import RPi.GPIO as GPIO import time import sys from gpiozero import Motor GPIO.setmode(GPIO.BCM) ### Setup Motor Control ### leftPos = 3 leftNeg = 2 rightPos = 17 rightNeg = 4 motorLeft = Motor(leftPos, leftNeg); motorRight = Motor(rightPos, rightNeg); motorLeft.stop(); motorRight.stop(); sensorForHardRight = [1, 1, 1, 0, 0, 0]; sensorForCurveRight = [0, 1, 1, 0, 0, 0]; sensorForRight = [1, 0, 0, 0, 0, 0]; sensorForRight1 = [0, 1, 0, 0, 0, 0]; sensorForHardLeft = [0, 0, 1, 0, 1, 1]; sensorForCurveLeft = [0, 0, 1, 0, 1, 0]; sensorForLeft = [0, 0, 0, 0, 1, 0]; sensorForLeft1 = [0, 0, 0, 0, 0, 1]; sensorForStraight1 = [0, 0, 1, 1, 0, 0]; sensorForStraight2 = [0, 0, 0, 1, 0, 0]; sensorForStraight3 = [0, 0, 1, 0, 0, 0]; sensorForStop = [0, 0, 0, 0, 0, 0];
# import curses
from gpiozero import Motor, Servo
from time import sleep
xMotor = Motor(forward=7, backward=0)
# yMotor = Motor(forward=2, backward=3)
# triggerServo = Servo(1)
while True:
xMotor.forward()
sleep(5)
xMotor.backward()
sleep(5)
from gpiozero import Robot, Motor, DistanceSensor from signal import pause sensor = DistanceSensor(23, 24, max_distance=1, threshold_distance=0.2) robot = Robot(left=Motor(4, 14), right=Motor(17, 18)) sensor.when_in_range = robot.backward sensor.when_out_of_range = robot.stop pause()
from gpiozero import Motor pump = Motor(17, 18) pump.stop()
class Py_Driver(): #Node):
def __init__(self, **kwargs):
#super().__init__('py_driver')
#self.subscription = self.create_subscription(Twist,'cmd_vel',self.listener_callback,0) # Store 10 messages, drop the oldest one
#self.subscription # prevent unused variable warning
self.kwargs = kwargs
# print(self.kwargs)
self._left_pwm = PWMOutputDevice(kwargs['left_pin'],
kwargs['left_active_high'])
self._left_motor = Motor(kwargs['left_forward'],
kwargs['left_backward'], kwargs['left_pwm'])
self._right_pwm = PWMOutputDevice(kwargs['right_pin'],
kwargs['right_active_high'])
self._right_motor = Motor(kwargs['right_forward'],
kwargs['right_backward'],
kwargs['right_pwm'])
print("Py Pi driver initialiased")
def listener_callback(self, msg):
# self.get_logger().info('Setting left & right wheel speed: %d %d' % (msg.linear.x, msg.angular.z))
_move_dict = {'linear': msg.linear.x, 'angular': msg.angular.z}
self.move = _move_dict
def test_motors(self):
# for i in range(0,6,1):
# i=(i+5)/10
# print(i)
i = 0.6
self._left_pwm.value = i
self._left_motor.forward()
self._right_pwm.value = i
self._right_motor.forward()
time.sleep(1.0)
self._left_motor.stop()
self._right_motor.stop()
# Code relevant for tuning the left and right wheel movement
@property
def move(self): #, linear_speed, angular_speed): # Use cmd_vel
print("Getting movement")
