def setup(self, opts):
self.tz = opts.get('Timezone')
self.rate = float(opts.get('Rate', 1))
ADC.setup()
self.add_timeseries('/humidityLO', 'V', data_type="double",timezone=self.tz)
self.add_timeseries('/humidityHI', 'V', data_type="double",timezone=self.tz)
def __init__(self, pins=["P9_27", "P8_15", "P8_11", "P8_12"]):
# creates pins for the stepper motors
self.pins = pins
# initlizes the pins for stepper
initialize_pins(self.pins)
set_all_pins_low(self.pins)
# sets angle to 0
self.angle = 0
# Initialize stepping mode
self.drivemode = fullstep
# sets up ADC
ADC.setup()
# cretes a value for the threshold
self.threshold = 0.7
# creates a variable for the distance measurment
self.distance = 0
# creates a variable for the last ir sensor read
self.lastval = 1
# creates a variable for the ROS message and initilizes constant parameters
self.msg = LaserScan()
self.header = Header()
self.msg.angle_increment = 0.015708
self.msg.range_min = 0
self.msg.range_max = 10
def __init__(self, data, write, cs, clk, a=1, debug=False):
self.data = data
self.write = write
self.cs = cs
self.clk = clk
self.numdisp = a
self.chip_max = 4 * self.numdisp
self.y_max = 16
self.x_max = 32*self.numdisp
self.shadowram = np.zeros((64, 8), dtype=int)
GPIO.setup(self.data, GPIO.OUT)
GPIO.setup(self.write, GPIO.OUT)
GPIO.setup(self.cs, GPIO.OUT)
GPIO.setup(self.clk, GPIO.OUT)
ADC.setup()
self.debug = debug
#GPIO.cleanup()
if self.debug:
print ("GPIOs exported!")
self.setup()
def getVoltage():
ADC.setup()
adc = 0.0
for i in range(MEASURE_POINTS) :
adc = adc + ADC.read(voltagePin)
adc /= MEASURE_POINTS
if adc<0.405:
return "low"
if adc>0.565:
return "high"
adc = "{0:.2f}".format(adc)
try:
voltage = adcToVoltage[adc]
except:
return "error"
return str(voltage)
def IR_call():
#Sets up the ADC pins which we will need to read the raw voltage of the IR sensor
ADC.setup()
pub = rospy.Publisher('/range', Range, queue_size=10)
rospy.init_node('Range_Finder')
r = rospy.Rate(5) #Sets the code to be executed 5 times per second
IR.header.frame.id = "inertial_link"
# Radiation value is set to 1 because the SHARP sensor is an infared sensor
IR.radiation_type = 1
# the field of view was set to 20 degrees but the value ha to be provided in
IR.field_of_view = 3.14/9.0
# Minimum distance is set to 15 cm in order to avoid confusion where voltage could have two corresponding distances
IR.min_range = 0.15
# Maximum distance is 150 cm as sepcified by the spec sheet
IR.Max_range = 1.50
#Initalize IR sensor to have no value
IR.range = None
while not rospy.is_shutdown():
# We are going to use pin P9_39 because it worked and was used in the last assignment
# Want to store the data as a float so it can be used to find the distance
value = float(ADC.read_raw("P9_39"))
# Converts the voltage to distance by using an equation derived from the IR spec sheet
# Distance to voltage was best modeled as a 4th degree polynomial
distance = (20.065 * (value ** 4) - 155.71 * (value ** 3) + 443.24 * (value ** 2) - 570.96 * value + 324.71) * 100
# Stores the distance conversion as the range
IR.range = distance
rospy.loginfo(IR)
# Publishes the data of the IR sensor
pub.publish(IR)
r.sleep()
def task(self):
ADC.setup()
while not self.stop.isSet():
try:
