def __init__(self, pwm0, pwm1, pwm2, pwm3): """ """ self.mux = MCP230XX(0x20, 16, 1) for pin in range(0, 15): self.mux.config(pin, OUT) # this can be: # BOARD -> Board numbering scheme. The pin numbers follow the pin numbers on header P1. # BCM -> Broadcom chip-specific pin numbers. # GPIO.setmode(GPIO.BCM) setmode(BCM) # Pi cover uses BCM pin numbers, GPIO.BCM = 11 setup([pwm0, pwm1, pwm2, pwm3], OUT) # GPIO.OUT = 0 freq = 100.0 # Hz self.motor0 = PWM(pwm0, freq) self.motor1 = PWM(pwm1, freq) self.motor2 = PWM(pwm2, freq) self.motor3 = PWM(pwm3, freq) self.motor0.start(0) self.motor1.start(0) self.motor2.start(0) self.motor3.start(0)
def __init__(self):
# Initialize lock servo and button.
self.servo = PWM.Servo()
RPIO.setup(config.BUTTON_PIN, RPIO.IN)
# Set initial box state.
self.button_state = RPIO.input(config.BUTTON_PIN)
self.is_locked = None
def play_negado(self):
# Inicia buzzer
#GPIO.setup(self.gpio, GPIO.OUT)
buzz = PWM(self.porta, 131) # initial frequency.
buzz.start(50) # Start buzzer pin with 50% duty ration
time.sleep(0.2) # delay a note for beat * 0.5s
buzz.ChangeFrequency(101) # Change the frequency along the song note
time.sleep(0.7) # delay a note for beat * 0.5s
buzz.stop() # Stop the buzzer
super().ligar_porta() # Set buzzer pin to High
def led_breathe(pin_no):
"""
Fn to vary the duty cycle to
dim/brighten the leds
"""
pwm = PWM(pin_no, 100) # create object for PWM on port pin_no at 100 Hertz
pwm.start(0) # start led on 0 percent duty cycle (off)
for i in range(101):
pwm.ChangeDutyCycle(
i) # Increase duty cycle from 0% to 100% (step by 1)
time.sleep(0.03)
for i in range(100, -1, -1):
pwm.ChangeDutyCycle(
i) # Decrease duty cycle from 0% to 100% (step by 1)
time.sleep(0.03)
time.sleep(1)
pwm.stop() # stop the PWM output
def __init__(self, pwm0, pwm1, pwm2, pwm3, a0, b0, a1, b1):
"""
"""