return self._move
# Check that movement is consistent for both wheels, maybe with a scalar in the PWM.
@move.setter
def move(self,
_move_dict): # Speed is with respect to the front of the car
if (abs(_move_dict['linear']) > 0.5):
_move_dict['linear'] = np.sign(_move_dict['linear']) * 0.5
print("Movement constrained")
if (abs(_move_dict['angular']) > 1.0):
_move_dict['angular'] = np.sign(_move_dict['angular']) * 1.0
print("Movement constrained")
if (abs(_move_dict['linear']) <= 0.5 and _move_dict['angular'] == 0.0):
print("Change")
self._left_pwm.value = abs(_move_dict['linear'] / 0.5)
self._right_pwm.value = abs(_move_dict['linear'] / 0.5)
if np.sign(_move_dict['linear']) == 1:
self._left_motor.forward()
self._right_motor.forward()
elif np.sign(_move_dict['linear']) == -1:
self._left_motor.backward()
self._right_motor.backward()
print("Acts")
print("Linear movement")
elif (abs(_move_dict['linear']) == 0.0
and abs(_move_dict['angular']) >= 1.0):
self._left_pwm.value = abs(_move_dict['angular'] / 1.0)
self._right_pwm.value = abs(_move_dict['angular'] / 1.0)
if np.sign(_move_dict['angular']) == 1:
self._left_motor.backward()
self._right_motor.forward()
print("Left wheel back, right wheel front")
elif np.sign(_move_dict['angular']) == -1:
self._left_motor.forward()
self._right_motor.backward()
print("Right wheel back, left wheel front")
print("This bucket", (np.sign(_move_dict['angular']) == False))
elif (abs(_move_dict['linear']) >= 0.5
and abs(_move_dict['angular']) >= 1.0):
if (np.sign(_move_dict['angular']) == 1
and np.sign(_move_dict['linear']) == 1):
self._left_pwm.value = 0.5
self._right_pwm.value = 1.0
self._left_motor.forward()
self._right_motor.forward()
elif (np.sign(_move_dict['angular']) == -1
and np.sign(_move_dict['linear']) == 1):
self._left_pwm.value = 1.0
self._right_pwm.value = 0.5
self._left_motor.forward()
self._right_motor.forward()
if (np.sign(_move_dict['angular']) == 1
and np.sign(_move_dict['linear']) == -1):
self._left_pwm.value = 1.0
self._right_pwm.value = 0.5
self._left_motor.backward()
self._right_motor.backward()
elif (np.sign(_move_dict['angular']) == -1
and np.sign(_move_dict['linear']) == -1):
self._left_pwm.value = 0.5
self._right_pwm.value = 1.0
self._left_motor.backward()
self._right_motor.backward()
print("Last bucket")
else:
self._left_pwm.value = abs(
(_move_dict['linear'] / 0.5 - _move_dict['angular'] / 1.0) /
2.0)
self._right_pwm.value = abs(
(_move_dict['linear'] / 0.5 + _move_dict['angular'] / 1.0) /
2.0)
if (np.sign(_move_dict['linear']) == 1):
self._left_motor.forward()
self._right_motor.forward()
elif (np.sign(_move_dict['linear']) == -1):
self._left_motor.forward()
self._right_motor.backward()
print("Really the last bucket now")
time.sleep(0.1)
self._left_motor.stop()
self._right_motor.stop()
from gpiozero import Motor
import time
motor1 = Motor(9,10)
motor2 = Motor(7,8)
while True:
for i in range(2):
motor1.backward(speed=0.3)
motor2.forward(speed=0.9)
time.sleep(1)
for i in range(2):
motor1.backward(speed=1)
motor2.forward(speed=0.2)
time.sleep(1)
motor1.stop()
motor2.stop()
time.sleep(1)
import paho.mqtt.client as mqtt
import encoder_pid as epid
from gpiozero import Motor
import threading
import time
# import ultrasonic as us
import math
# motl = Motor(2, 3)
# motr= Motor(14, 15)
motl = Motor(3, 2)
motr = Motor(15, 14)
lr_pos_r = 0
fwrev_pos_r = 0
def on_connect(client, userdata, flags, rc):
print("Connected with result code " + str(rc))
client.subscribe('joystick/lr')
