def __init__(self):
self.servoLeft = 8
self.servoRight = 9
self.board = pymata4.Pymata4()
self.board.set_pin_mode_servo(self.servoLeft)
self.board.set_pin_mode_servo(self.servoRight)
def keep_alive_test(pin_number):
"""
This program will set a digital output pin to high.
It is assumed that an LED is connected to this pin.
After 2 seconds the program exits, and in approximately
one second the LED should extinguish.
If keep_alive is working, the LED should extinguish.
:param pin_number: A pin with an LED connected to it
"""
board = pymata4.Pymata4()
# set the as a digital output
board.set_pin_mode_digital_output(pin_number)
# set the pin high
board.digital_write(pin_number, 1)
# turn on keep_alives
board.keep_alive()
print('Sleeping for 2 seconds...')
time.sleep(2)
print('Exiting. In about 1 second, the LED should extinguish.')
sys.exit(0)
def __init__(self, analog_pin=2, poll_time=5, differential=5):
"""
:param analog_pin: arduino analog input pin number
:param poll_time: polling interval in seconds
:param differential: difference between current value and
previous value to consider the change
in value a change event
"""
self.analog_pin = analog_pin
self.poll_time = poll_time
self.differential = differential
# Callback data indices
self.CB_PIN_MODE = 0 # pin mode (see pin modes in private_constants.py)
self.CB_PIN = 1 # pin number
self.CB_VALUE = 2 # reported value
self.CB_TIME = 3 # raw time stamp
# instantiate pymata4
self.board = pymata4.Pymata4()
# set the pin mode for analog input
self.board.set_pin_mode_analog_input(self.analog_pin,
self.the_callback,
self.differential)
# start polling
self.keep_polling()
def connectToBoard():
#TODO: Add timeout if board does not connect in time.
global BOARD
ProgramLogger.info("Connecting to board.")
try:
#TODO: Document connecting to an Arduino Due.
BOARD = pymata4.Pymata4()
ProgramLogger.info(
f"Total Digital Pins: {str(len(BOARD.digital_pins))} Total Analog Pins: {str(len(BOARD.analog_pins))}"
)
except AttributeError:
#TODO: Check if borad is an Arduino Due.
loading.destroy()
info = "Could not connect to arduino board. Is it pluged in? Reconnect the arduino USB cable, then try again. Or check that the arduino board is assigned a COM port in Device Manager."
ProgramLogger.critical(info, exc_info=True)
messagebox.showerror(
PROGRAM_NAME, f"{info}\n\nCheck program log file for more info.")
return
except RuntimeError as err:
loading.destroy()
info = f"An error occurred during board communication. If this error has somthing to do with a timeout, close the program and reconnect the arduino USB cable.\n\n{err}"
ProgramLogger.critical(info, exc_info=True)
messagebox.showerror(
PROGRAM_NAME, f"{info}\n\nCheck program log file for more info.")
return
attatchSteppers()
def main():
board = pymata4.Pymata4()
app = QApplication(sys.argv)
app.setStyle('Fusion')
ex = pwmUI(board=board)
sys.exit(app.exec_())
def __init__(self):
self.values = {
'leftX': 0,
'leftY': 0,
'rightX': 0,
'rightY': 0,
'sonar': 0,
'distance': 0,
'light': 0,
'temp': 0,
'rot': 0,
}
self.pins = {
'pwmOut': {
'leftEnA': 3,
'leftEnB': 2,
'rightEnA': 4,
'rightEnB': 5,
},
'digitalOut': {
'leftIn1': 24,
'leftIn2': 25,
'leftIn3': 22,
'leftIn4': 23,
'rightIn1': 26,
'rightIn2': 27,
'rightIn3': 28,
'rightIn4': 29,
'relay': 53,
},
'analogOut': {
'distance': 0,
'light': 1,
'temp': 2,
'rot': 3
},
'sonar': {
'trigger': 12,
'echo': 13
}
}
self.board = pymata4.Pymata4()
[
self.board.set_pin_mode_pwm_output(self.pins['pwmOut'][x])
for x in self.pins['pwmOut']
]
[
self.board.set_pin_mode_pwm_output(self.pins['digitalOut'][x])
for x in self.pins['digitalOut']
]
[
self.board.set_pin_mode_pwm_output(self.pins['analogOut'][x])
for x in self.pins['analogOut']
]
self.board.set_pin_mode_sonar(self.pins['sonar']['trigger'],
self.pins['sonar']['echo'])
def __init__(self):
self.servoPin = 9
self.enaPin = 5
self.in1Pin = 6
self.in2Pin = 7
self.board = pymata4.Pymata4()
self.board.set_pin_mode_servo(self.servoPin)
self.board.set_pin_mode_pwm_output(self.enaPin)
