def launchSequence(distance, yawAngle):
print "\n%sm away" % distance
print "%s degrees\n" % yawAngle
adjustYawAngle(yawAngle)
adjustPitchAngle(distance)
#Basic kinematics to calculate the force at which the
#launching mechanism needs to propell the object at
power = 0 #value of calculation go here
shoot(power)
pwm.stop()
GPIO.cleanup()
def get_distance():
#the trig send the sound
GPIO.output(TRIG, True)
#suspend the execution for this "0.0001" seconds
time.sleep(0.0001)
#the trig stop sending sound
GPIO.output(TRIG, False)
while GPIO.input(ECHO) == False: #while we have not receive the echo
start = time.time() #start counting time
while GPIO.input(ECHO) == True: #while receiving the echo
end = time.time()
sig_time = end - start
distance = sig_time / 0.000058 #we gonna use the v=d/t (vitesse du son)
print('Distance : {} cm '.format(distance))
GPIO.cleanup() #we clean all the pins
return distance
def led_blinking (pin):
print ("\nBlinking 1/sec \n")
for i in range (0, 61, 1): led_blink (11)
GPIO.cleanup ()
def getTempperature(self, temp):
from RPI import GPIO
data = []
j = 0
channel = 13 #输入GPIO号
channel = int(temp)
GPIO.setmode(GPIO.BCM)
time.sleep(1)
GPIO.setup(channel, GPIO.OUT)
GPIO.output(channel, GPIO.LOW)
time.sleep(0.02)
GPIO.output(channel, GPIO.HIGH)
GPIO.setup(channel, GPIO.IN)
while GPIO.input(channel) == GPIO.LOW:
continue
while GPIO.input(channel) == GPIO.HIGH:
continue
while j < 40:
k = 0
while GPIO.input(channel) == GPIO.LOW:
continue
while GPIO.input(channel) == GPIO.HIGH:
k += 1
if k > 100:
break
if k < 8:
data.append(0)
else:
data.append(1)
j += 1
logger.info("sensor is working.")
logger.debug(data)
humidity_bit = data[0:8]
humidity_point_bit = data[8:16]
temperature_bit = data[16:24]
temperature_point_bit = data[24:32]
check_bit = data[32:40]
humidity = 0
humidity_point = 0
temperature = 0
temperature_point = 0
check = 0
for i in range(8):
humidity += humidity_bit[i] * 2**(7 - i)
humidity_point += humidity_point_bit[i] * 2**(7 - i)
temperature += temperature_bit[i] * 2**(7 - i)
temperature_point += temperature_point_bit[i] * 2**(7 - i)
check += check_bit[i] * 2**(7 - i)
tmp = humidity + humidity_point + temperature + temperature_point
if check == tmp:
logger.info("temperature :", temperature, "*C, humidity :",
humidity, "%")
return "主人，当前家中温度" + str(temperature) + "摄氏度，湿度:百分之" + str(
humidity)
else:
#return "抱歉主人，传感器犯了点小错"
self.getTempperature(channel)
GPIO.cleanup()
GPIO.setwarnings(False)
# Setup pin 4 as ouput for sending the signal to the intercom and make it initially zero
INTERCOM_PIN = 4
GPIO.setup(INTERCOM_PIN, GPIO.OUT)
GPIO.output(INTERCOM_PIN, 0)
# Start the web server
WEB_SERVER_PORT = 8080
WEB_SERVER_HOST = "localhost"
class DoorHandler(BaseHTTPServer.BaseHTTPRequestHandler):
def do_GET(s):
s.send_response(200)
s.send_header("Content-type", "text/plain")
s.end_headers()
GPIO.output(INTERCOM_PIN, 1)
time.sleep(2)
GPIO.output(INTERCOM_PIN, 0)
server_class = BaseHTTPServer.HTTPServer
httpd = server_class((WEB_SERVER_HOST, WEB_SERVER_PORT), DoorHandler)
print time.asctime(), "Server Starts - %s:%s" % (WEB_SERVER_HOST, WEB_SERVER_PORT)
try:
httpd.serve_forever()
except KeyboardInterrupt:
pass
httpd.server_close()
GPIO.cleanup()
import RPI.GPIO as GPIO import time GPIO.setmode(GPIO.BCM) PLF = 17 PLB = 22 PRF = 18 PRB = 23 duration = 0.5 GPIO.setup(PLF, GPIO.OUT) GPIO.setup(PLB, GPIO.OUT) GPIO.setup(PRF, GPIO.OUT) GPIO.setup(PRB, GPIO.OUT) GPIO.cleanup()
def cleanAndExit():
print("cleaning...")