# self.mux = MCP230XX(0x20, 16, 1)
#
# for pin in range(0, 15):
# self.mux.config(pin, GPIO.OUT)
# this can be:
# BOARD -> Board numbering scheme. The pin numbers follow the pin numbers on header P1.
# BCM -> Broadcom chip-specific pin numbers.
GPIO.setmode(GPIO.BCM) # Pi cover uses BCM pin numbers, GPIO.BCM = 11
GPIO.setup([pwm0, pwm1, pwm2, pwm3], GPIO.OUT) # GPIO.OUT = 0
freq = 100.0 # Hz
self.motor0 = PWM(pwm0, freq)
self.motor1 = PWM(pwm1, freq)
self.motor2 = PWM(pwm2, freq)
self.motor3 = PWM(pwm3, freq)
self.motor0.start(0)
self.motor1.start(0)
self.motor2.start(0)
self.motor3.start(0)
self.ctl = [a0, b0, a1, b1]
GPIO.setup([a0, b0, a1, b1], GPIO.OUT) # GPIO.OUT = 0
# self.a0 = a0
# self.b0 = b0
# self.a1 = a1
# self.b1 = b1
# GPIO.output(self.a0, GPIO.LOW)
# GPIO.output(self.b0, GPIO.LOW)
# GPIO.output(self.a1, GPIO.LOW)
# GPIO.output(self.a1, GPIO.LOW)
for pin in self.ctl:
GPIO.output(pin, GPIO.LOW)
def stop(duty=0):
straight()
output(20, LOW)
output(22, LOW)
return default_response()
def default(duty=0):
print "Command not found"
stop(0)
straight(0)
p = PWM(17, 90)
p2 = PWM(13, 90)
p.start(50)
p2.start(100)
commands_dict = {"b": backward,
"f": forward,
"s": stop,
"r": right,
"l": left,
"st": straight}
def move(request):
commands_dict.get(request.matchdict['direction'], default)()
return default_response()
def __stop(pwm: GPIO.PWM):
pwm.ChangeDutyCycle(0)
def turn(self, pwm_turn: GPIO.PWM):
self.__resetTurnPWMS()
pwm_turn.ChangeDutyCycle(turn_duty)
time.sleep(turn_slp_interval)
pwm_turn.ChangeDutyCycle(0)
class MotorDriver(object):
"""
This uses RPI.GPIO
"""
STOP = 0
FORWARD = 1
REVERSE = 2
COAST = 3
def __init__(self, pwm0, pwm1, pwm2, pwm3):
"""
"""
self.mux = MCP230XX(0x20, 16, 1)
for pin in range(0, 15):
self.mux.config(pin, OUT)
# this can be:
# BOARD -> Board numbering scheme. The pin numbers follow the pin numbers on header P1.
# BCM -> Broadcom chip-specific pin numbers.
# GPIO.setmode(GPIO.BCM)
setmode(BCM) # Pi cover uses BCM pin numbers, GPIO.BCM = 11
setup([pwm0, pwm1, pwm2, pwm3], OUT) # GPIO.OUT = 0
freq = 100.0 # Hz
self.motor0 = PWM(pwm0, freq)
self.motor1 = PWM(pwm1, freq)
self.motor2 = PWM(pwm2, freq)
self.motor3 = PWM(pwm3, freq)
self.motor0.start(0)
self.motor1.start(0)
self.motor2.start(0)
self.motor3.start(0)
def __del__(self):
print('motor drive ... bye')
self.allStop()
self.motor0.stop()
self.motor1.stop()
self.motor2.stop()
self.motor3.stop()
cleanup()
def clamp(self, x):
"""
Clamps a PWM from 0-100 and puts it into the right servo usec timing.
"""
minimum = 0
maximum = 100
if x == 0: return 0 # really stop motor
return max(minimum, min(x, maximum))
def setMotors(self, m0, m1, m2, m3):
"""
Takes 4 dicts (shown below) for each motor.
dict: {'dir': x, 'duty': 0-100}
MotorDriver.STOP = 0
MotorDriver.FORWARD = 1
MotorDriver.REVERSE = 2
MotorDriver.COAST = 3
"""
# if not 'dir' in m0 or not 'duty' in m0: return
# low = 0
# high = 100
print(m0, m1, m2, m3)
# set mux
val = m3['dir'] << 6 | m2['dir'] << 4 | m1['dir'] << 2 | m0['dir']
self.mux.write8(val)
# set pwm
pwm = self.clamp(m0['duty'])
self.motor0.ChangeDutyCycle(pwm)
pwm = self.clamp(m1['duty'])
self.motor1.ChangeDutyCycle(pwm)
pwm = self.clamp(m2['duty'])
self.motor2.ChangeDutyCycle(pwm)
pwm = self.clamp(m3['duty'])
self.motor3.ChangeDutyCycle(pwm)
def allStop(self):
"""
"""
self.mux.write8(0)
stop = {'dir': 0, 'duty': 0}
self.setMotors(stop, stop, stop, stop)
class MotorDriver(object):
"""
This uses RPI.GPIO
"""
STOP = 0
FORWARD = 1
REVERSE = 2
COAST = 3
def __init__(self, pwm0, pwm1, pwm2, pwm3, a0, b0, a1, b1):
"""
"""