client.subscribe('joystick/fwrev')
client.subscribe('joystick/accl')
client.subscribe('joystick/cam_rst')
client.subscribe('joystick/cam_up_down')
def on_message(client, userdata, msg):
global lr_pos_r, fwrev_pos_r, accl_val
from gpiozero import Motor from time import sleep m1 = Motor(14,15) speed = 0.5 m1.forward(speed) sleep(1) m1.stop() speed = 1 m1.backward(speed) sleep(1) m1.stop()
label_wiimote_buttons = "Nintendo Wii Remote" label_wiimote_accel = "Nintendo Wii Remote Accelerometer" # Button ID's buttonId = [103, 108, 105, 106, 304, 305, 407, 412, 316, 257, 258] # Button Held States buttonHeld = [False, False, False, False, False, False, False, False, False, False, False] # Indexes for both arrays: # 0 1 2 3 4 5 6 7 8 9 10 # UP DOWN LEFT RIGHT (A) (B) PLUS MINUS HOME (1) (2) # Motors leftWheels = Motor(16, 13) rightWheels = Motor(6, 5) lowerArm = Motor(10, 25) upperArm = Motor(26, 21) clawExtend = Motor(3, 4) clawClose = Motor(17, 22) # Inhibits leftWheelsInh = LED(19) # note: I know this isn't an LED: the LED module simply works really easily rightWheelsInh = LED(12) lowerArmInh = LED(11) upperArmInh = LED(20) clawExtendInh = LED(2) clawCloseInh = LED(27) # Nerf gun
import paho.mqtt.client as mqtt
from gpiozero import Motor
import threading
import time
import ultrasonic as us
# motl = Motor(2, 3)
# motr= Motor(14, 15)
motl = Motor(3, 2)
motr = Motor(15, 14)
joys_pos = []
lr_pos_r = 0
fwrev_pos_r = 0
l_stop_val = 0
r_stop_val = 0
def on_connect(client, userdata, flags, rc):
print("Connected with result code " + str(rc))
client.subscribe('joystick/lr')
client.subscribe('joystick/fwrev')
def on_message(client, userdata, msg):
global joys_pos, lr_pos_r, fwrev_pos_r
if msg.topic == 'joystick/fwrev':
fwrev_pos_r = float(msg.payload.decode())
# -*- coding: utf-8 -*-
"""
Created on Sat Aug 29 22:54:52 2020
@author: Ryan
"""
from gpiozero import DistanceSensor as ds
from gpiozero import Motor
import time
senFor = ds(31,32, max_distance = 1, threshold_distance = .15)
senLeft= ds(33,34,max_distance = 1, threshold_distance = .15)
senRight= ds(35,36,max_distance = 1, threshold_distance = .15)
sen4Back= ds(37,38,max_distance = 1, threshold_distance = .15)
motor1 = Motor(17,18)#left
motor2 = Motor(19,20)#right
def OnRoadAgain:
motor1.forward(.2)
motor2.forward(.2)
def forwardOBPlan():
motor1.forward(0)
motor2.forward(0)
time.sleep(1)
motor1.backward(.1)
motor2.backward(.1)
from gpiozero import Motor from time import sleep mt = Motor(19, 13) mt.forward(0.5) sleep(3) mt.stop() sleep(1) mt.backward(0.5) sleep(3) mt.stop()
from gpiozero import Motor
from time import sleep
import Rpi.GPIO as GPIO
motor = Motor(forward=26, backward=20)
counter = 0
try:
while counter < 10:
motor.forward()
sleep(5)
motor.backward()
sleep(5)
counter +=1
finally:
GPIO.cleanup()
# Starts a motor with Motor class
from gpiozero import Motor
from time import sleep
motor = Motor(forward=4, backward=14)
while True:
motor.forward()
sleep(5)
motor.backward()
sleep(5)
motor.stop()
from gpiozero import Motor, AngularServo
#then import the 'sleep' class from the 'time' library (so we can add pauses in our program)
from time import sleep
gun_motor = Motor(13, 19)
laser = Motor(5, 6)
servo = AngularServo(26, min_angle=-40, max_angle=50)
retract = -40
fire = 50
print('laser on')
laser.forward()
print('servo back')
servo.angle = retract
sleep(0.5)
print('motors on')
gun_motor.forward(1)
sleep(5)
for x in range(5):
print('fire ', x + 1)
