code = ''
    else:
        print('in else')
        code = code + data
        if (len(code) == 11):
        	code = code[1:]
        	        	
	# resetReader()
    if(len(code)>9 and dictionary[code[1:11]] == 'move forward'):
        if(direction == 0): moveVerticalUp(2000)
        elif(direction==1): moveHorizontalUp(2000)
        elif(direction==2): moveVerticalDown(2000)
        else: moveHorizontalDown(2000)
		
	"""	
def resetReader():
	# wiringpi.digitalWrite(24, 0) # sets port 24 to 0 (0V, off)  #low
	sleep(10)                    # wait 10s  
	# wiringpi.digitalWrite(24, 1) # sets port 24 to 1 (3V3, on) #high
	sleep(10)                    # wait 10s