def __init__(self, r_pin, g_pin, b_pin):
self.r_pin = r_pin
self.b_pin = b_pin
self.g_pin = g_pin
self.r_pwm = wiringpi.softPwmCreate(r_pin, 0, 100)
self.g_pwm = wiringpi.softPwmCreate(g_pin, 0, 100)
self.b_pwm = wiringpi.softPwmCreate(b_pin, 0, 100)
self.red = 0
self.green = 0
self.blue = 0
self.set(0,0,0)
def big_test_a_bunch_of_ranges():
def testrange(top):
for i in range(0, top, int(top/10)):
print('sending {}'.format(i))
wiringpi.softPwmWrite(servo_gpio_pin, i)
time.sleep(1)
for k in range(10, 1000, 50):
time.sleep(2)
print('creating pin', k)
wiringpi.softPwmCreate(17, 0, k)
testrange(k)
def gpio_init(self):
wp.wiringPiSetupSys()
# Set output for those pins :
wp.pinMode(self.pin_power_left, wp.OUTPUT)
wp.pinMode(self.pin_power_right, wp.OUTPUT)
wp.pinMode(self.pin_direction_left_forward, wp.OUTPUT)
wp.pinMode(self.pin_direction_right_forward, wp.OUTPUT)
wp.pinMode(self.pin_direction_left_rear, wp.OUTPUT)
wp.pinMode(self.pin_direction_right_rear, wp.OUTPUT)
## create the SoftPwm on power pins :
wp.softPwmCreate(self.pin_power_left, 0, self.max_speed)
wp.softPwmCreate(self.pin_power_right, 0, self.max_speed)
## reset everyone :
self.gpio_zero()
def setup_gpio():
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(LEFT_FORWARD, 1)
wiringpi.pinMode(LEFT_BACKWARD, 1)
wiringpi.pinMode(RIGHT_FORWARD, 1)
wiringpi.pinMode(RIGHT_BACKWARD, 1)
wiringpi.softPwmCreate(LEFT_FORWARD, 0, 100)
wiringpi.softPwmCreate(LEFT_BACKWARD, 0, 100)
wiringpi.softPwmCreate(RIGHT_FORWARD, 0, 100)
wiringpi.softPwmCreate(RIGHT_BACKWARD, 0, 100)
def initialize_state(self):
self._not_initialized = False
self._MAX_SPEED = self.config.get('max_motor_speed', 10)
self._MIN_SPEED = self._MAX_SPEED * -1
self.MIN_SERVO = self.config.get('min_servo', 100)
self.MAX_SERVO = self.config.get('max_servo', 100)
self.ZERO_SERVO = self.config.get('zero-servo', 150)
self._INITIAL_SERVO = 100
gears = 5
for index in range(1, gears + 1):
self.gear_lookup[index] = int((self._MAX_SPEED / gears) * index)
logger.info('Setting gears: ' + str(self.gear_lookup))
if self.use_motors or self.use_servo:
res = wiringpi.wiringPiSetupGpio()
if res != 0:
logger.error('Could not set up software PWM')
if self.use_motors:
logger.info('Setting up Motor Software-Based PWM')
# a cluster of horrible looking code, should be refactored but is it single use???
wiringpi.pinMode(self.m1conf.get('en_pin'), wiringpi.GPIO.OUTPUT)
wiringpi.pinMode(self.m1conf.get('dir_pin'), wiringpi.GPIO.OUTPUT)
wiringpi.pinMode(self.m2conf.get('en_pin'), wiringpi.GPIO.OUTPUT)
wiringpi.pinMode(self.m2conf.get('dir_pin'), wiringpi.GPIO.OUTPUT)
logger.info('Pull both motors out of low-power mode')
wiringpi.digitalWrite(self.m1conf.get('en_pin'), 1)
wiringpi.digitalWrite(self.m2conf.get('en_pin'), 1)
logger.info('Set up motor software pwm')
wiringpi.softPwmCreate(self.m1conf.get('pwm_pin'), 0, self._MAX_SPEED)
wiringpi.softPwmCreate(self.m2conf.get('pwm_pin'), 0, self._MAX_SPEED)
wiringpi.softPwmWrite(self.m1conf.get('pwm_pin'), 0)
wiringpi.softPwmWrite(self.m2conf.get('pwm_pin'), 0)
logger.info('Setting motor speeds to zero.')
