def _set_function(self, value):
if value != 'input':
self._pull = 'floating'
if value in ('input', 'output') and value in self.GPIO_FUNCTIONS:
GPIO.setup(self._number, self.GPIO_FUNCTIONS[value], self.GPIO_PULL_UPS[self._pull])
else:
raise PinInvalidFunction('invalid function "%s" for pin %r' % (value, self))
def lcd_toggle_enable(): # Toggle enable time.sleep(E_DELAY) GPIO.output(LCD_E, True) time.sleep(E_PULSE) GPIO.output(LCD_E, False) time.sleep(E_DELAY)
def input_with_pull(self, pull):
if pull != 'up' and self.PI_INFO.pulled_up('GPIO%d' % self._number):
raise PinFixedPull('%r has a physical pull-up resistor' % self)
try:
GPIO.setup(self._number, GPIO.IN, self.GPIO_PULL_UPS[pull])
self._pull = pull
except KeyError:
raise PinInvalidPull('invalid pull "%s" for pin %r' % (pull, self))
def input_with_pull(self, pull):
if pull != 'up' and self.PI_INFO.pulled_up('GPIO%d' % self._number):
raise PinFixedPull('%r has a physical pull-up resistor' % self)
try:
GPIO.setup(self._number, GPIO.IN, self.GPIO_PULL_UPS[pull])
self._pull = pull
except KeyError:
raise PinInvalidPull('invalid pull "%s" for pin %r' % (pull, self))
def _set_function(self, value):
if value != 'input':
self._pull = 'floating'
if value in ('input', 'output') and value in self.GPIO_FUNCTIONS:
GPIO.setup(self._number, self.GPIO_FUNCTIONS[value],
self.GPIO_PULL_UPS[self._pull])
else:
raise PinInvalidFunction('invalid function "%s" for pin %r' %
(value, self))
def _set_pull(self, value):
if self.function != 'input':
raise PinFixedPull('cannot set pull on non-input pin %r' % self)
if value != 'up' and self.PI_INFO.pulled_up('GPIO%d' % self._number):
raise PinFixedPull('%r has a physical pull-up resistor' % self)
try:
GPIO.setup(self._number, GPIO.IN, self.GPIO_PULL_UPS[value])
self._pull = value
except KeyError:
raise PinInvalidPull('invalid pull "%s" for pin %r' % (value, self))
def _set_pull(self, value):
if self.function != 'input':
raise PinFixedPull('cannot set pull on non-input pin %r' % self)
if value != 'up' and self.PI_INFO.pulled_up('GPIO%d' % self._number):
raise PinFixedPull('%r has a physical pull-up resistor' % self)
try:
GPIO.setup(self._number, GPIO.IN, self.GPIO_PULL_UPS[value])
self._pull = value
except KeyError:
raise PinInvalidPull('invalid pull "%s" for pin %r' %
(value, self))
def _set_when_changed(self, value):
if self._when_changed is None and value is not None:
self._when_changed = value
GPIO.add_event_detect(
self._number, self._edges,
callback=lambda channel: self._when_changed(),
bouncetime=self._bounce)
elif self._when_changed is not None and value is None:
GPIO.remove_event_detect(self._number)
self._when_changed = None
else:
self._when_changed = value
def _set_when_changed(self, value):
if self._when_changed is None and value is not None:
self._when_changed = value
GPIO.add_event_detect(
self._number,
self._edges,
callback=lambda channel: self._when_changed(),
bouncetime=self._bounce)
elif self._when_changed is not None and value is None:
GPIO.remove_event_detect(self._number)
self._when_changed = None
else:
self._when_changed = value
def _set_state(self, value):
if self._pwm:
try:
self._pwm.ChangeDutyCycle(value * 100)
except ValueError:
raise PinInvalidState('invalid state "%s" for pin %r' % (value, self))
self._duty_cycle = value
else:
try:
GPIO.output(self._number, value)
except ValueError:
raise PinInvalidState('invalid state "%s" for pin %r' % (value, self))
except RuntimeError:
raise PinSetInput('cannot set state of pin %r' % self)
def setup():
GPIO.setmode(GPIO.BCM)
for l in LED_GPIO:
GPIO.setup(l, GPIO.OUT)
GPIO.output(l, False)
for b in BUTTON_GPIO:
GPIO.setup(b, GPIO.IN)
def _set_state(self, value):
if self._pwm:
try:
self._pwm.ChangeDutyCycle(value * 100)
except ValueError:
raise PinInvalidState('invalid state "%s" for pin %r' %
(value, self))
self._duty_cycle = value
else:
try:
GPIO.output(self._number, value)
except ValueError:
raise PinInvalidState('invalid state "%s" for pin %r' %
(value, self))
except RuntimeError:
raise PinSetInput('cannot set state of pin %r' % self)
def checkstatus():
# call f() again in pollTime seconds
threading.Timer(increment, checkstatus).start()
global pollcount
global closed
global writeentry
# input_state = GPIO.input(17)
if not GPIO.input(17):
# Bathroom is closed
updatehtml("Bathroom", 1)
pollcount += increment
closed = datetime.now()
writeentry = True
else:
# Bathroom is open
updatehtml("Bathroom", 0)
if writeentry:
writeentry = False
contime = sqlite3.connect("PathtoDB")
curtime = contime.cursor()
curtime.execute(
"INSERT INTO '" + datetime.now().strftime("%m/%d/%Y") +
"_time_log' (in_time, out_time) VALUES "
"('" +
(closed + timedelta(0, pollcount * -1)).strftime("%H:%M:%S") +
"','" + closed.strftime("%H:%M:%S") + "')")
contime.commit()
contime.close()
pollcount = 0
def pinread():
while True:
time.sleep(TIME)
b = GPIO.input(BUTTON)
if not b:
print("pressed")
else:
print("released")
def __new__(cls, number):
if not cls._PINS:
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
if cls.PI_INFO is None:
cls.PI_INFO = pi_info("900092")
#Fake a Pi Zero 1.2, Closest device as just has GPIO Pins and no camera.
#cls.PI_INFO = 900092
try:
return cls._PINS[number]
except KeyError:
self = super(RTkGPIOPin, cls).__new__(cls)
try:
cls.PI_INFO.physical_pin('GPIO%d' % number)
except PinNoPins:
warnings.warn(
PinNonPhysical(
'no physical pins exist for GPIO%d' % number))
self._number = number
self._pull = 'up' if cls.PI_INFO.pulled_up('GPIO%d' % number) else 'floating'
self._pwm = None
self._frequency = None
self._duty_cycle = None
self._bounce = -666
self._when_changed = None
self._edges = GPIO.BOTH
GPIO.setup(self._number, GPIO.IN, self.GPIO_PULL_UPS[self._pull])
cls._PINS[number] = self
return self
def init(delay=0.0015):
global running, StepCount, StepDir, stepsToDo, StepPosition, StepPins
global StepCounter, Seq, WaitTime
# Use physical pin numbers
GPIO.setmode(GPIO.BCM)
# Define GPIO signals to use
# StepPins = [35,36,32,33] # RoboHat
StepPins = [4, 17, 27, 18] # ZeroPoint
# Set all pins as output
for pin in StepPins:
GPIO.setup(pin, GPIO.OUT)
GPIO.output(pin, False)
# Define pin sequence
Seq = [[1, 0, 0, 1], [1, 0, 1, 0], [0, 1, 1, 0], [0, 1, 0, 1]]
StepCount = len(Seq)
StepDir = 1 # 1 == clockwise, -1 = anticlockwise
StepsToDo = 0 #number of steps to move
StepPosition = 0 # current steps anti-clockwise from the zero position
# Initialise variables
StepCounter = 0
WaitTime = delay
running = True
# Move pointer to zero position
StepDir = -1
stepsToDo = 700
step()
def __new__(cls, number):
if not cls._PINS:
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
if cls.PI_INFO is None:
cls.PI_INFO = pi_info("900092")
#Fake a Pi Zero 1.2, Closest device as just has GPIO Pins and no camera.