value = ADC.read_raw(self.pin)
now = datetime.datetime.now()
print self.protocol + "%f : %d : %d : %d "%(value,now.minute,now.second,now.microsecond)
val = str(value)
date = str(now.minute) + ":" + str(now.second) + ":" + str(now.microsecond)
data = {'data':val,'sensor_code':self.sensor_code, 'date':date}
string_data = json.dumps(data)
if global_module.mode == 0:
global_module.wifi_namespace_reference.on_send(data)
else:
#print "usb is sending"
global_module.ep_out.write(string_data.encode('utf-8'),timeout=0)
if self.isLogging:
self.log_file.write(val + " : " + date + "\n")
sleep(self.rate);
except Exception as e:
print e;
self.log_file.write(e);
self.log_file.close();
e_msg = "Sorry! Unable to read Analog Data"
print e_msg
if global_module.mode == 0:
global_module.wifi_namespace_reference.on_error(e_msg)
else:
global_module.ep_out.write(e_msg.encode('utf-8'),timeout=0)
def __init__(self, probe_pin, sh_a, sh_b, sh_c):
"""
Initializes the controller for a temperature probe
:param probe_pin: The BBB ADC pin to use, e.g. P9_39
:type probe_pin: str
:param sh_a: The Steinhart-Hart A coefficient
:type sh_a: float
:param sh_b: The Steinhart-Hart B coefficient
:type sh_b: float
:param sh_c: The Steinhart-Hart C coefficient
:type sh_c: float
"""
self._sh_a = sh_a
self._sh_b = sh_b
self._sh_c = sh_c
self._probe_pin = probe_pin
self._ema_temp = None
self._last_temp = None
ADC.setup()
# Take a temperature immediately
self._take_temperature()
# Setup a periodic call every 1 second to take the temperature
self._periodic_temp = tornado.ioloop.PeriodicCallback(
self._take_temperature,
SAMPLE_PERIOD * 1000)
self._periodic_temp.start()
def __init__(self, leftMotorPinList, rightMotorPinList, irPinList):
print 'Initializing QuickBot - Running directly on the BeagleBone'
# Initialize GPIO pins
print 'Initializing GPIO pins'
self.leftMotorPinList = leftMotorPinList
self.rightMotorPinList = rightMotorPinList
self.irPinList = irPinList
# self.coeffs = [-274.082,467.0223,-270.152,61.9435] #coeffs of dis-vol function of ir
# self.coeffs=[-549586.614410014,2408274.92579189,-4572372.37077631,4929699.72432297,-3323046.43395288,1452630.42510176,-412767.715611524,74027.2686432297,-3323046.43395288,1452630.42510176,-412767.715611524,74027.2686459216,-7743.85714142088,386.267432882943]
self.coeffs = [
-2440.04872226593, 6350.17325967952, -6443.65540697229,
3219.06585379877, -818.085638692615, 97.2435572925929
]
self.compass = Compass()
GPIO.setup(self.leftMotorPinList[0], GPIO.OUT) #set pin as output
GPIO.setup(self.leftMotorPinList[1], GPIO.OUT)
GPIO.setup(self.rightMotorPinList[0], GPIO.OUT)
GPIO.setup(self.rightMotorPinList[1], GPIO.OUT)
# set the dir pins low
GPIO.output(self.leftMotorPinList[0], GPIO.LOW) #set output value LOW
GPIO.output(self.leftMotorPinList[1], GPIO.LOW)
GPIO.output(self.rightMotorPinList[0], GPIO.LOW)
GPIO.output(self.rightMotorPinList[1], GPIO.LOW)
# setup ADC
print 'Setting Up ADC'
ADC.setup()
def __init__(self,pin):
# Initialize ADC
ADC.setup()
# Set pin
self.pin = pin
def GPIOlightRead():
ADC.setup()
value = ADC.read("P9_33")
if value >= 0.3: # state of turn on the romm's light
return 1
else:
return 0
def monitor_sensor():
"""Read the sensor value and detect an alarm condition."""