if self.use_servo:
logger.info('Setting up Servo Hardware-Based PWM')
wiringpi.pinMode(self.servo_gpio_pin, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetClock(192)
wiringpi.pwmSetRange(2000)
logger.info('Servo config done')
wiringpi.pwmWrite(self.servo_gpio_pin, self.ZERO_SERVO)
logger.info('Setting servo speed to zero.')
def setup_and_test(pin, small, large, first):
print('{} {} {}'.format(small, large, first))
print('creating pin')
cr = wiringpi.softPwmCreate(pin, small, large)
print('Create results: {}'.format(cr))
print('first write')
wres = wiringpi.softPwmWrite(servo_gpio_pin, first)
print('Write res {}'.format(wres))
time.sleep(1)
print('done sleeping')
wiringpi.softPwmWrite(servo_gpio_pin, small)
def main():
context = zmq.Context()
socket = context.socket(zmq.SUB)
socket.setsockopt(zmq.SUBSCRIBE, '')
socket.connect('tcp://192.168.2.1:7777')
wiringpi.wiringPiSetup()
wiringpi.softPwmCreate(RED_PIN, 0, 255)
wiringpi.softPwmCreate(GREEN_PIN, 0, 255)
wiringpi.softPwmCreate(BLUE_PIN, 0, 255)
while True:
rgb = int(socket.recv())
red = (rgb >> 16) & 0xFF
green = (rgb >> 8) & 0xFF
blue = rgb & 0xFF
wiringpi.softPwmWrite(RED_PIN, red)
wiringpi.softPwmWrite(GREEN_PIN, green)
wiringpi.softPwmWrite(BLUE_PIN, blue)
def __init__(self, pin):
self.pin = pin
self.forwards_pulse = 10
self.backwards_pulse = 30
gpio.softPwmCreate(pin, 50, 100)
gpio.softPwmWrite(self.pin, 0)
import wiringpi as pi import time LED_PIN = 23 pi.wiringPiSetupGpio() pi.pinMode(LED_PIN, pi.OUTPUT) pi.softPwmCreate(LED_PIN, 0, 100) pi.softPwmWrite(LED_PIN, 50) time.sleep(100)
import wiringpi
import time
import os
pin = 0
wiringpi.wiringPiSetup()
# wiringpi.wiringPiSetupSys()
# os.system('gpio export 17 out')
wiringpi.digitalWrite(pin, 1)
time.sleep(0.5)
wiringpi.digitalWrite(pin, 0)
time.sleep(0.5)
wiringpi.digitalWrite(pin, 1)
time.sleep(0.5)
wiringpi.digitalWrite(pin, 0)
time.sleep(0.5)
pin = wiringpi.softPwmCreate(pin, 0, 100)
while True:
for value in range(0, 100):
wiringpi.softPwmWrite(pin, value)
print value
time.sleep(0.01)
for value in range(100, 0, -1):
wiringpi.softPwmWrite(pin, value)
print value
time.sleep(0.01)
except redis.ConnectionError:
print "Error: cannot connect to redis server"
exit()
# wiringpi.wiringPiSetup()
wiringpi.wiringPiSetupGpio()
pinR = config.getint('output', 'red')
pinG = config.getint('output', 'green')
pinB = config.getint('output', 'blue')
wiringpi.pinMode(pinR, wiringpi.OUTPUT)
wiringpi.pinMode(pinG, wiringpi.OUTPUT)
wiringpi.pinMode(pinB, wiringpi.OUTPUT)
wiringpi.softPwmCreate(pinR, 0, 127)
wiringpi.softPwmCreate(pinG, 0, 127)
wiringpi.softPwmCreate(pinB, 0, 127)
while True:
time.sleep(config.getfloat('general', 'delay'))
valR = EEGsynth.getint('input', 'red', config, r) * EEGsynth.getfloat('scaling', 'red', config, r)
valG = EEGsynth.getint('input', 'green', config, r) * EEGsynth.getfloat('scaling', 'green', config, r)