# self.mux = MCP230XX(0x20, 16, 1)
#
# for pin in range(0, 15):
# self.mux.config(pin, GPIO.OUT)
# this can be:
# BOARD -> Board numbering scheme. The pin numbers follow the pin numbers on header P1.
# BCM -> Broadcom chip-specific pin numbers.
GPIO.setmode(GPIO.BCM) # Pi cover uses BCM pin numbers, GPIO.BCM = 11
GPIO.setup([pwm0, pwm1, pwm2, pwm3], GPIO.OUT) # GPIO.OUT = 0
freq = 100.0 # Hz
self.motor0 = PWM(pwm0, freq)
self.motor1 = PWM(pwm1, freq)
self.motor2 = PWM(pwm2, freq)
self.motor3 = PWM(pwm3, freq)
self.motor0.start(0)
self.motor1.start(0)
self.motor2.start(0)
self.motor3.start(0)
self.ctl = [a0, b0, a1, b1]
GPIO.setup([a0, b0, a1, b1], GPIO.OUT) # GPIO.OUT = 0
# self.a0 = a0
# self.b0 = b0
# self.a1 = a1
# self.b1 = b1
# GPIO.output(self.a0, GPIO.LOW)
# GPIO.output(self.b0, GPIO.LOW)
# GPIO.output(self.a1, GPIO.LOW)
# GPIO.output(self.a1, GPIO.LOW)
for pin in self.ctl:
GPIO.output(pin, GPIO.LOW)
def __del__(self):
print('motor drive ... bye')
self.allStop()
self.motor0.stop()
self.motor1.stop()
self.motor2.stop()
self.motor3.stop()
GPIO.cleanup()
def clamp(self, x, minimum=0, maximum=100):
"""
Clamps a PWM from 0-100 and puts it into the right servo usec timing.
"""
# minimum = 0
# maximum = 100
return 0 if x == 0 else max(minimum, min(x, maximum))
def setMotors(self, m0, m1, m2, m3):
"""
Takes 4 tuples (shown below) for each motor.
tuple: (dir, duty)
MotorDriver.STOP = 0
MotorDriver.FORWARD = 1
MotorDriver.REVERSE = 2
MotorDriver.COAST = 3
"""
# if not 'dir' in m0 or not 'duty' in m0: return
# low = 0
# high = 100
# print(m0, m1, m2, m3)
# set mux
# val = m3['dir'] << 6 | m2['dir'] << 4 | m1['dir'] << 2 | m0['dir']
# val = m3[0] << 6 | m2[0] << 4 | m1[0] << 2 | m0[0]
# self.mux.write8(val)
# GPIO.output(self.a0, m0[0])
# GPIO.output(self.b0, m1[0])
# GPIO.output(self.a1, m2[0])
# GPIO.output(self.b1, m3[0])
#
# # set pwm
# pwm = self.clamp(m0[1])
# self.motor0.ChangeDutyCycle(pwm)
#
# pwm = self.clamp(m1[1])
# self.motor1.ChangeDutyCycle(pwm)
#
# pwm = self.clamp(m2[1])
# self.motor2.ChangeDutyCycle(pwm)
#
# pwm = self.clamp(m3[1])
# self.motor3.ChangeDutyCycle(pwm)
for pin, cmd, motor in zip(
self.ctl, [m0, m1, m2, m3],
[self.motor0, self.motor1, self.motor2, self.motor3]):
GPIO.output(pin, cmd[0])
pwm = self.clamp(cmd[1])
motor.ChangeDutyCycle(pwm)
def allStop(self):
"""
"""
# self.mux.write8(0)
# GPIO.output(self.a0, GPIO.LOW)
# GPIO.output(self.b0, GPIO.LOW)
# GPIO.output(self.a1, GPIO.LOW)
# GPIO.output(self.a1, GPIO.LOW)
for pin in self.ctl:
GPIO.output(pin, GPIO.LOW)
stop = (0, 0)
self.setMotors(stop, stop, stop, stop)