#cls.PI_INFO = 900092
try:
return cls._PINS[number]
except KeyError:
self = super(RTkGPIOPin, cls).__new__(cls)
try:
cls.PI_INFO.physical_pin('GPIO%d' % number)
except PinNoPins:
warnings.warn(
PinNonPhysical('no physical pins exist for GPIO%d' %
number))
self._number = number
self._pull = 'up' if cls.PI_INFO.pulled_up('GPIO%d' %
number) else 'floating'
self._pwm = None
self._frequency = None
self._duty_cycle = None
self._bounce = -666
self._when_changed = None
self._edges = GPIO.BOTH
GPIO.setup(self._number, GPIO.IN, self.GPIO_PULL_UPS[self._pull])
cls._PINS[number] = self
return self
def __init__(self,Ena,in1,in2):
# in1= input 1 forward
# in2=input 2 backward
self.Ena=Ena
self.in1=in1
self.in2=in2
GPIO.setup(self.in1,GPIO.OUT)
GPIO.setup(self.in2,GPIO.OUT)
GPIO.setup(self.Ena,GPIO.OUT)
self.p=GPIO.PWM(Ena,1000)
def loop():
old_first = False
old_left = False
old_right = False
old_last = False
index = 0
while True:
# POLL BUTTONS
# remember they are inverted
first = not GPIO.input(BUTTON_FIRST)
left = not GPIO.input(BUTTON_LEFT)
right = not GPIO.input(BUTTON_RIGHT)
last = not GPIO.input(BUTTON_LAST)
# REPORT ANY CHANGED BUTTONS
if first != old_first:
print("FIRST=" + str(first))
old_first = first
if left != old_left:
print("LEFT=" + str(left))
old_left = left
if right != old_right:
print("RIGHT=" + str(right))
old_right = right
if last != old_last:
print("LAST=" + str(last))
old_last = last
# PROCESS HELD BUTTONS IN PRIORITY ORDER
if first:
index = 0
elif last:
index = len(LED_GPIO) - 1
elif left:
if index > 0:
index -= 1
elif right:
if index < len(LED_GPIO) - 1:
index += 1
# FLASH PRESENTLY SELECTED LED
GPIO.output(LED_GPIO[index], True)
time.sleep(FLASH_TIME / 2)
GPIO.output(LED_GPIO[index], False)
time.sleep(FLASH_TIME / 2)
def _set_frequency(self, value):
if self._frequency is None and value is not None:
try:
self._pwm = GPIO.PWM(self._number, value)
except RuntimeError:
raise PinPWMFixedValue('cannot start PWM on pin %r' % self)
self._pwm.start(0)
self._duty_cycle = 0
self._frequency = value
elif self._frequency is not None and value is not None:
self._pwm.ChangeFrequency(value)
self._frequency = value
elif self._frequency is not None and value is None:
self._pwm.stop()
self._pwm = None
self._duty_cycle = None
self._frequency = None
def distance(self,a=1):
GPIO.output(self.TRIG, False)
GPIO.output(self.TRIG, True)
sleep(0.00001)
GPIO.output(self.TRIG, False)
while GPIO.input(self.ECHO)==0:
starttime=time.time()
while GPIO.input(self.ECHO)==1:
stoptime=time.time()
d_cm=(stoptime-starttime)*34300
if d_cm>20:
break
if a==1:
return d_cm
elif a==2:
if d_cm>19:
return "go"
else:
return "turn"
def step():
global running, StepCounter, stepsToDo
while running and stepsToDo > 0:
for pin in range(0, 4):
xpin = StepPins[pin] # Get GPIO
if Seq[StepCounter][pin] != 0:
GPIO.output(xpin, True)
else:
GPIO.output(xpin, False)