valB = EEGsynth.getint('input', 'blue', config, r) * EEGsynth.getfloat('scaling', 'blue', config, r)
print valR, valG, valB
wiringpi.softPwmWrite(pinR, int(valR))
wiringpi.softPwmWrite(pinG, int(valG))
wiringpi.softPwmWrite(pinB, int(valB))
# -*- coding: utf-8 -*-
import time
import wiringpi as pi
motor1_pin = 23
motor2_pin = 24
SW_PIN = 4
SW2_PIN = 10
pi.wiringPiSetupGpio()
pi.pinMode(SW_PIN, pi.INPUT)
pi.pinMode(motor1_pin, pi.OUTPUT)
pi.pinMode(motor2_pin, pi.OUTPUT)
pi.softPwmCreate(motor1_pin, 0, 100)
pi.softPwmCreate(motor2_pin, 0, 100)
pi.softPwmWrite(motor1_pin, 0)
pi.softPwmWrite(motor2_pin, 0)
max_speed = 30
max2_speed = max_speed - 1
def go_up():
print("go_start")
pi.softPwmWrite(motor1_pin, 0)
pi.softPwmWrite(motor2_pin, 0)
time.sleep(1)
import wiringpi as pi import time green_pin = 18 blue_pin = 23 red_pin = 24 pi.wiringPiSetupGpio() pi.pinMode(green_pin, pi.OUTPUT) pi.pinMode(blue_pin, pi.OUTPUT) pi.pinMode(red_pin, pi.OUTPUT) pi.softPwmCreate(green_pin, 0, 100) pi.softPwmCreate(blue_pin, 0, 100) pi.softPwmCreate(red_pin, 0, 100) pi.softPwmWrite(green_pin, 0) pi.softPwmWrite(blue_pin, 100) pi.softPwmWrite(red_pin, 100)
green_back = 21
blue_back = 17
wiringpi.wiringPiSetupGpio() #this comand tells the program to use the GPIO pinout
#these comands set up each pin as outputs
# 1 = output 0 = input
wiringpi.pinMode(red_back, 1)
wiringpi.pinMode(blue_back, 1)
wiringpi.pinMode(green_back, 1)
wiringpi.pinMode(red_front, 1)
wiringpi.pinMode(blue_front, 1)
wiringpi.pinMode(green_front, 1)
#thest comands create the ablity for PWM on each pin with the range of each
wiringpi.softPwmCreate(red_front, OFF, ON)
wiringpi.softPwmCreate(blue_front, OFF, ON)
wiringpi.softPwmCreate(green_front, OFF, ON)
wiringpi.softPwmCreate(red_back, OFF, ON)
wiringpi.softPwmCreate(blue_back, OFF, ON)
wiringpi.softPwmCreate(green_back, OFF, ON)
def resetpins():
wiringpi.softPwmWrite(red_front, pinArray[0])
wiringpi.softPwmWrite(blue_front, pinArray[1])
wiringpi.softPwmWrite(green_front, pinArray[2])
wiringpi.softPwmWrite(red_back, pinArray[0])
wiringpi.softPwmWrite(blue_back, pinArray[1])
wiringpi.softPwmWrite(green_back, pinArray[2])
def setup():
def __init__(self, pf, pb):
self.pinForward = pf
self.pinBack = pb
wiringpi.softPwmCreate(pf, 0, 80)
wiringpi.softPwmCreate(pb, 0, 80)
def Motor(x, y, pwm):
wp.pinMode(x, 1)
wp.pinMode(y, 1)
wp.pinMode(pwm, 1)
wp.softPwmCreate(pwm, 0, 500)
return x, y, pwm
import MCP3202, os
from time import sleep
import wiringpi as wpi
MICRO_SERVO = 1
wpi.wiringPiSetup()
wpi.softPwmCreate(MICRO_SERVO, 0, 200)
def translate(value, leftMin, leftMax, rightMin, rightMax):
# Figure out how 'wide' each range is
leftSpan = leftMax - leftMin
rightSpan = rightMax - rightMin
# Convert the left range into a 0-1 range (float)
valueScaled = float(value - leftMin) / float(leftSpan)