logger.info("Starting to monitor sensor")
post_to_twitter("Door Entry Alarm: started")
ADC.setup()
# start with door in closed state
is_open = False
logger.info("Door closed")
post_to_twitter("Door closed")
samples_counter = 0
while True:
reading = ADC.read(SENSOR_PIN)
if is_open == False:
if reading > SENSOR_THRESHOLD:
samples_counter += 1
if samples_counter >= SAMPLES_REQUIRED:
is_open = True
logger.info("Door opened")
post_to_twitter("Door opened")
samples_counter = 0
else:
samples_counter = 0
elif is_open == True:
if reading <= SENSOR_THRESHOLD:
is_open = False
logger.info("Door closed")
post_to_twitter("Door closed")
samples_counter = 0
time.sleep(SAMPLE_FREQUENCY)
def setup():
"""Performs basic setup for the daemon and ADC"""
global exitLock
logger.debug("Setting up ADC")
try:
ADC.setup()
except RuntimeError as e:
logger.critical(
"Attempting to start the BBB GPIO library failed. This can be "
"due to a number of things, including:"
)
logger.critical(
"- Too new a kernel. Adafruit BBIO runs on 3.8.13. Downgrades "
"to the version this is tested with can be done easily via:")
logger.critical(
" apt-get install linux-{image,headers}-3.8.13-bone79")
logger.critical("- Not running on a BBB")
logger.critical("- Conflicting capes")
logger.critical("Raw exception: %s", str(e))
return
tstat = connect() # TODO: retries
logger.debug("Attaching signal handlers")
signal.signal(signal.SIGINT, handle_exit)
signal.signal(signal.SIGTERM, handle_exit)
logger.debug("Building Lock for singal interrupts")
exitLock = Lock()
exitLock.acquire()
logger.debug("Running main loop")
return tstat
def setup():
"""Setup the hardware components."""
# Initialize Button
ADC.setup()
GPIO.setup(BUTTON0, GPIO.IN)
def __init__(self):
## Set up ROS Node
rospy.init_node("motor_enc")
self.nodename = rospy.get_name()
self.rate = rospy.Rate(10)
# Publish velocity of each wheel
self.pub_w_l = rospy.Publisher('enc/lwheel', Float32)
self.pub_w_r = rospy.Publisher('enc/rwheel', Float32)
# Publish distance traveled by each wheel
self.pub_dist_l = rospy.Publisher('data/ldist', Float32)
self.pub_dist_r = rospy.Publisher('data/rdist', Float32)
# A map from motor names to their pin number on the BBB
self.pin_map = {self.MOTOR_LEFT:self.PIN_LEFT_ENC,
self.MOTOR_RIGHT:self.PIN_RIGHT_ENC,
self.MOTOR_SHELL:self.PIN_SHELL_ENC}
# Map from motor names to their direction pin number
self.dir_map = {self.MOTOR_LEFT:self.PIN_LEFT_DIR,
self.MOTOR_RIGHT:self.PIN_RIGHT_DIR,
self.MOTOR_SHELL:self.PIN_SHELL_DIR}
## Set up IO
ADC.setup()
## Initialize important values
self.w_l = 0 # Left wheel angular velocity
self.w_r = 0 # Right wheel angular velocity
self.dist_l = 0 #
self.dist_r = 0
# Time management
self.then = rospy.Time.now()
def __init__(self):
#init signal for motor dirction
GPIO.setup("P8_7", GPIO.OUT)
GPIO.setup("P8_8", GPIO.OUT)
GPIO.setup("P8_9", GPIO.OUT)
GPIO.setup("P8_10", GPIO.OUT)
#init signal for left, right brush
GPIO.setup("P8_17", GPIO.OUT)
GPIO.setup("P8_18", GPIO.OUT)
#init signal for left, right encoder
GPIO.setup("P9_15", GPIO.IN)
GPIO.setup("P9_21", GPIO.IN)
#set up ADC for IR sensor
ADC.setup()
#set up the camera and face cascade
self.cam = cv2.VideoCapture(0)
self.face_cascade = cv2.CascadeClassifier('/root/Ferriclean_Robot/haarcascade_frontalface_default.xml')
self.face = False