self.board.set_pin_mode_digital_output(self.in1Pin)
self.board.set_pin_mode_digital_output(self.in2Pin)
def setup(tempSensors, sensorGroups, hvacControlPins):
LOGGER = logging.getLogger("__main__.hvac.setup")
LOGGER.debug("tempSensors {}\nsensorGroups {}\nhvacControlPins {}".format(
tempSensors, sensorGroups, hvacControlPins))
hvac = HVAC()
# Setup the thermostat
hvac.thermostat = Thermostat()
# Add the sensors to the thermostat
for sensorName, sensorData in tempSensors.items():
hvac.thermostat.addSensor(
sensors.TempSensor(sensorName, sensorData[0], sensorData[1]))
# Create the groups of sensors
for groupName, sensorNames in sensorGroups.items():
hvac.thermostat.createSensorGroup(groupName)
# Add the sensors to the group
for sName in sensorNames:
for sensor in hvac.thermostat.tempSensors:
if sName == sensor.name:
hvac.thermostat.addSensorToGroup(sensor, groupName)
# Setup the heater
hvac.heater = Heater()
hvac.heater.controlPins = hvacControlPins["HEAT_PINS"]
# Setup the vent
hvac.vent = Vent()
hvac.vent.controlPins = hvacControlPins["VENT_PINS"]
# Setup the AC
hvac.ac = AirConditioner()
hvac.ac.controlPins = hvacControlPins["AC_PINS"]
# Setup the pymata board
hvac.board = pymata4.Pymata4()
# Add all of the control and sensor pins to the board
# Sensor pins
for tSensor in hvac.thermostat.tempSensors:
hvac.board.set_pin_mode_analog_input(tSensor.controlPin)
# LOGGER.debug("{} {}".format(tSensor, tSensor.controlPin))
# Control pins
# Heater
for pin in hvac.heater.controlPins:
hvac.board.set_pin_mode_digital_output(pin)
LOGGER.debug("heater controlPin {}".format(pin))
# Vent
for pin in hvac.vent.controlPins:
hvac.board.set_pin_mode_digital_output(pin)
LOGGER.debug("vent controlPin {}".format(pin))
# AC
for pin in hvac.ac.controlPins:
hvac.board.set_pin_mode_digital_output(pin)
LOGGER.debug("ac controlPin {}".format(pin))
return hvac
def __init__(self):
self.board = pymata4.Pymata4()
self.LED_PIN = 9
self.Q1_PIN = 3
self.Q2_PIN = 5
self.T1_PIN = 0
self.T2_PIN = 2
self.board.set_pin_mode_pwm_output(self.LED_PIN)
self.board.set_pin_mode_pwm_output(self.Q1_PIN)
self.board.set_pin_mode_pwm_output(self.Q2_PIN)
self.board.set_pin_mode_analog_input(self.T1_PIN)
self.board.set_pin_mode_analog_input(self.T2_PIN)
self._Q1 = 0
self._Q2 = 0
time.sleep(0.1)
def sensor_manager():
global status, light
# Intialize node and topic
pub_light = rospy.Publisher('light_data', Int16MultiArray, queue_size=10)
pub_force = rospy.Publisher('force_data', Int16MultiArray, queue_size=10)
pub_mic = rospy.Publisher('mic_data', Int16MultiArray, queue_size=10)
rospy.init_node('senor_manager', anonymous=False)
rate = rospy.Rate(10) # 10hz
# msg = vect_msg()
# Initialize Arduino Leoardo with pymata4
board = pymata4.Pymata4()
# Initialize i2c
board.set_pin_mode_i2c()
board.i2c_write(bh1750_address, [bh1750_power_on])
board.i2c_write(bh1750_address, [bh1750_resolution])
# Initialize input analog pins
for pin in analog_pins:
board.set_pin_mode_analog_input(pin_number=pin)
# Initialize output digital pins
for pin in digital_pins:
board.set_pin_mode_digital_output(pin_number=pin)
mic_msg = Int16MultiArray()
fsr_msg = Int16MultiArray()
light_msg = Int16MultiArray()
# Get raw data from board
while True:
# mic data
mic_val = []
for pin in mic:
mic_val.append(list(board.analog_read(pin)))
time.sleep(0.01)
mic_msg.data = [mic_val[0][0], mic_val[1][0]]
pub_mic.publish(mic_msg)
# fsr data
fsr_val = []
for pin in fsr:
fsr_val.append(list(board.analog_read(pin)))
time.sleep(0.01)
fsr_msg.data = [fsr_val[0][0], fsr_val[1][0]]
pub_force.publish(fsr_msg)
# light
board.i2c_read(address=bh1750_address,
register=None,
number_of_bytes=nbytes,
callback=ckb)
light_msg.data = light
pub_light.publish(light_msg)
time.sleep(0.2)
# status led
status = not status
board.digital_write(led_status, status)
rospy.loginfo('Sent data')
rate.sleep()
"""
This example demonstrates running a stepper motor
"""
NUM_STEPS = 512
ARDUINO_PINS = [8, 9, 10, 11]
def stepper(my_board, steps_per_rev, pins):
"""
Set the motor control control pins to stepper mode.