# Convert the 0-1 range into a value in the right range.
return rightMin + (valueScaled * rightSpan)
try:
while True:
os.system("clear")
value1 = MCP3202.readADC(0)
map = translate(value1, 0, 4095, 6, 24)
position = translate(value1, 0, 4095, 0, 180)
print("Servo Position")
print("Curent Position : ", int(position), "degree")
print("")
print("Press CTRL+C to exit")
wpi.softPwmWrite(MICRO_SERVO, int(map))
import wiringpi
import time
import os
pin = 0
wiringpi.wiringPiSetup()
# wiringpi.wiringPiSetupSys()
# os.system('gpio export 17 out')
wiringpi.digitalWrite(pin,1)
time.sleep(0.5);
wiringpi.digitalWrite(pin,0)
time.sleep(0.5);
wiringpi.digitalWrite(pin,1)
time.sleep(0.5);
wiringpi.digitalWrite(pin,0)
time.sleep(0.5);
pin = wiringpi.softPwmCreate(pin,0,100)
while True:
for value in range(0,100):
wiringpi.softPwmWrite(pin, value)
print value
time.sleep(0.01);
for value in range(100,0,-1):
wiringpi.softPwmWrite(pin, value)
print value
time.sleep(0.01);
# Pulsates an LED connected to GPIO pin 1 with a suitable resistor 4 times using softPwm # softPwm uses a fixed frequency import wiringpi OUTPUT = 1 PIN_TO_PWM = 1 wiringpi.wiringPiSetup() wiringpi.pinMode(PIN_TO_PWM,OUTPUT) wiringpi.softPwmCreate(PIN_TO_PWM,0,100) # Setup PWM using Pin, Initial Value and Range parameters for time in range(0,4): for brightness in range(0,100): # Going from 0 to 100 will give us full off to full on wiringpi.softPwmWrite(PIN_TO_PWM,brightness) # Change PWM duty cycle wiringpi.delay(10) # Delay for 0.2 seconds for brightness in reversed(range(0,100)): wiringpi.softPwmWrite(PIN_TO_PWM,brightness) wiringpi.delay(10)
import wiringpi import time rightMotorDir = 29 leftMotorDir = 28 rightMotorSpeed = 23 leftMotorSpeed = 26 wiringpi.wiringPiSetup() wiringpi.pinMode(rightMotorDir, 1) wiringpi.pinMode(leftMotorDir, 1) wiringpi.pinMode(rightMotorSpeed, 1) wiringpi.pinMode(leftMotorSpeed, 1) wiringpi.softPwmCreate(rightMotorSpeed, 0, 100) wiringpi.softPwmCreate(leftMotorSpeed, 0, 100) # Start with low power for 3 seconds wiringpi.digitalWrite(rightMotorDir, 1) wiringpi.digitalWrite(leftMotorDir, 0) wiringpi.softPwmWrite(rightMotorSpeed, 100) wiringpi.softPwmWrite(leftMotorSpeed, 100) time.sleep(1) # Switch direction wiringpi.digitalWrite(rightMotorDir, 0) wiringpi.digitalWrite(leftMotorDir, 1) time.sleep(1)
def Motor(a, b, pwm):
wp.pinMode(a, 1)
wp.pinMode(b, 1)
wp.pinMode(pwm, 1)
wp.softPwmCreate(pwm, 0, 400)
return a, b, pwm
def setup():
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(red_back, 1)
wiringpi.pinMode(blue_back, 1)
wiringpi.pinMode(green_back, 1)
wiringpi.pinMode(red_front, 1)
wiringpi.pinMode(blue_front, 1)
wiringpi.pinMode(green_front, 1)