servo.angle = fire
sleep(0.5)
print('retract')
servo.angle = retract
sleep(3)
gun_motor.stop()
from gpiozero import Motor
import time
#from gpiozero.Pin import
#import RPi.GPIO as GPIO
mr = Motor(3, 2)
ml = Motor(15, 14)
ml.stop()
mr.stop()
try:
def forward():
ml.forward(0.3)
mr.forward(0.3)
def backward():
ml.backward(0.3)
mr.backward(0.3)
def sstop():
ml.stop()
mr.stop()
while(True):
while(raw_input()=='w'):
print "forward"
forward()
time.sleep(1)
while(raw_input()=='s'):
def joystick_loop(j, ):
robot = Robot((27, 4), (6, 5))
fork = Motor(15, 23)
lift = Motor(20, 21)
print('Pins OK')
try:
axes = {}
d_pad = '(0, 0) '
buttons = []
acceleration_mode = False
stick_mode = False
forward = False
d_pad_x, d_pad_y = 0, 0
nom_left, nom_right = 0, 0
while True:
try:
events = pygame.event.get()
for event in events:
if event.type == pygame.JOYBUTTONDOWN:
buttons.append(str(event.button))
if event.button == 1:
# switch soft acceleration mode
acceleration_mode = not acceleration_mode
elif event.button == 2:
try:
# blocking scan function
scan()
try:
buttons.remove(str(event.button))
except ValueError:
pass
except Exception as e:
print(f'\r{e}')
elif event.button == 3:
# switch control map
stick_mode = not stick_mode
elif event.type == pygame.JOYBUTTONUP:
try:
buttons.remove(str(event.button))
except ValueError:
pass
elif event.type == pygame.JOYAXISMOTION:
if abs(event.value) > 0.1:
axes[event.axis] = f'{event.value:+.4f}'
else:
axes[event.axis] = f'{0.0:+.4f}'
elif event.type == pygame.MOUSEMOTION:
pass # print(event.rel, event.buttons)
elif event.type == pygame.MOUSEBUTTONDOWN:
pass
elif event.type == pygame.MOUSEBUTTONUP:
pass
elif event.type == pygame.JOYHATMOTION:
d_pad = f'{event.value} '
d_pad_x, d_pad_y = event.value
else:
print(event)
# logging and writing to motors
buttons.sort(key=lambda x: int(x))
ax = list(axes.items())
ax.sort(key=lambda x: x[0])
left, right = -float(axes.get(1, '+0.0')), -float(
axes.get(4, '+0.0'))
if stick_mode:
left, right = joy_to_motor_best(
-float(axes.get(0, '+0.0')),
-float(axes.get(1, '+0.0')))
if acceleration_mode:
left, right, nom_left, nom_right = calculate_diff(
left, right, nom_left, nom_right, diff=0.005)
if forward:
left, right = 0.1, 0.1
print('\rButtons: ' + d_pad + ' '.join(buttons) +
' Axes: ' + '; '.join([f'{k}: {v}' for k, v in ax]),
end=f' ({left}, {right})')
robot.value = (left, right)
lift.value = -d_pad_y
fork.value = -d_pad_x
except Exception as e:
print(f'\r{e}')
except KeyboardInterrupt:
print("\rEXITING NOW")
j.quit()
from gpiozero import Motor
import time
#from gpiozero.Pin import
#import RPi.GPIO as GPIO
mr = Motor(3, 2)
ml = Motor(15, 14)
ml.stop()
mr.stop()
try:
def forward():
ml.forward(0.6)
mr.forward(0.6)
def backward():
ml.backward(0.7)
mr.backward(0.7)
def sstop():
ml.stop()
mr.stop()
except KeyboardInterrupt:
print "cleaning"
finally:
#GPIO.cleanup()
print"check it"
self.old_btn_state[new_abbv] = 0
elif event.ev_type == 'Absolute':
new_abbv = 'A' + str(self._other)
self.abs_state[new_abbv] = 0
self.old_abs_state[new_abbv] = 0
else:
return None
self.abbrevs[key] = new_abbv
self._other += 1
return self.abbrevs[key]
Lmotor = Motor(forward=26, backward=19)
Rmotor = Motor(forward=13, backward=6)
last = []
def rC(ctrl):
global last
speed = 1
#THERES MORE BUT I THINK THIS IS ALL I NEED
xpo = ('HX', 1)
xz = ('HX', 0)
xno = ('HX', -1)
ypo = ('HY', 1)
yz = ('HY', 0)
yno = ('HY', -1)
# command server for driving
import socket
from gpiozero import Motor