Rotate the motor.
:param my_board: pymata_express instance
:param steps_per_rev: Number of steps per motor revolution
:param pins: A list of the motor control pins
"""
my_board.set_pin_mode_stepper(steps_per_rev, pins)
time.sleep(1)
my_board.stepper_write(20, 500)
board = pymata4.Pymata4()
try:
stepper(board, NUM_STEPS, ARDUINO_PINS)
board.shutdown()
except KeyboardInterrupt:
board.shutdown()
sys.exit(0)
high_nibble: int = value & 0xf0
low_nibble: int = (value << 4) & 0xf0
self.write_4_bits(high_nibble | mode)
self.write_4_bits(low_nibble | mode)
def write_4_bits(self, value: int) -> None:
self.expander_write(value)
self.pulse_enable(value)
def expander_write(self, data: int) -> None:
self.board.i2c_write(self.address, [data, self._backlight_value])
def pulse_enable(self, data: int) -> None:
self.expander_write(data | self.ENABLE_BIT)
sleep(0.000001)
self.expander_write(data & ~self.ENABLE_BIT)
sleep(0.00005)
def print(self, string: AnyStr) -> None:
for character in string:
self.write(ord(character))
sleep(0.000001)
else:
sleep(0.00005)
Board = pymata4.Pymata4("/dev/ttyACM0")
LCD = LiquidCrystal_I2C(0x27, 0, 1, Board)
LCD.enable_backlight()
LCD.print("Hello, Worlds!")
def arduino_init(delay=2):
if pymata_ex:
return pymata_express.PymataExpress(arduino_wait=delay)
else:
return pymata4.Pymata4(arduino_wait=delay)
# set the servo to 90 degrees
my_board.servo_write(pin, 90)
def servo_rev(my_board, pin):
my_board.set_pin_mode_servo(pin)
my_board.servo_write(pin, 40)
def stepper(my_board, steps_per_rev, pins):
"""
Set the motor control control pins to stepper mode.
Rotate the motor.