wiringpi.softPwmCreate(red_front, OFF, ON)
wiringpi.softPwmCreate(blue_front, OFF, ON)
wiringpi.softPwmCreate(green_front, OFF, ON)
wiringpi.softPwmCreate(red_back, OFF, ON)
wiringpi.softPwmCreate(blue_back, OFF, ON)
wiringpi.softPwmCreate(green_back, OFF, ON)
blue = 0 green = 0 select = 0 SPI_CH = 0 READ_CH = 0 pi.wiringPiSetupGpio() pi.pinMode( green_pin, 1 ) pi.pinMode( blue_pin, 1 ) pi.pinMode( red_pin, 1 ) pi.pinMode( button_pin, 0 ) pi.pullUpDnControl( button_pin, 2 ) pi.softPwmCreate( green_pin, 0, 100 ) pi.softPwmCreate( blue_pin, 0, 100 ) pi.softPwmCreate( red_pin, 0, 100 ) mcp3002 = mcp3002( pi, SPI_CH ) while True: if ( pi.digitalRead( button_pin ) == 0 ): time.sleep( 0.01 ) if ( select == 0 ): select = 1 print( "Control Green." ) elif ( select == 1 ): select = 2 print( "Control Blue." ) elif ( select == 2 ):
# Servo Control
import time
import wiringpi
PIN_TO_PWM = 23
PIN_TO_PWM2 = 24
wiringpi.wiringPiSetupGpio()
OUTPUT = 1
wiringpi.pinMode(PIN_TO_PWM, OUTPUT)
wiringpi.softPwmCreate(PIN_TO_PWM, 50, 1000)
wiringpi.pinMode(PIN_TO_PWM2, OUTPUT)
wiringpi.softPwmCreate(PIN_TO_PWM2, 50, 1000)
try:
while True:
val = int(raw_input())
val2 = int(raw_input())
wiringpi.softPwmWrite(PIN_TO_PWM, val)
wiringpi.delay(10)
wiringpi.softPwmWrite(PIN_TO_PWM2, val2)
wiringpi.delay(10)
finally:
wiringpi.softPwmWrite(PIN_TO_PWM, 15)
wiringpi.softPwmWrite(PIN_TO_PWM2, 15)
def init_raspberry_pins():
wp.wiringPiSetup()
wp.softPwmCreate(robot_api['pwm_left_pin'], 0, robot_api['pwm_range'])
wp.softPwmCreate(robot_api['pwm_right_pin'], 0, robot_api['pwm_range'])
wp.pinMode(robot_api['dir_left_pin'], wp.OUTPUT)
wp.pinMode(robot_api['dir_right_pin'], wp.OUTPUT)
def Servo(pin): wp.pinMode(pin,1) wp.softPwmCreate(pin,0,100) return pin
#
# 02_led_wiringpi_softpwm.py
#
import wiringpi
LED_PORT = 18
PWM_RANGE = 100
# Software PWM
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(LED_PORT, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.softPwmCreate(LED_PORT, 0, PWM_RANGE)
# LEDを2秒間点灯する
for duty in (5, 20, 50, 80, 100):
print(duty)
wiringpi.softPwmWrite(LED_PORT, duty)
wiringpi.delay(2000)
wiringpi.softPwmStop(LED_PORT)
print('done')
import wiringpi as pi, time
import webiopi
servo_pin = 23
waittime = 0.03
pi.wiringPiSetupGpio()
pi.pinMode(servo_pin, pi.OUTPUT)
pi.softPwmCreate(servo_pin, 0, 50)
def moveleft(pin):
for i in range(27, 5, -1):
time.sleep(waittime)
pi.softPwmWrite(pin, i)
def moveright(pin):
for i in range(5, 27, 1):
time.sleep(waittime)
pi.softPwmWrite(pin, i)
for i in range(3):
moveleft(servo_pin)
moveright(servo_pin)
pi.softPwmWrite(servo_pin, 0)
def _start():
'''Start the module
