def int_communication(data_dir, freq, single, adr_change, backend, skip_meas,
clk_enable):
GPIO_DR = 6
i = 0
while os.path.exists(os.path.join(data_dir, 'data_' + str(i) + '.dat')):
i += 1
global write_file
if not skip_meas:
import te_setup
#import RPi.GPIO as GPIO
import RPIO as GPIO
import spidev
spi = spidev.SpiDev()
write_file = open(os.path.join(data_dir, 'data_' + str(i) + '.dat'),
'w')
global spi
spi.open(0, 0)
spi.max_speed_hz = (freq)
GPIO.setmode(GPIO.BCM)
GPIO.setup(GPIO_DR, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.add_event_detect(GPIO_DR, GPIO.RISING)
if not adr_change:
GPIO.add_event_callback(GPIO_DR, callback)
else:
GPIO.add_event_callback(GPIO_DR, callback_adr)
if single:
if not adr_change:
callback(6)
else:
callback_adr(6)
else:
try:
if clk_enable:
GPIO.setup(5, RPIO.ALT0)
while True:
time.sleep(1)
except KeyboardInterrupt:
GPIO.setup(5, RPIO.INPUT)
GPIO.cleanup()
#global write_file
time.sleep(0.1)
write_file.close()
print('Written to data_' + str(i) + '.dat')
if backend == 'display_graph':
data_manager.data_manager(directory=data_dir,
data_size=1000,
train_size=100,
split_mode=False,
attenate_flag=False,
save_as_png=False).plot()
def int_communication(data_dir, freq, single, adr_change, backend, skip_meas, clk_enable):
GPIO_DR = 6
i = 0
while os.path.exists(os.path.join(data_dir, 'data_' + str(i) + '.dat')):
i += 1
global write_file
if not skip_meas:
import te_setup
#import RPi.GPIO as GPIO
import RPIO as GPIO
import spidev
spi = spidev.SpiDev()
write_file = open(os.path.join(data_dir, 'data_' + str(i) + '.dat'), 'w')
global spi
spi.open(0,0)
spi.max_speed_hz=(freq)
GPIO.setmode(GPIO.BCM)
GPIO.setup(GPIO_DR, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.add_event_detect(GPIO_DR, GPIO.RISING)
if not adr_change:
GPIO.add_event_callback(GPIO_DR, callback)
else:
GPIO.add_event_callback(GPIO_DR, callback_adr)
if single:
if not adr_change:
callback(6)
else:
callback_adr(6)
else:
try:
if clk_enable:
GPIO.setup(5, RPIO.ALT0)
while True:
time.sleep(1)
except KeyboardInterrupt:
GPIO.setup(5, RPIO.INPUT)
GPIO.cleanup()
#global write_file
time.sleep(0.1)
write_file.close()
print('Written to data_' + str(i) + '.dat')
if backend == 'display_graph':
data_manager.data_manager(directory=data_dir,
data_size=1000,
train_size=100,
split_mode=False,
attenate_flag=False,
save_as_png=False).plot()
SPIMISO = 23 SPIMOSI = 24 SPICS = 25 # set up the pins RPIO.setup(SPIMOSI, RPIO.OUT) RPIO.setup(SPIMISO, RPIO.IN) RPIO.setup(SPICLK, RPIO.OUT) RPIO.setup(SPICS, RPIO.OUT) RPIO.setup(19, RPIO.OUT) RPIO.setup(26, RPIO.OUT) RPIO.setup(16, RPIO.OUT) RPIO.setup(20, RPIO.OUT) RPIO.setup(4, RPIO.IN, pull_up_down=RPIO.PUD_UP) RPIO.add_event_detect(4, PWR_func, edge="falling" debounce_timeout_ms=50) # set up the PWM outputs to the motors pwm_MF = RPIO.PWM(19, 100) pwm_MR = RPIO.PWM(26, 100) servo = PWM.Servo() pwm_MF.start(0) pwm_MR.start(0) servo.set_servo(20, 1450) # joystick ADC channels joy_x_adc = 0 joy_y_adc = 1
SPIMISO = 23 SPIMOSI = 24 SPICS = 25 # set up the pins GPIO.setup(SPIMOSI, GPIO.OUT) GPIO.setup(SPIMISO, GPIO.IN) GPIO.setup(SPICLK, GPIO.OUT) GPIO.setup(SPICS, GPIO.OUT) GPIO.setup(19, GPIO.OUT) GPIO.setup(26, GPIO.OUT) GPIO.setup(16, GPIO.OUT) GPIO.setup(20, GPIO.OUT) GPIO.setup(4, GPIO.IN, pull_up_down=GPIO.PUD_UP) GPIO.add_event_detect(4, GPIO.FALLING, callback=PWR_func, bouncetime=50) # set up the PWM outputs to the motors pwm_MF = GPIO.PWM(19, 100) pwm_MR = GPIO.PWM(26, 100) servo = PWM.Servo() pwm_MF.start(0) pwm_MR.start(0) servo.set_servo(20, 1450) # joystick ADC channels joy_x_adc = 0 joy_y_adc = 1