:param my_board: pymata4
:param steps_per_rev: Number of steps per motor revolution
:param pins: A list of the motor control pins
"""
my_board.stepper_write(10, 100)
my_board.stepper_write(10, -100)
board = pymata4.Pymata4("COM4")
try:
sonar(board, TRIGGER_PIN, ECHO_PIN, the_callback)
board.shutdown()
except (KeyboardInterrupt, RuntimeError):
board.shutdown()
sys.exit(0)
def __init__(self, root):
root.title("TJ-Collaborative Robotics Platform")
root.geometry("500x500")
mainframe = ttk.Frame(root)
mainframe.grid(column=0, row=0, sticky=(N, W, E, S))
self.ultrasonicVar = StringVar()
self.distanceVar = StringVar()
self.lightVar = StringVar()
self.tempVar = StringVar()
self.rotVar = StringVar()
self.relayVar = StringVar()
self.ultrasonicAverage = streamingMovingAverage(50)
self.distanceAverage = streamingMovingAverage(50)
self.lightAverage = streamingMovingAverage(50)
self.tempAverage = streamingMovingAverage(50)
self.rotAverage = streamingMovingAverage(15)
self.relayAverage = streamingMovingAverage(50)
ttk.Label(mainframe, text='Data').grid(column=0, row=0, sticky=(W, E))
ttk.Label(mainframe, text='Ultrasonic').grid(column=0,
row=1,
sticky=(W, E))
ttk.Label(mainframe, textvariable=self.ultrasonicVar).grid(column=1,
row=1)
ttk.Label(mainframe, text='Distance').grid(column=0,
row=2,
sticky=(W, E))
ttk.Label(mainframe, textvariable=self.distanceVar).grid(column=1,
row=2)
ttk.Label(mainframe, text='Light').grid(column=0, row=3, sticky=(W, E))
ttk.Label(mainframe, textvariable=self.lightVar).grid(column=1, row=3)
ttk.Label(mainframe, text='Temperature').grid(column=0,
row=4,
sticky=(W, E))
ttk.Label(mainframe, textvariable=self.tempVar).grid(column=1, row=4)
ttk.Label(mainframe, text='Rotations').grid(column=0,
row=5,
sticky=(W, E))
ttk.Label(mainframe, textvariable=self.rotVar).grid(column=1, row=5)
ttk.Label(mainframe, text='Relay').grid(column=0, row=6, sticky=(W, E))
ttk.Label(mainframe, textvariable=self.relayVar).grid(column=1, row=6)
self.board = pymata4.Pymata4()
self.board.set_pin_mode_sonar(
sensorDict["ultrasonicSensor"]["triggerPin"],
sensorDict["ultrasonicSensor"]["triggerPin"],
self.ultrasonicCallback)
self.board.set_pin_mode_analog_input(
sensorDict["distanceSensor"]["pin"],
callback=self.distanceCallback,
differential=10)
self.board.set_pin_mode_analog_input(sensorDict["lightSensor"]["pin"],
callback=self.lightCallback,
differential=10)
self.board.set_pin_mode_analog_input(sensorDict["tempSensor"]["pin"],
callback=self.tempCallback)
self.board.set_pin_mode_analog_input(sensorDict["rotSensor"]["pin"],
callback=self.rotCallback)
#!/usr/bin/python3
import rospy
from std_msgs.msg import String
import sys
import time
from pymata4 import pymata4
BOARD_PORT = "/dev/ttyACM0"
SERVO_PIN = 5
def servo_callback(angle):
angle_data = float(angle.data) / 1.5
board.servo_write(SERVO_PIN, int(angle_data))
if __name__ == '__main__':
try:
#ros node init\
board = pymata4.Pymata4(BOARD_PORT)
rospy.init_node("pymata")
rospy.Subscriber("angle", String, servo_callback)
board.set_pin_mode_servo(SERVO_PIN)
rospy.spin()
except KeyboardInterrupt:
board.shutdown()
sys.exit(0)
def blink(my_board, pin):
"""
This function will to toggle a digital pin.
:param my_board: an PymataExpress instance
:param pin: pin to be controlled
"""
# set the pin mode
my_board.set_pin_mode_digital_output(pin)
my_board.digital_write(pin, 1)
# toggle the pin 4 times and exit
for x in range(4):
print('ON')
my_board.digital_write(pin, 1)
time.sleep(1)
print('OFF')
my_board.digital_write(pin, 0)
time.sleep(1)
my_board.shutdown()
board = pymata4.Pymata4(ip_address=IP_ADDRESS, ip_port=IP_PORT)
try:
blink(board, DIGITAL_PIN)
except KeyboardInterrupt:
board.shutdown()
sys.exit(0)
# print('OFF')
# my_board.digital_write(pin, 0)
# time.sleep(1)
#my_board.shutdown()
def on_connect(client, userdata, flags, rc):
print("Connected with result code "+str(rc))
client.subscribe("Hellos/+")
def on_message(client, userdata, msg):
incoming_gesture = msg.payload.decode('ascii')
print("Topic: {} message {}".format(msg.topic, incoming_gesture))
blink(board, incoming_gesture)
### Initialize the board
board = pymata4.Pymata4(com_port='/dev/ttyS5')
client = mqtt.Client()
client.on_connect = on_connect
client.on_message = on_message
client.connect("127.0.0.1", 1883, 60)
try:
client.loop_forever()
except:
board.shutdown()
sys.exit(0)
#from pymata4.private_constants import PrivateConstants
"""