feat: shoots cat when in range

src/Robotics/Entities/WaterPump.ts

@@ -0,0 +1,13 @@
+import IWaterPump from '../Interfaces/IWaterPump'
+
+class WaterPump implements IWaterPump {
+  public pinOne: number
+  public pinTwo: number
+
+  constructor (props: IWaterPump) {
+    this.pinOne = props.pinOne
+    this.pinTwo = props.pinTwo
+  }
+}
+
+export default WaterPump

src/Robotics/Entities/WaterPumper.ts

@@ -0,0 +1,46 @@
+import IWaterPump from '../Interfaces/IWaterPump'
+import * as childProcesses from 'child_process'
+import IWaterPumperConstructor from '../Interfaces/IWaterPumperConstructor'
+import IWaterPumper from '../Interfaces/IWaterPumper'
+import makeWaterPump from '../UseCases/Factories/makeWaterPump'
+
+class WaterPumper implements IWaterPumper {
+  public waterPump: IWaterPump
+  public isActive: boolean = false
+  private pumpProcess: childProcesses.ChildProcessWithoutNullStreams | null = null
+  private pumpActiveTimeInSeconds: number
+  private pumpCoolDownTimeInSeconds: number
+
+  constructor (props: IWaterPumperConstructor) {
+    this.waterPump = makeWaterPump({
+      pinOne: props.pinOne,
+      pinTwo: props.pinTwo
+    })
+
+    this.pumpActiveTimeInSeconds =props.pumpActiveTimeInSeconds
+    this.pumpCoolDownTimeInSeconds = props.pumpCoolDownTimeInSeconds
+  }
+
+  private async coolDown () {
+    return new Promise(resolve => setTimeout(resolve, this.pumpCoolDownTimeInSeconds * 1000))
+  }
+
+  public async pump () {
+    if (this.isActive) return
+
+    const pumpProcessArguments = [
+      'src/Robotics/moveDcMotor.py',
+      this.waterPump.pinOne.toString(),
+      this.waterPump.pinTwo.toString(),
+      this.pumpActiveTimeInSeconds.toString()
+    ]
+
+    this.pumpProcess = childProcesses.spawn('python', pumpProcessArguments)
+
+    this.isActive = true
+    await this.coolDown()
+    this.isActive = false
+  }
+}
+
+export default WaterPumper

src/Robotics/Interfaces/IWaterPump.ts

@@ -0,0 +1,6 @@
+interface IWaterPump {
+  pinOne: number,
+  pinTwo: number
+}
+
+export default IWaterPump

src/Robotics/Interfaces/IWaterPumper.ts

@@ -0,0 +1,9 @@
+import IWaterPump from "./IWaterPump";
+
+interface IWaterPumper {
+  pump(): void
+  isActive: boolean
+  waterPump: IWaterPump
+}
+
+export default IWaterPumper

src/Robotics/Interfaces/IWaterPumperConstructor.ts

@@ -0,0 +1,8 @@
+interface IWaterPumperConstructor {
+  pinOne: number,
+  pinTwo: number,
+  pumpActiveTimeInSeconds: number,
+  pumpCoolDownTimeInSeconds: number
+}
+
+export default IWaterPumperConstructor

src/Robotics/UseCases/Factories/makeWaterPump.ts

@@ -0,0 +1,8 @@
+import WaterPump from "../../Entities/WaterPump"
+import IWaterPump from "../../Interfaces/IWaterPump"
+
+function makeWaterPump (props: IWaterPump) {
+  return new WaterPump(props)
+}
+
+export default makeWaterPump

src/Robotics/UseCases/Factories/makeWaterPumper.ts

@@ -0,0 +1,8 @@
+import WaterPumper from "../../Entities/WaterPumper"
+import IWaterPumperConstructor from "../../Interfaces/IWaterPumperConstructor"
+
+function makeWaterPumper (props: IWaterPumperConstructor) {
+  return new WaterPumper(props)
+}
+
+export default makeWaterPumper

src/Robotics/main.ts

@@ -1,12 +1,14 @@
 import IEventManager from './Interfaces/IEventManager'
 import IMotorMover from './Interfaces/IMotorMover'
+import IWaterPumper from './Interfaces/IWaterPumper'
 
 import makeServer from './UseCases/Factories/makeServer'
 import makeEventManager from './UseCases/Factories/makeEventManager'
 import makeMotorMover from './UseCases/Factories/makeMotorMover'
+import makeWaterPumper from './UseCases/Factories/makeWaterPumper'
 
 const main = () => {
-  console.log('starting')
+  console.log('Starting Robotics')
 
   const port = 5005
   makeServer(port)
@@ -23,6 +25,13 @@ const main = () => {
     pauseIntervalTime: 0.05
   })
 
+  const waterPumper: IWaterPumper = makeWaterPumper({
+    pinOne: 37,
+    pinTwo: 35,
+    pumpActiveTimeInSeconds: 1,
+    pumpCoolDownTimeInSeconds: 5
+  })
+
   eventManager.listen('onReceiveOffsets', (offsets: any[]) => {
     if (offsets[0]?.x > 50) {
       xAxisMotorMover.moveCounterClockwise()
@@ -39,7 +48,10 @@ const main = () => {
     } else {
       yAxisMotorMover.stopMovement()
     }
-    // console.log(`moving ${xAxisMotorMover.movementState}`)
+
+    if (offsets[0]?.hypotenuse <= 80) {
+      waterPumper.pump()
+    }
   })
 }
 

src/Robotics/moveDcMotor.py

@@ -1,7 +1,15 @@
+# command arguments to run process
+# 1: int pin_one
+# 2: int pin_two
+# 3: int motor_active_time
+
 import RPi.GPIO as GPIO
 from time import sleep
+import sys
 
-motor_channel = (37, 35)
+motor_channel = (int(sys.argv[1]), int(sys.argv[2])) # (37, 35)
+
+motor_active_time = int(sys.argv[3])
 
 GPIO.setwarnings(True)
 GPIO.setmode(GPIO.BOARD)
@@ -10,5 +18,5 @@ GPIO.setup(motor_channel, GPIO.OUT)
 GPIO.output(motor_channel, (GPIO.HIGH, GPIO.LOW))
 print('Should be on')
 
-sleep(1)
+sleep(motor_active_time)
 GPIO.output(motor_channel, (GPIO.LOW, GPIO.LOW))