#the parameter of wheels direction and distance
self.direction_right = True
self.direction_left = True
self.distance_right = 0
self.distance_left = 0
#the robot left and right wheels PWM duty
self.lefd = 40
self.rigd = 40
#the robot desired speed, set point, unit: counts/ sec
self.lefsp = 400
self.rigsp = 400
def check_voltage():
os.system("echo 59 > /sys/class/gpio/export")
os.system("echo out > /sys/class/gpio/gpio59/direction")
os.system("echo 1 > /sys/class/gpio/gpio59/value")
VOLTAGES = [['AIN0', 0.30, 1.7],
['AIN2', 0.85, 0.95],
['AIN4', 1.14, 1.26],
['AIN6', 1.42, 1.58],
['AIN1', 1.04, 1.16], # VDD_3V3B / 3
['AIN3', 1.58, 1.75], # VDD_5V / 3
['AIN5', 1.60, 1.70]] # SYS_5V / 3
ADC.setup()
result = []
status = 'ok'
for v in VOLTAGES:
ain = ADC.read(v[0])*1.8
if ain < v[1] or ain > v[2]:
result.append('%f (%s) is out of range: %f ~ %f.' % (ain, v[0], v[1], v[2]))
status = 'error'
else:
result.append('%f (%s) is in of range: %f ~ %f.' % (ain, v[0], v[1], v[2]))
return status,result
def __init__(self, baseIP, robotIP):
# Initialize GPIO pins
GPIO.setup(self.dir1Pin[LEFT], GPIO.OUT)
GPIO.setup(self.dir2Pin[LEFT], GPIO.OUT)
GPIO.setup(self.dir1Pin[RIGHT], GPIO.OUT)
GPIO.setup(self.dir2Pin[RIGHT], GPIO.OUT)
GPIO.setup(self.ledPin, GPIO.OUT)
# Initialize PWM pins: PWM.start(channel, duty, freq=2000, polarity=0)
PWM.start(self.pwmPin[LEFT], 0)
PWM.start(self.pwmPin[RIGHT], 0)
# Set motor speed to 0
self.setPWM([0, 0])
# Initialize ADC
ADC.setup()
self.encoderRead = encoderRead(self.encoderPin)
# Set IP addresses
self.baseIP = baseIP
self.robotIP = robotIP
self.robotSocket.bind((self.robotIP, self.port))
def _init_BBB(self):
self._mylogger("---------------------------Initializing BBB Hardware---------------------------", forceinfo=True)
BADC.setup()
duty = self._settings.getInt(['DefaultDuty'])
for j in range(len(self.fan_definitions)):
if self.fan_definitions[j]['fan_pin'] == 'None' : continue
else: BPWM.start(self.fan_definitions[j]['fan_pin'], self._settings.getInt(['DefaultDuty']), 22000, 0)
def main():
# TODO: move all this into a config file
sleep_time = 5 * 60
low_battery_threshold = 12.3
critical_battery_threshold = 12.2 # 3 * 3.85 # we're using a 3s battery, looking for a cell voltage of less than 3.85
pin = "P9_40"
r1 = 7.85
r2 = 0.987
multiplier = ((r1 + r2) / r2)
ADC.setup()
while True:
v = read_battery_voltage(pin, multiplier)
print(v)
syslog.syslog(syslog.LOG_INFO, f'Battery voltage = {v:.2f}')
if v <= low_battery_threshold:
syslog.syslog(
syslog.LOG_WARN,
f'Battery voltage is below alarm threshold ({low_battery_threshold:.2f}), sending alarm'
)
send_alarm()
if v <= critical_battery_threshold:
syslog.syslog(
syslog.LOG_ERR,
f'Battery voltage is below shutdown threshold ({critical_battery_threshold:.2f}), shutting down'
)
power_down()
break
time.sleep(sleep_time)
daemon.exit()
def __init__(self, shared_memory, rootLogger=None, camerasock=None):
""" """
threading.Thread.__init__(self)
self.shared_memory = shared_memory
self.ui_state = 'PAUSE'
self.lastfun1 = time.time()
self.lastfun2 = time.time()
self.lastchange = time.time()
self.fun1 = False
self.fun2 = False
self.user_pattern = False # user defined pattern or default?
self.ptrn_idx = 0
self.last_process_time = time.time()
self.process_time = 0
self.rootLogger = rootLogger
self.rootLogger.info('Initialize HUI Thread ...')