StepCounter += StepDir
if (StepCounter >= StepCount):
StepCounter = 0
if (StepCounter < 0):
StepCounter = StepCount + StepDir
stepsToDo -= 1
#print stepsToDo
time.sleep(WaitTime)
# clear the output pins
for pin in StepPins:
GPIO.output(pin, False)
running = False
def startprocess(self):
GPIO.output(self.TRIG, True)
sleep(0.00001)
GPIO.output(self.TRIG, False)
while GPIO.input(self.ECHO)==0:
starttime=time.time()
while GPIO.input(self.ECHO)==1:
stoptime=time.time()
if stoptime-starttime > l_of_box/speedofmoter:
lol=False
break
if lol!= False:
d_cm=(stoptime-starttime)*34300
if d_cm > l_of_box:
return "go"
else:
# if goinginx==True:
# objfinded(objco=[mycoo[0]+1,mycoo[1]])
# elif goinginy==True:
# objfinded(objco=[mycoo[0],mycoo[1]+1])
return "wait"
else:
return "go"
def __init__(self,TRIG,ECHO):
self.TRIG=TRIG
self.ECHO=ECHO
GPIO.setup(self.TRIG,GPIO.OUT)
GPIO.setup(self.ECHO,GPIO.IN)
GPIO.output(self.TRIG, False)
def pinwrite():
while True:
GPIO.output(GRN, False)
GPIO.output(YEL, True)
time.sleep(TIME * 10)
GPIO.output(YEL, False)
GPIO.output(RED, True)
time.sleep(TIME * 10)
GPIO.output(YEL, True)
time.sleep(TIME * 10)
GPIO.output(RED, False)
GPIO.output(YEL, False)
GPIO.output(GRN, True)
time.sleep(TIME * 10)
def Stop(self):
GPIO.output(self.in1,False)
GPIO.output(self.in2,False)
self.p.ChangeDutyCycle(0)
def moveB(self,s=30):
self.p.ChangeDutyCycle(s)
GPIO.output(self.in1,False)
GPIO.output(self.in2,True)
#Pibrella Demo
from time import sleep
t = 0.2
import RTk.GPIO as GPIO
RED = 27
YEL = 17
GRN = 4
BUZZ = 18
OUT1 = 22
OUT2 = 23
OUT3 = 24
OUT4 = 25
GPIO.setmode(GPIO.BCM)
GPIO.setup(RED, GPIO.OUT)
GPIO.setup(YEL, GPIO.OUT)
GPIO.setup(GRN, GPIO.OUT)
GPIO.setup(OUT1, GPIO.OUT)
GPIO.setup(OUT2, GPIO.OUT)
GPIO.setup(OUT3, GPIO.OUT)
GPIO.setup(OUT4, GPIO.OUT)
try:
while True:
GPIO.output(RED, True)
sleep(t)
GPIO.output(YEL, True)
sleep(t)
GPIO.output(GRN, True)
from RTk import GPIO
# from testclass import test
from time import sleep
import playsound
import time
import json
import pyttsx3
from tkinter import *
engine = pyttsx3.init()
engine.setProperty('volume',1.0)
voices = engine.getProperty('voices')
engine.setProperty('voice', voices[1].id)
GPIO.setmode(GPIO.BCM)
speedofmoter=0
l_of_box=100
w_of_box=100
# moter 1
in1A = 24
in2A = 23
enA = 25
# moter 2
in1B = 3
in2B = 2
enB = 1
# ultrasonic 1
TRIG=7
ECHO=8
# robo global
forward=True
c_speed=0
mydir="N"
def output_with_state(self, state):
self._pull = 'floating'
GPIO.setup(self._number, GPIO.OUT, initial=state)
def close(self):
self.frequency = None
self.when_changed = None
GPIO.cleanup(self._number)
def _get_state(self):
if self._pwm:
return self._duty_cycle
else:
return GPIO.input(self._number)
def _get_function(self):
return self.GPIO_FUNCTION_NAMES[GPIO.gpio_function(self._number)]
def movef(self,s=30):
self.p.ChangeDutyCycle(s)
# GPIO.PWM(self.Ena,1000).ChangeDutyCycle(s)
GPIO.output(self.in1,True)