# motor control
m1 = Motor(17, 18)
m2 = Motor(4, 14)
def stop():
m1.stop()
m2.stop()
def fwd(speed):
m1.forward(speed / 255.0)
m2.forward(speed / 255.0)
def back(speed):
m1.backward(speed / 255.0)
m2.backward(speed / 255.0)
def left(speed):
m1.forward(speed / 255.0)
m2.backward(speed / 255.0)
def right(speed):
# GPIO numbers for motor
MOTOR_PIN_FWD = 17
MOTOR_PIN_REV = 18
# GPIO pin for reed switch
REED_PIN = 4
# max speed to reduce top speed
# maximum value is 1
MAX_SPEED = 0.9
# How long to wait between speed increases
ACC_DELAY = 0.5
# How long to wait at the station
STATION_DELAY = 10
m1 = Motor(MOTOR_PIN_FWD, MOTOR_PIN_REV)
reed_switch = Button(REED_PIN)
# Go from stop to max speed
def train_speed_up(max_speed):
speed = 0
while speed < max_speed:
speed += 0.1
m1.forward(speed)
sleep(ACC_DELAY)
def train_slow_down(current_speed):
speed = current_speed
while speed > 0:
# Edit line 6 to match your chosen GPIO pin from gpiozero import Motor, DistanceSensor from time import sleep motor = Motor(backward=4) sensor = DistanceSensor(23, 24, max_distance=1, threshold_distance=0.2) sensor.when_in_range = motor.backward sensor.when_out_of_range = motor.close
def reload(self):
super().reload()
self.name = "RaspberryPi"
self.duty = self.config["duty"]
self.block_length = self.config["block_length"]
self.duty_ratio = self.duty_ratio = self.config["raspberrypi"][
"motor"]["duty_ratio"]
self.turn_right_period = 0.005
self.turn_left_period = 0.005
self.turn_right_period = self.config["raspberrypi"]["motor"][
"turn_right_period"]
self.turn_left_period = self.config["raspberrypi"]["motor"][
"turn_left_period"]
self.servo_horizontal = self.config["raspberrypi"]["camera"][
"servo_horizontal"]
self.servo_vertical = self.config["raspberrypi"]["camera"][
"servo_vertical"]
self.grab = True
self.servo_claw = 1
self.servo_claw_angle_open = -60
self.servo_claw_angle_close = 60
self.servo_claw = self.config["raspberrypi"]["claw"]["servo"]
self.servo_claw_angle_open = self.config["raspberrypi"]["claw"][
"angle_open"]
self.servo_claw_angle_close = self.config["raspberrypi"]["claw"][
"angle_close"]
self.servo_horizontal = 2
self.servo_vertical = 3
self.servo_horizontal = self.config["raspberrypi"]["camera"][
"servo_horizontal"]
self.servo_vertical = self.config["raspberrypi"]["camera"][
"servo_vertical"]
self.IN1 = 7
self.IN2 = 8
self.IN3 = 9
self.IN4 = 10
self.IN1 = self.config["raspberrypi"]["motor"]["pinout"]["IN1"]
self.IN2 = self.config["raspberrypi"]["motor"]["pinout"]["IN2"]
self.IN3 = self.config["raspberrypi"]["motor"]["pinout"]["IN3"]
self.IN4 = self.config["raspberrypi"]["motor"]["pinout"]["IN4"]
self.servos = [17, 27, 22]
self.servos = self.config["raspberrypi"]["servos"]
self.trigger = 18
self.echo = 24
self.trigger = self.config["raspberrypi"]["hcsr04"]["trigger"]
self.echo = self.config["raspberrypi"]["hcsr04"]["echo"]
motor_left = (self.IN1, self.IN2)
motor_right = (self.IN3, self.IN4)
self.motors = [
Motor(forward=motor_left[0], backward=motor_left[1]),
Motor(forward=motor_right[0], backward=motor_right[1])
]
self.pi_servos = []
for gpio_servo in self.servos:
self.pi_servos.append(
AngularServo(gpio_servo, min_angle=-90, max_angle=90))
self.hcsr04 = DistanceSensor(echo=self.echo, trigger=self.trigger)
import socketio
import eventlet
import eventlet.wsgi
import RPi.GPIO as GPIO
from gpiozero import Motor, OutputDevice
from time import sleep
from flask import Flask, request, send_from_directory
sio = socketio.Server()
app = Flask(__name__)