self.camerasock = camerasock
self.camidx = 0
ADC.setup()
for btn in BTNS:
GPIO.setup(btn, GPIO.IN)
GPIO.add_event_detect(btn, GPIO.RISING)
for led in LEDS:
GPIO.setup(led, GPIO.OUT)
for idx in SWITCHES:
GPIO.setup(SWITCHES[idx], GPIO.IN)
ring_leds()
def IRread():
# Useful Lists:
IR1list = []
# General purpose variables:
count = 0
samples = 20
voltMulti = 5
ADC.setup()
# Reading analog inputs:
IR1 = ADC.read("P9_33") * voltMulti #added a voltage multiplier
for i in range(samples):
count = count + 1
IR1list.append(IR1)
if (count == samples):
# Calculating the average of 20 readings:
avgIR1 = round(sum(IR1list) / len(IR1list), 3)
# Clearing each list:
IR1list = []
count = 0
return (avgIR1)
def __init__(self, name, pin_0):
"""
Software Representation of a Pressure Sensor (MPX2200AP)
1.8V is the maximum voltage. Do not exceed 1.8V on the AIN pins !!
VDD_ADC (P9_32) provides 1.8V. Use GNDA_ADC (P9_34) as the ground.
ref:
http://forum.arduino.cc/index.php?topic=281908.0
https://learn.adafruit.com/setting-up-io-python-library-on-beaglebone-black/adc
Valid ADC Pins:
AIN0 - P9_39
AIN1 - P9_40
AIN2 - P9_37
AIN3 - P9_38
AIN4 - P9_33
AIN5 - P9_36
AIN6 - P9_35
*Initialize with*
Args:
name (str): The name of the sensor
pin_0 (str): Input pin 0 for PressureSens
"""
ADC.setup()
self.PinVPlus = pin_0
# self.PinVMin = pin_1
self.offset = 0.0 # to calibrate the sensor
self.name = name
def setup_analog_pin(self):
"""
This method validates and configures a pin for analog input
:return: None
"""
# clear out any residual problem strings
#
self.last_problem = '2-0\n'
pin = self.validate_pin(self.analog_pins)
if pin == 99:
self.last_problem = '2-1\n'
return
index = self.analog_pins.index(pin)
pin_entry = self.analog_pin_states[index]
if self.payload['enable'] == 'Enable':
pin_entry['enabled'] = True
pin_entry['mode'] = 'analog'
self.analog_pin_states[index] = pin_entry
else:
pin_entry['enabled'] = False
self.analog_pin_states[index] = pin_entry
if not self.analog_reader:
self.analog_reader = AnalogReader(self.board_num, self.analog_pin_states)
ADC.setup()
self.analog_reader.start()
def getVolt():
ADC.setup()
analogPin="P9_40"
potVal=ADC.read(analogPin)
potVolt=potVal*1.8
time.sleep(0.01) # 66次/s,不加它边存数据库和实时画图会有延迟
return potVolt
def TempCalc():
'''Define and print temperature from sensor'''
#GPIOTurnOff()
ADC.setup()
TEMP = (ADC.read(tempsensor) * 1800 - 500) / 10
print("tmp = %.2f" % TEMP)
return TEMP
def ignite(debuglevel):
threshold=340 #150mv threshold
threshigh=1024 #450mv upper threshold
ADC.setup()
ADC.read_raw("AIN4") #Flush this
baseline=ADC.read_raw("AIN4")
GPIO.setup("P8_14",GPIO.OUT) #This pin fires the ignition
GPIO.output("P8_14",GPIO.LOW)
PWM.start("P8_19",15,49500) #works best with an 11 turn primary
time.sleep(0.05) #50ms Settling time for the analogue front end
ADC.read_raw("AIN4")
selftest=ADC.read_raw("AIN4")
if selftest>threshold and selftest<threshigh and baseline<128:
GPIO.output("P8_14",GPIO.HIGH)
if debuglevel:
print "Igniting"
time.sleep(2) #plenty of time for ignition
failure=0
else:
if debuglevel:
print "Failed"
failure=1
GPIO.output("P8_14",GPIO.LOW)