GPIO.output(self.in2,False)
def _get_state(self):
if self._pwm:
return self._duty_cycle
else:
return GPIO.input(self._number)
def motor_control(direction):
# print direction
if (direction == "fwd"):
GPIO.output(12, True)
GPIO.output(13, False)
GPIO.output(5, False)
GPIO.output(6, False)
print ("forward position led flow")
if (direction == "bwd"):
GPIO.output(13, True)
GPIO.output(12, False)
GPIO.output(5, False)
GPIO.output(6, False)
print ("backward position led flow")
if (direction == "left"):
GPIO.output(5, True)
GPIO.output(12, False)
GPIO.output(13, False)
GPIO.output(6, False)
print ("LEFT position led flow")
if (direction == "right"):
GPIO.output(6, True)
GPIO.output(5, False)
GPIO.output(12, False)
GPIO.output(13, False)
print ("RIGHT position led flow")
if (direction == "stop"):
GPIO.setmode(GPIO.BCM)
GPIO.output(12, False)
GPIO.output(13, False)
GPIO.output(5, False)
GPIO.output(6, False)
print ("STOP position led flow")
def _get_function(self):
return self.GPIO_FUNCTION_NAMES[GPIO.gpio_function(self._number)]
def output_with_state(self, state):
self._pull = 'floating'
GPIO.setup(self._number, GPIO.OUT, initial=state)
from RTk import GPIO
from time import sleep
Green_LED = 26
Amber_LED = 19
Red_LED = 13
GPIO.setmode(GPIO.BCM)
GPIO.setup(Green_LED, GPIO.OUT)
GPIO.setup(Amber_LED, GPIO.OUT)
GPIO.setup(Red_LED, GPIO.OUT)
Doze = 2.0
while True:
GPIO.output(Red_LED, 1)
sleep(Doze)
GPIO.output(Red_LED, 0)
GPIO.output(Amber_LED, 0)
sleep(Doze / 4)
GPIO.output(Amber_LED, 1)
sleep(Doze / 4)
GPIO.output(Amber_LED, 0)
sleep(Doze / 4)
GPIO.output(Amber_LED, 1)
sleep(Doze / 4)
GPIO.output(Amber_LED, 0)
sleep(Doze / 4)
GPIO.output(Amber_LED, 1)
sleep(Doze / 4)
GPIO.output(Amber_LED, 0)
sleep(Doze / 4)
def close(self):
self.frequency = None
self.when_changed = None
GPIO.cleanup(self._number)
#TrafficHAT KS Demo
from time import sleep
t = 0.1
import RTk.GPIO as GPIO
gpios = [
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20,
21, 22, 23, 24, 25, 26, 27
]
GPIO.setmode(GPIO.BCM)
while True:
for cGPIO in gpios:
print("Testing GPIO", cGPIO)
GPIO.setup(cGPIO, GPIO.OUT)
raw_input("Press enter to continue")
GPIO.output(cGPIO, 1)
sleep(1)
for cGPIO in gpios:
#sleep(t)
raw_input("Press enter to continue")
GPIO.output(cGPIO, 0)
#sleep(t)
sleep(1)
# client side
import time
# import RPi.GPIO as GPIO
from RTk import GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setup(12, GPIO.OUT)
GPIO.setup(13, GPIO.OUT)
GPIO.setup(5, GPIO.OUT)
GPIO.setup(6, GPIO.OUT)
def motor_control(direction):
# print direction
if (direction == "fwd"):
GPIO.output(12, True)
GPIO.output(13, False)
GPIO.output(5, False)
GPIO.output(6, False)
print ("forward position led flow")
if (direction == "bwd"):
GPIO.output(13, True)
GPIO.output(12, False)
GPIO.output(5, False)
GPIO.output(6, False)
print ("backward position led flow")