from pynput import keyboard import easygui as ez import serial as ser import func import sys import time as t import pycuber as pc from pycuber.solver import CFOPSolver import kociemba import subprocess import random def clear_screen(): subprocess.call("clear") turn_off_usb = "echo '1-1' |sudo tee /sys/bus/usb/drivers/usb/unbind" turn_on_usb = "echo '1-1' |sudo tee /sys/bus/usb/drivers/usb/bind" subprocess.call(turn_on_usb, shell= True) t.sleep(1) clear_screen() exit_program = False connected = False while connected == False: # connect to serial if no usb connected alert try: ser = serial.Serial('/dev/ttyACM0', 115200, timeout=60) print("\n Connected") connected = True except serial.SerialException: notconnected = "***Not connected to Arduino board***" try_again = ez.buttonbox(notconnected, 'Cube Bot ', ["Try again", "Test Program"], default_choice="Try Again") if try_again == "Try Again": continue if try_again == None: exit_program = True sys.exit() if try_again == "Test Program": break t.sleep(1) ser.write(b'[') solved = True motors_on = True speed = 1 cube = pc.Cube() last_rand_move = "" move_list = ["F B", "F2 B", "F' B", "F B2", "F2 B2", "F' B2", "F B'", "F2 B'", "F' B'", "L R", "L2 R", "L' R", "L R2", "L2 R2", "L' R2", "L R'", "L2 R'", "L' R'", "U D", "U2 D", "U' D", "U D2", "U2 D2", "U D2", "U D'", "U2 D'", "U' D'", "U'", "D'", "F'", "B'", "R'", "L'", "U2", "D2", "R2", "L2", "F2", "B2", "U", "D", "F", "B", "R", "L"] def change_speed(): global speed if speed == 1: clear_screen() print("\n Slow Speed") ser.write(b'5') speed = 2 else: clear_screen() print("\n Fast Speed") ser.write(b'3') speed = 1 def random_move(cube): global solved global last_rand_move global motors_on solved = False while True: rand_move = random.choice(move_list) if last_rand_move != rand_move: last_rand_move = rand_move break translated_rand_move = func.translate(rand_move) translated_rand_move = func.add_double_turns(translated_rand_move) ser.write(translated_rand_move.encode()) cube(rand_move) def random_scramble(cube): global solved solved = False alg = pc.Formula() random_alg = alg.random() cube(random_alg) # mixes the cube mixAlg = str(random_alg) # this is the random scramble # runs algs through translate function translated_mixAlg = func.translate(mixAlg) translated_mixAlg = func.add_double_turns(translated_mixAlg) translated_mixAlg = f"[{translated_mixAlg}" ser.write(translated_mixAlg.encode()) t.sleep(2.5) def move (side): global solved solved = False ser.write(side.encode()) if side == side.lower(): side = side.upper() + "'" cube(side) else: cube(side) def optimal_solve(cube): global solved if solved == False: solved = True clear_screen() print("\n Solving...") defstring = func.get_def_string(cube) solution = kociemba.solve(defstring) translated_solution = func.translate(solution) translated_solution = func.add_double_turns(translated_solution) translated_solution = f"+{translated_solution}-" ser.write(translated_solution.encode()) # sends solution to arduino cube(solution) # gets time from arduino time = ser.readline() time_decoded = time.decode() time_decimal = (float(time_decoded) / 1000) clear_screen() print("\n " + str(time_decimal) + "sec.") def cfop_solve(cube): global solved if solved == False: solved = True clear_screen() print("\n Loading...") solver = CFOPSolver(cube) solution = solver.solve(suppress_progress_messages=True) solveAlg = str(solution) # this is the solution # runs algs through translate function translated_solveAlg = func.translate(solveAlg) translated_solveAlg = func.add_double_turns(translated_solveAlg) algHalf1 = f"+{translated_solveAlg[0:40]}" algHalf2 = f"{translated_solveAlg[40:]}-" clear_screen() print("\n Solving...") ser.write(algHalf1.encode()) # sends data to arduino in half because solution is too long t.sleep(1) ser.write(algHalf2.encode()) # prints time from arduino time = ser.readline() time_decimal = (float(time.decode()) / 1000) clear_screen() print("\n " + str(time_decimal) + "sec.") print(cube) def cfop_solve(cube): #tutorial global solved if solved == False: solved = True clear_screen() print("\n Loading...") solver = CFOPSolver(cube) solution = solver.solve(suppress_progress_messages=True) solveAlg = str(solution) # this is the solution # runs algs through translate function translated_solveAlg = func.translate(solveAlg) for item, i in enumerate(str(solution)): print(item) ser.write(f"+{translated_solveAlg[i]}") t.sleep(3) print(cube) def on_press(key): pass def on_release(key): global cube #print('{0} released'.format(key)) if key == keyboard.Key.esc: # Stop listener return False elif key == keyboard.KeyCode.from_char('/'): move("U") elif key == keyboard.KeyCode.from_char('*'): move("u") elif key == keyboard.KeyCode.from_char('7') or key == keyboard.Key.home: move("L") elif key == keyboard.KeyCode.from_char('8') or key == keyboard.Key.up: move("F") elif key == keyboard.KeyCode.from_char('9') or key == keyboard.Key.page_up: move("f") elif key == keyboard.KeyCode.from_char('-'): move("R") elif key == keyboard.KeyCode.from_char('4') or key == keyboard.Key.left: move("l") elif str(key) == "<65437>": move("B") elif key == keyboard.KeyCode.from_char('6') or key == keyboard.Key.right: move("b") elif key == keyboard.KeyCode.from_char('+'): move("r") elif key == keyboard.KeyCode.from_char('2') or key == keyboard.Key.down: move("D") elif key == keyboard.KeyCode.from_char('3') or key == keyboard.Key.page_down: move("d") elif key == keyboard.Key.enter: optimal_solve(cube) elif key == keyboard.KeyCode.from_char(',') or key == keyboard.Key.delete: cube = pc.Cube() cfop_solve(cube) elif key == keyboard.Key.backspace: random_move(cube) elif key == keyboard.KeyCode.from_char('1') or key == keyboard.Key.end: change_speed() #elif key == keyboard.KeyCode.from_char('0'): # random_scramble(cube) # elif key == keyboard.KeyCode.from_char('0'): #Collect events until released with keyboard.Listener(on_press=on_press, on_release=on_release, suppress=True) as listener: listener.join() try: ser.write(b']') ser.close() print("\n disconnected") subprocess.call(turn_off_usb, shell=True) print("\n USB OFF") except NameError: print('End of program') sys.exit()