motor1 = Motor(24, 27)
motor1_enable = OutputDevice(5, initial_value=1)
# motor2 = Motor(6, 22)
# motor2_enable = OutputDevice(17, initial_value=1)
motor3 = Motor(23, 16)
motor3_enable = OutputDevice(12, initial_value=1)
motor4 = Motor(13, 18)
motor4_enable = OutputDevice(25, initial_value=1)
# @app.route('/<path:path>', methods=['POST', 'GET'])
# def serve_page(path):
# return send_from_directory('static', path)
@app.route('/<path:path>', methods=['POST', 'GET'])
def serve_page(path):
return send_from_directory('static', path)
def __init__(self, pin1, pin2):
self.pin1 = pin1
self.pin2 = pin2
self.myMotor = Motor(pin1, pin2)
class Robot:
def __init__(self):
self.m1 = Motor(27, 17)
self.m2 = Motor(23, 24)
self.m3 = Motor(6, 5)
self.m4 = Motor(16, 13)
self.stop_status = False
self.data = []
self.data.append((0, 0, 7))
def print_data(self):
while not self.stop_status:
try:
d = self.data.pop(0)
except:
print(len(self.data))
continue
print(d)
def move(self):
while not self.stop_status:
if len(self.data) == 0:
continue
_, y, z = self.data.pop(0)
forward_power = (y / 10)
# 7 doesn't have any special meaning, it is just the value I get when the accelerometer is on a flat surface
# [-1, 7) means go *left*, [8, 19] go *right*
# As you can see, for some reason the acclerometer have more 'levels' for *right* than *left*, so it is somewhat more
# sensitive to turn right
if z < 7:
self.m1.forward(max(min(forward_power, 1), 0) * 0.25)
self.m2.forward(max(min(forward_power, 1), 0))
self.m3.forward(max(min(forward_power, 1), 0))
self.m4.forward(max(min(forward_power, 1), 0) * 0.25)
elif z > 7:
self.m1.forward(max(min(forward_power, 1), 0))
self.m2.forward(max(min(forward_power, 1), 0) * 0.25)
self.m3.forward(max(min(forward_power, 1), 0) * 0.25)
self.m4.forward(max(min(forward_power, 1), 0))
else:
self.m1.forward(max(min(forward_power, 1), 0))
self.m2.forward(max(min(forward_power, 1), 0))
self.m3.forward(max(min(forward_power, 1), 0))
self.m4.forward(max(min(forward_power, 1), 0))
# Edit line 6 to match your chosen GPIO pin from gpiozero import Motor, DistanceSensor from time import sleep motor = Motor(forward=4) sensor = DistanceSensor(23,24, max_distance=1, threshold_distance=0.2) sensor.when_in_range = motor.forward sensor.when_out_of_range = motor.close
from gpiozero import Motor from gpiozero.pins.pigpio import PiGPIOFactory import csv import time import cv2 turn_speed = 0.6 drive_speed = 0.2 remote_factory = PiGPIOFactory(host='192.168.1.130') motor_1 = Motor(forward=19, backward=13) motor_2 = Motor(forward=6, backward=5) drive_forward = motor_1.forward drive_backward = motor_1.backward turn_left = motor_2.forward turn_right = motor_2.backward turn_left(0) turn_right(0) drive_forward(0)
from gpiozero import Motor, LED from time import sleep switch = LED(4) switch.on() motora = Motor(forward=22, backward=17) motorb = Motor(forward=18, backward=27) motora.forward() motorb.forward() sleep(3)
'''
https://gpiozero.readthedocs.io/en/stable/recipes.html
http://raspberry.io/projects/view/reading-and-writing-from-gpio-ports-from-python/
https://pimylifeup.com/raspberry-pi-gpio/
'''
from gpiozero import Motor
from time import sleep
motor = Motor(forward=4, backward=14)
def isopen():
return True
def open():
motor.forward()
pass
def close():
motor.backward()
pass
if __name__ == "__main__":
print('run as it self')
while True:
open()
sleep(1)
from gpiozero import Motor
#from gpiozero.Pin import
#import RPi.GPIO as GPIO