PWM.stop("P8_19")
PWM.cleanup()
#Debug output
if debuglevel:
print baseline
print selftest
return {'failure':failure, 'baseline':baseline ,'selftest':selftest }
def setup(self, opts):
#self.tz = opts.get('Properties/Timezone', 'America/Denver')
#self.tz = 'America/Denver'
self.rate = float(opts.get('Rate', 1))
ADC.setup()
self.add_timeseries('/soil_moistureLO', 'V', data_type="double")
self.add_timeseries('/soil_moistureHI', 'V', data_type="double")
def __init__(self,pin,beta=BETA,r0=R0,t0=T0):
self.val = 0.0
self.tempList = []
self.pin=pin
self.beta=beta
self.r0=r0
self.t0=t0
ADC.setup()
def getVolt():
ADC.setup()
from time import sleep
analogPin="P9_40"
potVal=ADC.read(analogPin)
potVolt=potVal*1.8
sleep(0.01)
return potVolt
def setup():
GPIO.setup("P8_15", GPIO.OUT)
GPIO.setup("P8_11", GPIO.OUT)
GPIO.setup("P8_12", GPIO.OUT)
GPIO.setup("P8_7", GPIO.OUT)
GPIO.setup("P8_8", GPIO.OUT)
GPIO.setup("P9_41", GPIO.OUT)
ADC.setup()
def __init__(self):
threading.Thread.__init__(self)
self.setDaemon(True)
self.name = self.__class__.__name__
self.q_out = Queue.Queue()
self._kill = False
if WORKING_ON_BEAGLEBONE:
print("Setting up ADC for beaglebone...")
ADC.setup()
def get_analog(self, port):
""" Reads an analog signal from the beagle board
:param port: string identifying the port, for example "P9_40"
:return: value of the signal
"""
ADC.setup()
value = ADC.read(port)
return value
def read_distance():
ADC.setup() #set up ADC
value = ADC.read("P9_39") #setup pin p9_39 as an ADC pin
voltage = value * 3.2 #1.8V
distance = (
25.36 /
(voltage + .42)) / 100 #convert from voltage to distance in meters
#distance = 0.01 DEBUG
return distance
def test_setup_adc(self):
ADC.setup()
files = os.listdir('/sys/devices')
ocp = '/sys/devices/'+[s for s in files if s.startswith('ocp')][0]
files = os.listdir(ocp)
helper_path = ocp+'/'+[s for s in files if s.startswith('helper')][0]
assert os.path.exists(helper_path + "/AIN1")
def test_many_read_adc(self):
import time
ADC.setup()
for x in range(0,10000):
start = time.time()
value = -1
value = ADC.read("AIN1")
assert value != -1
def connectToGateway(moduleName):
'''optional
called when the system connects to the cloud.
Always called first (before updateAssets) '''
global _cloud, _pinLayouts
_device = device.Device(moduleName, 'beagle')
configs = config.loadConfig('beaglePins', True)
_pinLayouts = configs['pinLayouts']
ADC.setup() # need to start the ADC driver as well
setupGPIO()
def getVolt(NO):
while True:
ADC.setup()
analogPin = "P9_40"
potVal = ADC.read(analogPin)
t = time.time()
potVolt = potVal * 1.8
msg = {"device_no": NO, "time": t, "voltage": potVal}
trsq.put(msg)
time.sleep(0.01)
def __init__(self, pin, average_samples=None, mock_hardware=False):
self.pin = pin
self._value = 0.0
self.average_samples = average_samples
self.mock_hardware = mock_hardware
if self.mock_hardware:
self.path = "hardware_files/%s" % self.pin
if not ADC.adc_subsystem_started and not self.mock_hardware:
adc.setup()
ADC.adc_subsystem_started = True
def connectToGateway(moduleName):
'''optional
called when the system connects to the cloud.
