MSCS

This folder contains all files of code needed to run the GUI and control all the components for the MSCS

File Descriptions

GUI

MSCS_GUI.py

• GUI code without implemented hardware functions. This code the same as MSCS_GUI_1.py but with the hardware functions commented out. This is used for only testing GUI related functions.

MSCS_GUI_1.py

• Working GUI code with implemented hardware functions. This is used to run the automated cleaning cycle and also individually control the rest of components.

DC motors

StartStopRollers.py

• Contains the functions for starting and stopping the dc motors/cleaning rollers.
• Functions are called to automatically in the cleaning cycle and manually in the Rollers page.

Linear Actuator

LASettings.yaml

• Linear actuator location settings.

tic_settings.txt

• Pololu Tic USB Stepper Controller settings file.

ticControl.py

• Contains the functions used to control the movement and placements of the linear actuator.
• Functions are called to automatically in the cleaning cycle and manually in the Linear Actuator page.

Pumps

DispenseReagent.py

• Controls the pump for the soap.
• Functions are called to automatically in the cleaning cycle and manually in the Pumps page.

WaterPump.py

• Controls the pump for the water.
• Functions are called to automatically in the cleaning cycle and manually in the Pumps page.

Solenoid Valves

OpenCloseAir.py

• Contains the functions for turning on and off relays 1 2 and 3 on automation hat. Controls the opening and closing of solenoid valves.
• Relay one is for opening and closing drying valve. Relays two and three are for the valves that open and close the gripper.
• Functions are called to automatically in the cleaning cycle and manually in the Solenoid Valves page.

pin assignments

• Variable assignments for Raspberry Pi pin numbers

Camera

Camera_Terminal_Test_Code.py

• Contains the code that allows us to take pictures with the camera and save it as a file.
• Also can create a new directory for the storage of the pictures.

Camera_Code.py

• Contains the functions used to take a picture during the cleaning process and the code to control it using the camera component page of the GUI.

Setup Raspberry Pi

Raspberry Pi OS Version:

1. Go to (https://downloads.raspberrypi.org/raspios_full_armhf/images/raspios_full_armhf-2021-03-25/) to get 2021-03-04-raspios-buster-armhf-full.zip

1a. Unzip this file and then install the OS on the Raspberry Pi SD card using something like the Raspberry Pi Imager (https://www.raspberrypi.com/software/)

(Steps 2-5) Standard updates: 2. sudo apt-get update 3. sudo apt-get upgrade 4. sudo apt-get install python3-pip 5. sudo pip3 install --upgrade setuptools

(Step 6) Update Linux Kernel to be Compatible with Camera: 6. sudo rpi-update b4145cfaa838049fcc1174d1311a98a854703c29

(Steps 7-9) For Camera Kernel (https://www.arducam.com/docs/cameras-for-raspberry-pi/pivariety/how-to-install-kernel-driver-for-pivariety-camera/#21-the-first-way-build-from-the-kernel-source):

7. wget -O install_pivariety_pkgs.sh https://github.com/ArduCAM/Arducam-Pivariety-V4L2-Driver/releases/download/install_script/install_pivariety_pkgs.sh

8. chmod +x install_pivariety_pkgs.sh

9. ./install_pivariety_pkgs.sh -p kernel_driver

   9a. To check if the camera is detected, enter: dmesg | grep arducam 9b. To check if the video nodes are normal, enter: ls /dev/video* -l 9c. To view the device node information: enter: v4l2-ctl --list-formats-ext

(Steps 10-14) For Camera Access and to Program (https://www.arducam.com/docs/cameras-for-raspberry-pi/pivariety/how-to-access-and-program-the-pivariety-camera-using-command-line-python-opencv-and-gstreamer/):

10. wget -O install_pivariety_pkgs.sh https://github.com/ArduCAM/Arducam-Pivariety-V4L2-Driver/releases/download/install_script/install_pivariety_pkgs.sh
11. chmod +x install_pivariety_pkgs.sh
12. ./install_pivariety_pkgs.sh -p libcamera_dev
13. ./install_pivariety_pkgs.sh -p libcamera_apps
14. Check if the camera is working properly by taking a picture: libcamera-still -t 5000 -o test.jpg

14a. For Raspberry Pi 3 devices: Make sure that dtoverlay=vc4-fkms-v3d is in the [all] section of /boot/config.txt 14b. Also for Raspberry Pi 3 devices: Add cma=400M to the end of /boot/cmdline.txt

(Steps 15-18) For installing board (https://learn.adafruit.com/circuitpython-on-raspberrypi-linux/installing-circuitpython-on-raspberry-pi):

15. cd ~
16. sudo pip3 install --upgrade adafruit-python-shell
17. wget https://raw.githubusercontent.com/adafruit/Raspberry-Pi-Installer-Scripts/master/raspi-blinka.py
18. sudo python3 raspi-blinka.py

18a. To check if blinka is installed, enter: ls /dev/i2c* /dev/spi* You should see the response: /dev/i2c-1 /dev/spidev0.0 /dev/spidev0.1

(Steps 19-22)For installing Linear Actuator:

19. python -m pip install PyYAML

20. Follow steps 1 through 4 on https://www.pololu.com/docs/0J71/3.2 and install for Rasbperry Pi.

21. Installing adafruit motor hat library: sudo pip3 install adafruit-circuitpython-motorkit

22. Installing automation hat library: curl https://get.pimoroni.com/automationhat | bash