GPIO.cleanup()
print("bye")
sys.exit()
def my_read(signal , frame):
global continue_reading
print(my_message_1)
continue_reading = False
GPIO.cleanup()
class WallStop():
def __init__(self):
self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
self.goahead_param = 500
self.back_param = 1000
self.sensor_values = LightSensorValues()
rospy.Subscriber('/lightsensors', LightSensorValues, self.callback)
self.M = 0.10
self.M1 = 0.00
self.e = 0.00
self.e1 = 0.00
self.e2 = 0.00
self.goal = 600
self.Kp = 0.0002
self.Ki = 0.000025
self.Kd = 0.00010
def callback(self, messages):
self.sensor_values = messages
def callBackTest(channel):
print("callback")
GPIO.setup(pin, GPIO.IN, GPIO.PUD_UP)
GPIO.add_event_detect(pin,
GPIO.FALLING,
callBack=callBackTest,
bouncetime=300)
try:
while (Trure):
time.sleep(1)
except KeyboardInterrpt:
print("break")
GPIO.cleanup()
def run(self):
rate = rospy.Rate(10)
data = Twist()
data.linear.x = 0.00
while not rospy.is_shutdown():
key = ord(getch())
if key == 65:
data.linear.x = 0.1
elif key == 66:
data.linear.x = -0.1
elif key == 67:
data.linear.y = 0.1
elif key == 68:
data.linear.y = -0.1
elif key == 13:
print("Enter")
break
else:
pause()
"""self.M1 = self.M
self.e2 = self.e1
self.e1 = self.e
self.e = self.goal - self.sensor_values.sum_all
#self.M = self.M1 + self.Kp * (self.e-self.e1)
#self.M = self.M1 + self.Kp * (self.e-self.e1) + self.Kd * ((self.e-self.e1) - (self.e1-self.e2))
self.M = self.M1 + self.Kp * (self.e-self.e1) + self.Ki * self.e + self.Kd * ((self.e-self.e1) - (self.e1-self.e2))
if self.sensor_values.sum_all < self.goahead_param:
data.linear.x = 0.2
elif self.sensor_values.sum_all > self.back_param:
data.linear.x = -0.2
else: data.linear.x = 0.0
if self.M < 0.25 and self.M > -0.25:
data.linear.x = self.M
#else: data.linear.x = 0.0
#print('move param_____________' + str(self.M))"""
self.cmd_vel.publish(data)
rate.sleep()
def destory():
Buzz.stop() # Stop the buzzer
GPIO.output(Buzzer, 1) # Set Buzzer pin to High
GPIO.cleanup() # Release resource
sampler_position = int(data[-3:])
#scale throttle, steer angle, and sampler position to range [-1,1]
scaled_sampler_position = (90 - sampler_position)/90 #1 is max clockise, -1 max anticlockwise
scaled_throttle = (90 - throttle)/90
scaled_steer_angle = (steer_angle - 90)/90
left_power = scaled_throttle + scaled_steer_angle
right_power = scaled_throttle - scaled_steer_angle
#Scale left_power and right_power so both stay in range [-1,1]
if (left_power >= 1) or (right_power <= -1):
left_power *= 1/2
right_power *= 1/2
TB1.SetMotors(left_power)
TB2.SetMotors(right_power)
#Sampler Control Code
#Servo is neutral at 1.5ms, >1.5 Counter-Clockwise, <1.5 Clockwise
pulse_width = 1.5 - scaled_sampler_position
duty_cycle = pulse_width * 5 # this is the simplification of D = PW/T * 100 with f=1/T = 50Hz
sampler.ChangeDutyCycle(duty_cycle)
control_socket.close()
GPIO.cleanup() #Check if neccessary
# The python script import RPI.GPIO as GPIO # import RPi Library GPIO.setmode(GPIO.BOARD) servo=11 GPIO.setup(servo,GPIO.OUT) pwm=GPIO.PWM(11,50) #set GPIO pin 11 to 50 Hz”frequency” pwm.start(5) for i in range (0,20): Position=input(“where do you want the servo? 0 - 108 ”) degree = 1./18.*(Position)+2 pwm.ChangeDutyCycle(degree) pwm.stop() #stop the pulse width modulations GPIO.cleanup() #to clear everything up
def End(): gpio.cleanup() return False
