def __init__(self, change_threshold=0.02):
self.m1 = PhaseEnableMotor(5, 12)
self.m2 = PhaseEnableMotor(6, 13)
self.n_users = 2
self.speed = 0
self.angle = 0
self.change_threshold = change_threshold
class GpiozeroDrive():
DIRECTION_FORWARD = 1
DIRECTION_BACKWARD = 0
DIRECTION_STRAFELEFT = 3
DIRECTION_STRAFERIGHT = 4
__pwmEnablePinWhiteLeftChannel = 12
__phaseDirPinRedLeftChannel = 5
__pwmEnablePinWhiteRightChannel = 13
__phaseDirPinRedRightChannel = 6
__rightMotors = PhaseEnableMotor(phase=__phaseDirPinRedLeftChannel,
enable=__pwmEnablePinWhiteLeftChannel,
pwm=True)
__leftMotors = PhaseEnableMotor(phase=__phaseDirPinRedRightChannel,
enable=__pwmEnablePinWhiteRightChannel,
pwm=True)
__currentSpeed = 0
def setDirection(self, leftDirection, rightDirection):
self.__currentLeftDirection = leftDirection
self.__currentRightDirection = rightDirection
def moveForward(self, newSpeed):
if newSpeed >= 0 and newSpeed <= 1:
self.setDirection(self.DIRECTION_FORWARD, self.DIRECTION_FORWARD)
self.__rightMotors.forward(speed)
self.__leftMotors.forward(speed)
def moveBackward(self, newSpeed):
if newSpeed >= 0 and newSpeed <= 1:
self.setSpeed(self.DIRECTION_BACKWARD, self.DIRECTION_BACKWARD)
self.__rightMotors.backward(speed)
self.__leftMotors.backward(speed)
def move(self, directionLeft, directionRight, speedLeft, speedRight):
self.setDirection(directionLeft, directionRight)
if (speedLeft >= 0 and speedRight >= 0 and speedLeft <= 1
and speedRight <= 1):
if (directionLeft == self.DIRECTION_FORWARD):
self.__leftMotors.forward(speedLeft)
elif (directionLeft == self.DIRECTION_BACKWARD):
self.__leftMotors.backward(speedLeft)
if (directionRight == self.DIRECTION_FORWARD):
self.__rightMotors.forward(speedRight)
elif (directionRight == self.DIRECTION_BACKWARD):
self.__rightMotors.backward(speedRight)
def stop(self):
self.setSpeed(0)
self.__rightMotors.forward(0)
self.__leftMotors.forward(0)
def __init__(self):
# A factor that can be adjusted to fine tune motor speed
self._left_speed = 1.0
self._right_speed = 1.0
# The actual motor objects
self._left_motor = PhaseEnableMotor(26, 20)
self._right_motor = PhaseEnableMotor(16, 21)
# The laser objects
self._left_laser = LED(13)
self._right_laser = LED(12)
def __init__(self, transpose=0, dupes=False):
print "Initializing swing object and setting up motors."
self.__transpose = transpose
self.__dupes = dupes
motor1 = PhaseEnableMotor(17, 4)
motor2 = PhaseEnableMotor(27, 18)
motor3 = PhaseEnableMotor(23, 22)
motor4 = PhaseEnableMotor(25, 24)
motor5 = PhaseEnableMotor(6, 5)
motor6 = PhaseEnableMotor(13, 12)
motor7 = PhaseEnableMotor(16, 19)
motor8 = PhaseEnableMotor(20, 26)
self.__noteMap[110] = {"motor": motor1, "direction": "forward"}
self.__noteMap[93] = {"motor": motor1, "direction": "backward"}
self.__noteMap[98] = {"motor": motor2, "direction": "forward"}
self.__noteMap[100] = {"motor": motor2, "direction": "backward"}
self.__noteMap[104] = {"motor": motor3, "direction": "forward"}
self.__noteMap[102] = {"motor": motor3, "direction": "backward"}
self.__noteMap[114] = {"motor": motor4, "direction": "forward"}
self.__noteMap[103] = {"motor": motor4, "direction": "backward"}
self.__noteMap[116] = {"motor": motor5, "direction": "forward"}
self.__noteMap[105] = {"motor": motor5, "direction": "backward"}
self.__noteMap[117] = {"motor": motor6, "direction": "forward"}
self.__noteMap[107] = {"motor": motor6, "direction": "backward"}
self.__noteMap[115] = {"motor": motor7, "direction": "forward"}
self.__noteMap[109] = {"motor": motor7, "direction": "backward"}
self.__noteMap[112] = {"motor": motor8, "direction": "forward"}
self.__noteMap[111] = {"motor": motor8, "direction": "backward"}
#for motornum, notes, gpio in self.notes():
#try:
#print "tryblock"
#except:
#print "Error mapping motor"
print self.__noteMap
self.wake()
time.sleep(2)
#!/usr/bin/env python3
import time
from gpiozero import PhaseEnableMotor
secs_per_rev = 1.06
revs_per_dispense = 2
dir_pin = 26
step_pin = 19
speed = 400 # in steps per second
motor = PhaseEnableMotor(dir_pin, step_pin)
def dispense(items=1):
motor.backward(0.5)
motor.enable_device.frequency = speed
time.sleep(secs_per_rev * revs_per_dispense * items)
motor.stop()
dispense(2)
class SurveyorSRV1MotorBoard:
""" A class that controls the motor board on the Surveyor
SRV-1 tracked robot
"""
def __init__(self):
# A factor that can be adjusted to fine tune motor speed
self._left_speed = 1.0
self._right_speed = 1.0
# The actual motor objects
self._left_motor = PhaseEnableMotor(26, 20)
self._right_motor = PhaseEnableMotor(16, 21)
# The laser objects
self._left_laser = LED(13)
self._right_laser = LED(12)
def lasersOn(self):
""" Turn on both lasers """
self._left_laser.on()
self._right_laser.on()
def lasersOff(self):
""" Turn off both lasers """
self._left_laser.off()
self._right_laser.off()
@property
def motorsSpeedFactors(self):
""" Get the motor speed factors
Output: {'left': float, 'right': float}
"""
return {'left': self._left_speed, 'right': self._right_speed}
@motorsSpeedFactors.setter
def motorsSpeedFactors(self, left=1.0, right=1.0):
""" Tune the motor speed factors
Input: Keyword parameters => left = 1.0 and right = 1.0
"""
try:
assert left <= 1.0 and left >= 0.0
assert right <= 1.0 and right >= 0.0
except AssertionError:
print("The speed parameters should be between 0.0 and 1.0")
print("Setting both speed factors to default (1.0)")
left = 1.0
right = 1.0
finally:
self._left_speed = left
self._right_speed = right
def motorsMove(self, direction, speed=1.0):
""" Command the motors to move
Input: direction = ['left', 'right', 'forward', 'backward']
speed = float => 0.0 to 1.0
"""
try:
assert speed <= 1.0
assert speed >= 0.0
assert direction in ['left', 'right', 'forward', 'backward']
except AssertionError:
# How to log errors?
print("Speed parameters should be between 0.0 and 1.0")
print("Not affecting any motor changes")
left_speed_adj = speed * self._left_speed
right_speed_adj = speed * self._right_speed
if direction == 'forward':
# Backward is forward on our robot
self._left_motor.backward(left_speed_adj)
self._right_motor.backward(right_speed_adj)
elif direction == 'backward':
# Forward is backward on our robot
self._left_motor.forward(left_speed_adj)
self._right_motor.forward(right_speed_adj)
elif direction == 'left':
self._left_motor.stop()
self._right_motor.backward(right_speed_adj)
elif direction == 'right':
self._left_motor.backward(left_speed_adj)
self._right_motor.stop()
else:
print("This shouldn't happen... seems like a direction \
command slipped through")
def motorsStop(self):
""" Command the motors to stop """
self._left_motor.stop()
self._right_motor.stop()
def boardStatus(self):
""" The status of the SRV1 motor board
Output: {'L Laser': Boolean, 'R Laser': Boolean, \
'L Motor': Boolean, 'R Motor': Boolean}
"""
return {
'L Laser': self._left_laser.is_lit,
'R Laser': self._right_laser.is_lit,
'L Motor': self._left_motor.value,
'R Motor': self._right_motor.value
}
def __str__(self):
""" Let the __str__ method indicate the status of the board """
return str(self.boardStatus())
def run(window, device, host, port):
run_window = window
factory = PiGPIOFactory(host=host, port=port)
if device in (N_DigitalOutputDevice, N_LED, N_Buzzer):
run_window.Layout(led_layout())
switch = False
device_open = False
while True:
event, values = run_window.read()
if event == '-pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-open-':
if not device_open:
if values['-pin-'] == 'Select pin':
sg.popup_no_titlebar("Select your pin!")
