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Ground_Station_Arduino.py
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Ground_Station_Arduino.py
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"""
-------------------------------------------------------------------------------
MIT License
Copyright (c) 2021 Mathew Clutter and Ronnel Walton
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-------------------------------------------------------------------------------
"""
import serial
import serial.tools.list_ports
import time
class Ground_Station_Arduino:
def __init__(self, COM_Port, baudrate):
self.Port_Name = COM_Port
self.Baudrate = baudrate
self.COM_Port = serial.Serial(port=self.Port_Name, baudrate=self.Baudrate, timeout=.1)
self.Coordinates = []
self.attempt_num = 0
return
def move_position(self, azimuth, elevation):
# takes in azimuth and elevation to move to
# sends position to arduino
pos = "M" + str(azimuth) + "," + str(elevation)
print(pos)
self.COM_Port.write(bytes(pos, "utf-8"))
time.sleep(.05)
return
def adjustTiltUp(self, degrees):
# sends command to arduino to move tilt up
message = "W" + str(degrees)
self.COM_Port.write(bytes(message, "utf-8"))
print(message)
time.sleep(.05)
return
def adjustTiltDown(self, degrees):
# sends command to arduino to move tilt down
message = "S" + str(degrees)
self.COM_Port.write(bytes(message, "utf-8"))
time.sleep(.05)
return
def adjustPanPositive(self, degrees):
# sends command to arduino to adjust pan positive
message = "A" + str(degrees)
self.COM_Port.write(bytes(message, "utf-8"))
time.sleep(.05)
return
def adjustPanNegative(self, degrees):
# sends command to arduino to adjust pan negative
message = "D" + str(degrees)
self.COM_Port.write(bytes(message, "utf-8"))
time.sleep(.05)
return
def calibrate(self, startingAzimuth, startingElevation):
# sends the arduino the initial starting position (azimuth and elevation) of the ground station
startPos = "C" + str(startingAzimuth) + "," + str(startingElevation)
self.COM_Port.write(bytes(startPos, "utf-8"))
time.sleep(.05)
return
def sendEStop(self):
self.COM_Port.write(bytes("E", "utf-8"))
time.sleep(.1)
return
def warm_start(self):
# requests the GPS position of the ground station
self.Coordinates = self.req_GPS()
return self.Coordinates
def req_GPS(self):
# attempts to obtain and return the ground station gps location
if self.attempt_num < 100:
self.attempt_num += 1
self.COM_Port.write(b'G')
time.sleep(0.05)
serial_data = self.COM_Port.readline()
if len(serial_data) > 2:
decoded_data = serial_data[:-2].decode('ascii')
if len(decoded_data.split(",")) == 3:
self.Coordinates = []
Temp_Coor = decoded_data.split(",")
# S and W negative
for index in range(2):
self.Coordinates.append(float(Temp_Coor[index][:-1]))
self.Coordinates.append(float(Temp_Coor[2]))
# print(self.attempt_num, " Attempts")
self.attempt_num = 0
else:
self.req_GPS()
else:
self.req_GPS()
else:
print("Failed to request GPS")
# exit(1)
return self.Coordinates
def print_GPS(self):
# prints the gps coordinates of the ground station after a request to grab the position
self.Coordinates = self.req_GPS()
if len(self.Coordinates) > 0:
print("[{},{},{}]".format(self.Coordinates[0], self.Coordinates[1], self.Coordinates[2]))
return