from encoders import d_move, refresh
ml = Motor(2, 3)
mr = Motor(14, 15)
ml.stop()
mr.stop()
"""
I am assuming that the initial location of the bot
is facing upwards at 0,0
the bot can make only 90 degree turns
"""
direction = 'n' # n,e,w,s for different locations that it is facing
usfront = 20
try:
# ADD SOMETHING TO DO WHEN US IS LESS THAN 5;
def forward():
if usfront <= 5:
print "error"
else:
ml.forward()
mr.forward()
def sstop():
ml.stop()
from gpiozero import Motor
from time import sleep
motor = Motor(forward=20, backward=21, enable=16, pwm=True)
while True:
speed = 0.5
motor.forward(speed)
sleep(5)
motor.backward(speed)
sleep(5)
import dynamodbfanlog
import dynamodbtemperature
import jsonconverter as jsonc
# Custom MQTT message callback
def customCallback(client, userdata, message):
print("Received a new message: ")
print(message.payload)
print("from topic: ")
print(message.topic)
print("--------------\n\n")
lcd = LCD()
motor2 = Motor(20, 22, pwm=True)
full_path = '/home/pi/Desktop/image1.jpg'
file_name = 'image1.jpg'
host = "a3c16s480tb79n-ats.iot.us-east-1.amazonaws.com"
rootCAPath = "rootca.pem"
certificatePath = "certificate.pem.crt"
privateKeyPath = "private.pem.key"
BUCKET = 'sp-p1650688-s3-bucket' # replace with your own unique bucket name
location = {'LocationConstraint': 'us-east-1'}
file_path = "/home/pi/Desktop"
file_name = "test.jpg"
best_bet_item = "Unknown"
import explorerhat
from gpiozero import Button, LED, Motor
from time import sleep
button = Button(9)
led1 = LED(10)
motor1 = Motor(forward=19 , backward=20)
motor2 = Motor(forward=21 , backward=26)
while True:
if button.is_pressed:
print("Button pressed")
led1.on()
motor1.forward()
motor2.forward()
else:
print("Button is not pressed")
led1.off()
motor1.stop()
motor2.stop()
#!/usr/bin/env python
# coding=UTF-8
from gpiozero import Motor
from gpiozero import Button
import datetime
import time
import logging
TIME_CLOSE = 99
TIME_OPEN = 69
STATUSFILENAME = "/home/pi/domopoules/chickenpython/status.txt"
motor = Motor(forward=17, backward=22)
button = Button(2)
def init():
logging.basicConfig(filename='chicken.log', level=logging.DEBUG, format='%(asctime)s — %(name)s — %(levelname)s — %(message)s')
def print_and_log(message):
logging.info(message)
print message
def info_button_pressed():
print_and_log("Door button pressed")
button.when_pressed = info_button_pressed
def read_status():
file = open(STATUSFILENAME, "r")
status = file.readline()
file.close()
from gpiozero import Motor, OutputDevice
from time import sleep
motor2 = Motor(6, 22)
motor2_enable = OutputDevice(17, initial_value=1)
motor3 = Motor(23, 16)
motor3_enable = OutputDevice(12, initial_value=1)
turn_time=0.95
def forward():
motor2.forward()
motor3.forward()
sleep(1.5)
def backward():
motor3.backward()
motor2.backward()
sleep(1.5)
def left_turn():
motor3.forward()
motor2.backward()
sleep(turn_time)
def right_turn():
motor3.backward()
motor2.forward()
sleep(turn_time)
def eight():
from gpiozero import Motor import time motorr = Motor(forward=22, backward=23) motorl = Motor(forward=18, backward=17) while True: print "Left motor forward" motorl.forward(1) time.sleep(0.5) motorl.forward(0) time.sleep(2) print "Right motor forward" motorr.forward(1) time.sleep(0.5) motorr.forward(0) time.sleep(2) print "Left motor backwards" motorl.backward(1) time.sleep(0.5) motorl.backward(0) time.sleep(2) print "Right motor backwards" motorr.backward(1) time.sleep(0.5) motorr.backward(0) time.sleep(2)
