def setState(self, state):
"""
Permet d'e changer l'état du laser (allumé ou éteint).
Args:
state (str): État du laser. "0" pour éteint, "1" pour allumé.
"""
self.state = state
Methods.writeFile("/sys/class/gpio/gpio"+str(self.nb)+"/value", self.state, "w")
def __init__(self, nb):
"""
Initialise le laser
Args:
nb (int): Numéro de la GPIO utilisé.
"""
self.nb = nb
self.state = "0"
Methods.writeFile("/sys/class/gpio/gpio"+str(self.nb)+"/direction", "high", "w")
self.OFF()
def __init__(self, led1, led2):
"""
Initialise les GPIO des LEDs
Args:
led1 (int): Numéro de la GPIO de la LED 1.
led2 (int): Numéro de la GPIO de la LED 2.
"""
self.led1 = led1
self.led2 = led2
self.mode = ""
self.shutdownThread = threading.Event()
Methods.writeFile("/sys/class/gpio/gpio"+str(self.led1)+"/direction", "high", "w")
Methods.writeFile("/sys/class/gpio/gpio"+str(self.led2)+"/direction", "high", "w")
def blink(self):
"""
Fait clignoter les LEDs alternativement.
"""
while not self.shutdownThread.is_set():
Methods.writeFile("/sys/class/gpio/gpio"+str(self.led1)+"/value", "0", "w")
Methods.writeFile("/sys/class/gpio/gpio"+str(self.led2)+"/value", "1", "w")
sleep(0.3)
Methods.writeFile("/sys/class/gpio/gpio"+str(self.led1)+"/value", "1", "w")
Methods.writeFile("/sys/class/gpio/gpio"+str(self.led2)+"/value", "0", "w")
sleep(0.3)
def setPosition(self, position):
"""
Met à jour la position du servo selon la position donné en degrés.
Args:
position (int): Position en degré
"""
if position > 90:
position = 90
elif position < -90:
position = -90
self.position = position
if self.invert:
position*=-1
duty = (50000/9)*position+1500000
Methods.writeFile("/sys/devices/ocp.3/pwm_test_"+self.name+"."+self.nb+"/duty", str(duty), "w")
def __init__(self, name, nb, invert):
"""
Initialise le PWM et positionne le servomoteur à 0 degrès.
Args:
name (str): Nom du PWM ("P9_14", "P9_22"...).
nb (str): Nombre après le nom du PWM.
invert (bool): Défini si l'axe du servomoteur est inversé.
"""
self.name = name
self.nb = nb
self.invert = invert
try:
Methods.writeFile("/sys/devices/bone_capemgr.8/slots", "bone_pwm_"+name, "a")
sleep(2)
Methods.writeFile("/sys/devices/ocp.3/pwm_test_"+name+"."+nb+"/period", "20000000", "w")
self.setPosition(0)
except IOError:
print "La configuration des servos a déjà été faites"
def initPeriph(self):
"""
Initialise tout les périphériques servant à l'application (Laser, Servos, Manette nunchuk...) et instancie les objets globals.
"""
try:
# GPIOs
Methods.writeFile("/sys/class/gpio/export", "66", "a")
Methods.writeFile("/sys/class/gpio/export", "69", "a")
Methods.writeFile("/sys/class/gpio/export", "45", "a")
# PWMs
Methods.writeFile("/sys/devices/bone_capemgr.8/slots", "am33xx_pwm", "a")
# UART
Methods.writeFile("/sys/devices/bone_capemgr.8/slots", "BB-UART1", "a")
sleep(2)
except IOError:
print "La configuration des périphériques a déjà été faites"
# Création du laser
self.laser = Laser(45)
# Création de la gestion d'indication des modes
self.modeObj = Mode(66, 69)
# Création des servos
self.verticalServo = Servo("P9_14", "10", False)
self.horizontalServo = Servo("P9_22", "11", True)
# Création de l'UART
self.uart = UART()
# Création du Nunchuk
try:
self.nunchuk = Nunchuk()
self.nunchukIsConnected = True
except IOError:
print "Erreur de connexion avec la manette \"Nunchuk\""
self.nunchukIsConnected = False
def setMode(self, mode):
"""
Change le mode de l'application
Args:
mode (str): Nom du mode ("Manual", "Semi-auto", "Wii", "Auto" ou "Stop").
"""
self.mode = mode
if mode == "Manual" or mode == "Semi-auto":
print "Mode manuel"
self.shutdownThread.set()
sleep(0.7)
Methods.writeFile("/sys/class/gpio/gpio"+str(self.led1)+"/value", "1", "w")
Methods.writeFile("/sys/class/gpio/gpio"+str(self.led2)+"/value", "0", "w")
elif mode == "Wii":
print "Mode Wii"
self.shutdownThread.set()
sleep(0.7)
Methods.writeFile("/sys/class/gpio/gpio"+str(self.led1)+"/value", "1", "w")
Methods.writeFile("/sys/class/gpio/gpio"+str(self.led2)+"/value", "1", "w")
elif mode == "Auto":
print "Mode automatique"
self.shutdownThread.clear()
threading.Thread(target=self.blink).start()
elif mode == "Stop":
self.shutdownThread.set()
sleep(0.7)
Methods.writeFile("/sys/class/gpio/gpio"+str(self.led1)+"/value", "0", "w")
Methods.writeFile("/sys/class/gpio/gpio"+str(self.led2)+"/value", "0", "w")
else:
print "Mode inconnu !"
