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import math
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import serial
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import RPi.GPIO as gpio
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import time
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ser = serial.Serial('/dev/ttyUSB0', 115200)
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gpio.setmode(gpio.BCM)
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gpio.setup(13, gpio.OUT)
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pwm = gpio.PWM(13, 100)
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pwm.start(5)
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def goToBin(bin):
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adjustedBin = math.floor(bin / 2)
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distance = adjustedBin * 18
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delay = 0.5 + 0.93 * adjustedBin
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command = 'G0 X'
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command += distance
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ser.write(command)
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time.sleep(delay)
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if bin % 2 == 0: # tilt to right
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pwm.ChangeDutyCycle(0)
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time.sleep(1)
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pwm.ChangeDutyCycle(20)
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else:
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pwm.ChangeDutyCycle(40)
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time.sleep(1)
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pwm.ChangeDutyCycle(20)
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ser.write(b'G0 X0')
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time.sleep(delay)
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