continue
else:
d = DigitalOutputDevice(values['-pin-'], pin_factory=factory)
device_open = True
run_window['-open-'].update(image_data=icon_close)
else:
device_open = False
switch = False
run_window['-open-'].update(image_data=icon_open)
run_window['-switch-'].update(image_data=icon_switch_off)
d.close()
if event == '-switch-':
if device_open:
switch = not switch
run_window['-switch-'].update(image_data=icon_switch_on if switch else icon_switch_off)
d.on() if switch else d.off()
else:
sg.popup_no_titlebar("Open device first!")
if event in (sg.WIN_CLOSED, 'Exit'):
break
elif device in (N_PWMOutputDevice, N_PWMLED):
run_window.Layout(pwmled_layout())
device_open = False
while True:
event, values = run_window.read()
if event in (sg.WIN_CLOSED, 'Exit'):
break
# if not exit-event, get param
cycle = 0 if str(values['-cycle-']).startswith('Select') else values['-cycle-']
frequency = 100 if values['-frequency-'].startswith('Select') else int(
values['-frequency-'].replace('Hz', ''))
if event == '-pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-frequency-':
if device_open:
d.frequency = frequency
if event == '-cycle-':
if device_open:
d.value = cycle
if event == '-open-':
if not device_open:
if values['-pin-'] == 'Select pin':
sg.popup_no_titlebar("Select your pin!")
continue
else:
d = PWMOutputDevice(values['-pin-'], initial_value=cycle, frequency=frequency,
pin_factory=factory)
device_open = True
run_window['-open-'].update(image_data=icon_close)
else:
device_open = False
d.close()
run_window['-open-'].update(image_data=icon_open)
if event == '-pulse-':
if device_open:
d.pulse()
else:
sg.popup_no_titlebar("Open device first!")
elif device == N_Servo:
run_window.Layout(servo_layout())
device_open = False
while True:
event, values = run_window.read()
if event in (sg.WIN_CLOSED, 'Exit'):
break
value = 0 if str(values['-value-']).startswith('Select') else values['-value-']
min_pulse_width = (1 if values['-min_pulse_width-'].startswith('Select') else float(
values['-min_pulse_width-'].replace('ms', ''))) / 1000
max_pulse_width = (2 if values['-max_pulse_width-'].startswith('Select') else float(
values['-max_pulse_width-'].replace('ms', ''))) / 1000
if event == '-pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-value-':
if device_open:
d.value = value
if event in ('-min_pulse_width-', '-max_pulse_width-'):
if device_open:
sg.popup_no_titlebar('Pulse-width param only work before open!')
if event == '-open-':
if not device_open:
if values['-pin-'] == 'Select pin':
sg.popup_no_titlebar("Select your pin!")
continue
else:
d = Servo(values['-pin-'], initial_value=value, min_pulse_width=min_pulse_width,
max_pulse_width=max_pulse_width, pin_factory=factory)
device_open = True
run_window['-open-'].update(image_data=icon_close)
else:
device_open = False
d.close()
run_window['-open-'].update(image_data=icon_open)
elif device == N_AngularServo:
run_window.Layout(angularservo_layout())
device_open = False
while True:
event, values = run_window.read()
if event in (sg.WIN_CLOSED, 'Exit'):
break
angle = 0 if str(values['-angle-']).startswith('Select') else values['-angle-']
min_angle = -90 if str(values['-min_angle-']).startswith('Select') else values['-min_angle-']
max_angle = 90 if str(values['-max_angle-']).startswith('Select') else values['-max_angle-']
min_pulse_width = (1 if values['-min_pulse_width-'].startswith('Select') else float(
values['-min_pulse_width-'].replace('ms', ''))) / 1000
max_pulse_width = (2 if values['-max_pulse_width-'].startswith('Select') else float(
values['-max_pulse_width-'].replace('ms', ''))) / 1000
if event == '-pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-angle-':
if device_open:
d.angle = angle
if event in ('-min_pulse_width-', '-max_pulse_width-', '-min_angle-', '-max_angle-'):
if device_open:
sg.popup_no_titlebar('Pulse-width param only work before open!')
