def handle_open_gripper(req):
servoPI = 17
GPIO.setMode(GPIO.BCM)
GPIO.setup(servoPIN. GPIO.OUT)
p= GPIO.PWM(servoPIN, 50)
p.start(2.5)
if req.command == 0:
print "Stopping gripper"
p.stop()
GPIO.cleanup()
elif req.command == 1:
print "Opening gripper"
while True:
p.ChangeDutyCycle(12.5)
time.sleep(0.5)
else:
print "Closing gripper"
while True:
p.ChangeDutyCycle(2.5)
time.sleep(0.5)
print "Request completed"
return YargControlResponse(True)
def __init__(self):
GPIO.setMode(GPIO.BCM)
# Trigger and Echo Pins
self.trigger = Constants.TRIGGER_PORT
self.echo = Constants.ECHO_PORT
# Setup trigger and echo ports
GPIO.setup(self.trigger, GPIO.OUT)
GPIO.setup(self.echo, GPIO.IN)
def setup():
global pwm
global dc
GPIO.setMode(GPIO.BCM) # use BCM Pin number
GPIO.setup(pwmPin, GPIO.OUT)
GPIO.setup(readPin, GPIO.IN, pull_up_down = GPIO.PUD_UP)
GPIO.add_event_detect(readPin, GPIO.RISING, callback = handler)
pwm = GPIO.PWM(pwm, dc)
pwm.start(dc)
print("pwmPin = %d" % pwmPin)
print("Mode = OUT, duty cycle : %d" % dc)
print("readPin = %d" % readPin)
print("Mode = IN, PULL_UP")
def setup():
# use physical pin numbering
GPIO.setMode(GPIO.BOARD)
GPIO.setup(headlightButtonPin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(thrusterButtonPin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(nasaSoundsButtonPin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
# define headlight pins to be output pins
GPIO.setup(leftHeadlightLed, GPIO.OUT)
GPIO.setup(rightHeadlightLed, GPIO.OUT)
GPIO.setup(thruster1Led, GPIO.OUT)
GPIO.setup(thruster2Led, GPIO.OUT)
GPIO.setup(thruster3Led, GPIO.OUT)
# set initial state of headlights to be low
GPIO.output(leftHeadlightLed, GPIO.LOW)
GPIO.output(rightHeadlightLed, GPIO.LOW)
GPIO.output(thruster1Led, GPIO.LOW)
GPIO.output(thruster2Led, GPIO.LOW)
GPIO.output(thruster3Led, GPIO.LOW)
def __init__(self):
self.mode = GPIO.getmode()
# Left motor
self.in1 = Constants.IN1_PORT
self.in2 = Constants.IN2_PORT
self.ena = Constants.ENA_PORT
# Right motor
self.in3 = Constants.IN3_PORT
self.in4 = Constants.IN4_PORT
self.enb = Constants.ENB_PORT
GPIO.setMode(GPIO.BCM)
self.left_motor = GPIO.PWM(self.ena, 1000)
self.right_motor = GPIO.PWM(self.enb, 1000)
# Initial Duty Cycle - 25%
self.left_motor.start(25)
self.right_motor.start(25)
# Proportional constant
self.kP = Constants.kP
cv2.imshow('Detected Circles', circle_img)
cv2.waitKey(0)
circle_file = open('circles_list.txt', 'w')
circle_file.write('x ,\t y,\t Radius,\t Threshold \n')
for i in range(len(circles)):
circle_file.write(str(circles[i][0]) + ' , ' + str(circles[i][1]) + ' , ' + str(circles[i][2]) + ' , ' + str(circles[i][3]) + '\n')
circle_file.close()
if circle_img is not None:
cv2.imwrite("circles_img.png", circle_img)
servoPIN = 17
PWM = 50
# Servo section
GPIO.setMode(GPIO.BCM)
GPIO.setup(servoPIN, GPIO.OUT)
p = GPIO.PWM(servoPIN, PWM)
p.start(2.5)
rotateDir = True
rotateCounter = 2.5
for i in range(circleCount):
if rotateDir:
rotateCounter += 2.5
p.ChangeDutyCycle(rotateCounter)
if rotateCounter == 12.5:
rotateDir = False
else:
import RPi.GPIO as GPIO import time GPIO.setmode(GPIO.BCM) GPIO.setMode(23, OUTPUT); GPIO.setMode(24, OUTPUT); GPIO.setMode(25, OUTPUT); GPIO.setMode(16, OUTPUT); // Setup input GPIO.setMode(17, INPUT); GPIO.setMode(27, INPUT); GPIO.setMode(22, INPUT)
import RPi.GPIO as GPIO import time import socket GPIO.setMode(GPIO.); pinA1 = 4 pinA2 = 5 pinB1 = 6 pinB2 = 7 enPin = 18 GPIO.setup(enPin,GPIO.OUT) GPIO.setup(pinA1,GPIO.OUT) GPIO.setup(pinA2,GPIO.OUT) GPIO.setup(pinB1,GPIO.OUT) GPIO.setup(pinB2,GPIO.OUT) GPIO.output(enPin,1) ip_addr = socket.gethostbyname(socket.gethostname()) port = 6000 server = socket.socket(socket.AF_INET,socket.SOCK_STREAM) server.bind((ip_addr,port)) server.listen(1) print "Server Listening" (client,address) = server.accept() print "Server Connected" while client:
#!/usr/bin/python3
import threading
import time
from tkinter import *
import RPi.GPIO as GPIO
GPIO.setMode(GPIO.BOARD)
GPIO.setup(37, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(40, GPIO.IN, pull_up_down=GPIO.PUT_UP)
root = Tk()
def test():
q=1
print("im a fuchtion")
while True:
q=q
def photo():
canvas = Canvas(root, width = 1280, height = 720)
root.attributes("-fullscreen", True)
canvas.pack()
img = PhotoImage(file="onTheWay.gif")
canvas.create_image(0,0, anchor=NW, image=img)
mainloop()
thread = threading.Thread(target=o, args=())
thread.start()
def initBoard(self):
GPIO.setMode(GPIO.BOARD)