Always called first (before updateAssets) '''
global _cloud, _pinLayouts
_device = device.Device(moduleName, 'beagle')
configs = config.loadConfig('beaglePins', True)
_pinLayouts = configs['pinLayouts']
ADC.setup() # need to start the ADC driver as well
setupGPIO()
def __init__(self, pin, muxedPin=None, muxName=None):
"""Device supports a pin."""
self._pin = pin # Set pin
self._muxedPin = muxedPin # Set muxed pin
self._muxName = muxName # Set mux name
self._zeroCounter = 0 # Set zero counter to 0
self._mode = self._settings['modes'][0] # Set default mode
self._flags = [] # Set default flag list
self._values = [] # Set empty values array
ADC.setup() # Enable ADC readings
def test_setup_adc(self):
ADC.setup()
files = os.listdir('/sys/devices')
ocp = '/sys/devices/' + [s for s in files if s.startswith('ocp')][0]
files = os.listdir(ocp)
helper_path = ocp + '/' + [s
for s in files if s.startswith('helper')][0]
assert os.path.exists(helper_path + "/AIN1")
def test_many_read_adc(self):
import time
ADC.setup()
for x in range(0, 1000):
start = time.time()
value = -1
value = ADC.read("AIN1")
assert value != -1
def init(): #for starter in pwmarray: # print starter # PWM.start(starter,15,100,0) for starter in GPIOinArray: print starter GPIO.setup(starter, GPIO.IN) for starter in GPIOoutArray: print starter GPIO.setup(starter, GPIO.OUT) ADC.setup()
def _setup(self):
""" Setup the hardware components."""
# Initialize Button
GPIO.setup(self.button, GPIO.IN)
# Initialize Display
self.display.update(0)
# Initialize Joystick Inputs
ADC.setup()
def talker():
pub = rospy.Publisher('adc_val', UInt16, queue_size=10)
rospy.init_node('ADCIntTalker', anonymous=False)
rate = rospy.Rate(10)
ADC.setup()
print('ADC setup...')
while not rospy.is_shutdown():
adc_val = int(ADC.read_raw("P9_39"))
#rospy.loginfo('Talker: ADC value = ' + str(adc_val))
pub.publish(adc_val)
rate.sleep()
def lig():
import Adafruit_BBIO.ADC as ADC
import time
sensor_pin = 'P9_40'
ADC.setup()
print('Reading\t\tVolts')
while True:
reading = ADC.read(sensor_pin)
volts = reading * 1.800
print('%f\t%f' % (reading, volts))
time.sleep(1)
def lig():
import Adafruit_BBIO.ADC as ADC
import time
sensor_pin = 'P9_40'
ADC.setup()
print('Reading\t\tVolts')
while True:
reading = ADC.read(sensor_pin)
volts = reading * 1.800
print('%f\t%f' % (reading, volts))
time.sleep(1)
def __init__(self, baseIP, robotIP):
# Initialize GPIO pins
GPIO.setup(self.dir1Pin[LEFT], GPIO.OUT)
GPIO.setup(self.dir2Pin[LEFT], GPIO.OUT)
GPIO.setup(self.dir1Pin[RIGHT], GPIO.OUT)
GPIO.setup(self.dir2Pin[RIGHT], GPIO.OUT)
GPIO.setup(self.ledPin, GPIO.OUT)
# Initialize PWM pins: PWM.start(channel, duty, freq=2000, polarity=0)
PWM.start(self.pwmPin[LEFT], 0)
PWM.start(self.pwmPin[RIGHT], 0)
# Set motor speed to 0
self.setPWM([0, 0])
# Initialize ADC
ADC.setup()
self.encoderRead = encoderRead(self.encoderPin)
# Set IP addresses
self.baseIP = baseIP
self.robotIP = robotIP
self.robotSocket.bind((self.robotIP, self.port))
if DEBUG:
## Stats of encoder values while moving -- high, low, and all tick state
self.encHighLowCntMin = 2**5 # Min number of recorded values to start calculating stats
self.encHighMean = [0.0, 0.0]
self.encHighVar = [0.0, 0.0]
self.encHighTotalCnt = [0, 0]
self.encLowMean = [0.0, 0.0]
self.encLowVar = [0.0, 0.0]
self.encLowTotalCnt = [0, 0]