if event == '-open-':
if not device_open:
if values['-pin-'] == 'Select pin':
sg.popup_no_titlebar("Select your pin!")
continue
else:
d = AngularServo(values['-pin-'], initial_angle=angle, min_angle=min_angle, max_angle=max_angle,
min_pulse_width=min_pulse_width,
max_pulse_width=max_pulse_width, pin_factory=factory)
device_open = True
run_window['-open-'].update(image_data=icon_close)
else:
device_open = False
d.close()
run_window['-open-'].update(image_data=icon_open)
elif device == N_PhaseEnableMotor:
run_window.Layout(phaseenablemotor_layout())
device_open = False
while True:
event, values = run_window.read()
if event in (sg.WIN_CLOSED, 'Exit'):
break
# if not exit-event, get param
speed = 0 if str(values['-speed-']).startswith('Select') else values['-speed-']
if event == '-direction_pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-speed_pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-speed-':
if device_open:
d.value = speed
if event == '-open-':
if not device_open:
select = 'Select direction pin'
if values['-direction_pin-'] == select or values['-speed_pin-'] == select:
sg.popup_no_titlebar("Select your pin!")
continue
else:
d = PhaseEnableMotor(phase=values['-direction_pin-'], enable=values['-speed_pin-'],
pin_factory=factory)
d.value = 0
device_open = True
run_window['-open-'].update(image_data=icon_close)
else:
device_open = False
d.close()
run_window['-open-'].update(image_data=icon_open)
elif device == N_Button:
run_window.Layout(button_layout())
device_open = False
while True:
event, values = run_window.read()
if event in (sg.WIN_CLOSED, 'Exit'):
break
# if not exit-event, get param
if event == '-pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-pull_up-':
if device_open:
sg.popup_no_titlebar('pull-up param only work before open!')
if event == '-test-':
if device_open:
sg.popup_no_titlebar('Now you can test button!')
d.wait_for_press()
sg.popup_no_titlebar('Yuu pressed button!')
d.wait_for_release()
sg.popup_no_titlebar('Yuu released button!')
else:
sg.popup_no_titlebar("Open device first!")
if event == '-open-':
if not device_open:
if values['-pin-'] == 'Select pin':
sg.popup_no_titlebar("Select your pin!")
continue
else:
pull_up = True if str(values['-pull_up-']).startswith('Select') else values['-pull_up-']
d = Button(values['-pin-'], pull_up=pull_up, bounce_time=0.1, pin_factory=factory)
device_open = True
run_window['-open-'].update(image_data=icon_close)
else:
device_open = False
d.close()
run_window['-open-'].update(image_data=icon_open)
elif device in (N_LineSensor, N_MotionSensor, N_LightSensor):
run_window.Layout(linesensor_layout())
device_open = False
while True:
event, values = run_window.read()
if event in (sg.WIN_CLOSED, 'Exit'):
break
if event == '-pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-test-':
if device_open:
sg.popup_no_titlebar('Now you can test sensor!')
d.wait_for_active()
sg.popup_no_titlebar('device now is active!')
d.wait_for_inactive()
sg.popup_no_titlebar('device now is inactive, Test over!')
else:
sg.popup_no_titlebar("Open device first!")
if event == '-open-':
if not device_open:
if values['-pin-'] == 'Select pin':
sg.popup_no_titlebar("Select your pin!")
continue
else:
d = eval(device)(pin=values['-pin-'], pin_factory=factory)
device_open = True
run_window['-open-'].update(image_data=icon_close)
else:
device_open = False
d.close()
run_window['-open-'].update(image_data=icon_open)
from gpiozero import PhaseEnableMotor motor = PhaseEnableMotor(3, 5) motor.forward()
from gpiozero import PhaseEnableMotor
def clamp(value, min_, max_):
return min(max_, max(min_, value))
motor1 = PhaseEnableMotor(26, 20)
motor2 = PhaseEnableMotor(16, 21)
speed = 1.0
inp = ''
while inp != 'q':
print("Press 'q' to quit")
inp = input("Press f to go forward, b to go backward, s to stop: ")
if inp == 'f':
motor1.backward(speed)
motor2.backward(speed)
elif inp == 'b':
motor1.forward(speed)
motor2.forward(speed)
elif inp == 'l':
motor1.stop()
motor2.backward(speed)
elif inp == 'r':
motor1.backward(speed)
motor2.stop()
elif inp == 's':
motor1.stop()