self.encNonZeroCntMin = 2**5
self.encNonZeroMean = [0.0, 0.0]
self.encNonZeroVar = [0.0, 0.0]
self.encNonZeroCnt = [0, 0]
# Record variables
self.encRecSize = 2**13
self.encRecInd = [0, 0]
self.encTimeRec = np.zeros((2, self.encRecSize))
self.encValRec = np.zeros((2, self.encRecSize))
self.encPWMRec = np.zeros((2, self.encRecSize))
self.encNNewRec = np.zeros((2, self.encRecSize))
self.encPosRec = np.zeros((2, self.encRecSize))
self.encVelRec = np.zeros((2, self.encRecSize))
self.encTickStateRec = np.zeros((2, self.encRecSize))
self.encThresholdRec = np.zeros((2, self.encRecSize))
def gp2y0a12():
ADC.setup()
pub = rospy.Publisher('ir_sharp_80cm', String)
rospy.init_node('gp2y0a21yk0f')
r = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
measure = str(ADC.read_raw("P9_40"))
cad = "gp2y0a12: %s" % measure
rospy.loginfo(cad)
pub.publish(String(measure))
#rospy.sleep(1.0)
r.sleep()
def __init__(self):
raw = 0
ADC.setup()
while True:
for x in range(0, 20):
raw += ADC.read(configSub.depth_pin)
raw = raw/20
pressure = psi(raw)
value = convert(pressure)
depth = value.split(",")
depth = "f:" + depth[0] + ";m:"+ depth[1]
return depth
def initHR_SC04(self):
print "Initializing HR-SC04 sensor..."
ADC.setup()
time.sleep(0.25)
DIO.setup(TRIG, DIO.OUT)
time.sleep(0.1)
DIO.setup(ECHO, DIO.IN)
time.sleep(0.1)
DIO.output(TRIG, DIO.LOW)
return
def setup_io_init():
logger.info("Initializing IO")
PWM.start(PUMP, 0)
PWM.set_frequency(PUMP, 1000)
water_pump(0)
GPIO.setup(HEATER,GPIO.OUT)
GPIO.setup(LAMP_1,GPIO.OUT)
GPIO.setup(LAMP_2,GPIO.OUT)
lamp(False, LAMP_1)
lamp(False, LAMP_2)
heater(False)
ADC.setup()
def task(self): ADC.setup() while not self.stop.isSet(): value = ADC.read_raw(self.pin) now = datetime.datetime.now() print self.protocol + "%f : %d : %d : %d "%(value,now.minute,now.second,now.microsecond) val = str(value) + " : " + str(now.minute) + " : " + str(now.second) + " : " + str(now.microsecond)+"\n" global_module.wifi_namespace_reference.on_send(val); if self.isLogging: self.log_file.write(val) sleep(1);
def read_temp():
"""
Obtiene la temperatura desde el dispositivo
"""
try:
import Adafruit_BBIO.ADC as ADC # @UnresolvedImport
ADC.setup()
return int((ADC.read('P9_40')*1800)/10)
except:
return 1000
def tmp(sensor_pin):
import Adafruit_BBIO.ADC as ADC
import time
sensor_pin = 'P9_40'
ADC.setup()
while True:
reading = ADC.read(sensor_pin)
millivolts = reading * 1800 # 1.8V reference = 1800 mV
temp_c = (millivolts - 500) / 10
temp_f = (temp_c * 9/5) + 32
print('mv=%d C=%d F=%d' % (millivolts, temp_c, temp_f))
time.sleep(1)
def tmp(sensor_pin):
import Adafruit_BBIO.ADC as ADC
import time
sensor_pin = 'P9_40'
ADC.setup()
while True:
reading = ADC.read(sensor_pin)
millivolts = reading * 1800 # 1.8V reference = 1800 mV
temp_c = (millivolts - 500) / 10
temp_f = (temp_c * 9 / 5) + 32
print('mv=%d C=%d F=%d' % (millivolts, temp_c, temp_f))
time.sleep(1)
def task(self): print "offline log started" ADC.setup() while not self.stop.isSet(): print type(self.log_file) value = ADC.read_raw(self.pin) now = datetime.datetime.now() print self.protocol + "%f : %d : %d : %d "%(value,now.minute,now.second,now.microsecond) val = str(value) + " : " + str(now.minute) + " : " + str(now.second) + " : " + str(now.microsecond)+"\n" if self.isLogging: self.log_file.write(val) sleep(1);