This uses the global variables from setup and adds a set of global variables
'''
global parser, args, config, r, response, patch, name
global monitor, pin, debug, delay, scale_duration, offset_duration, lock, trigger
# this can be used to show parameters that have changed
monitor = EEGsynth.monitor(name=name, debug=patch.getint('general', 'debug'))
# make a dictionary that maps GPIOs to the WiringPi number
pin = {
"gpio0": 0,
"gpio1": 1,
"gpio2": 2,
"gpio3": 3,
"gpio4": 4,
"gpio5": 5,
"gpio6": 6,
"gpio7": 7,
"gpio21": 21,
"gpio22": 22,
"gpio23": 23,
"gpio24": 24,
"gpio25": 25,
"gpio26": 26,
"gpio27": 27,
"gpio28": 28,
"gpio29": 29,
}
# get the options from the configuration file
debug = patch.getint('general', 'debug')
delay = patch.getfloat('general', 'delay')
# values between 0 and 1 work well for the duration
scale_duration = patch.getfloat('scale', 'duration', default=1)
offset_duration = patch.getfloat('offset', 'duration', default=0)
# this is to prevent two triggers from being activated at the same time
lock = threading.Lock()
# use the WiringPi numbering, see http://wiringpi.com/reference/setup/
wiringpi.wiringPiSetup()
# set up PWM for the control channels
previous_val = {}
for gpio, channel in config.items('control'):
monitor.info("control " + channel + " " + gpio)
wiringpi.softPwmCreate(pin[gpio], 0, 100)
# control values are only relevant when different from the previous value
previous_val[gpio] = None
# create the threads that deal with the triggers
trigger = []
for gpio, channel in config.items('trigger'):
wiringpi.pinMode(pin[gpio], 1)
duration = patch.getstring('duration', gpio)
trigger.append(TriggerThread(channel, gpio, duration))
monitor.info("trigger " + channel + " " + gpio)
# start the thread for each of the triggers
for thread in trigger:
thread.start()
# there should not be any local variables in this function, they should all be global
if len(locals()):
print('LOCALS: ' + ', '.join(locals().keys()))
import wiringpi
import time
#GPIO_WIRING_PIN = 1 # gpio pin 12 = wiringpi no. 1 (BCM 18)
GPIO_BCM = 18
#Initialize HW PWM
#wiringpi.wiringPiSetup()
#wiringpi.pinMode(GPIO_BCM, 2) # PWM mode
#wiringpi.pwmWrite(GPIO_BCM, 0) # OFF
#Initialize SW PWM
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(GPIO_BCM, 2) # PWM mode
wiringpi.softPwmCreate(GPIO_BCM,0,200) # Setup PWM using Pin, Initial Value and Range parameters
# Set PWM
def pwm(value):
#HW PWM
#wiringpi.pwmWrite(GPIO_BCM, value)
#SW PWM
wiringpi.softPwmWrite(GPIO_BCM, value)
print "PWM 0"
for i in range(5,18):
pwm(i)
print i
time.sleep(1)
pwm(0)
import time, wiringpi as pi
led_pin = 14
pi.wiringPiSetupGpio()
pi.pinMode( led_pin, pi.OUTPUT )
pi.softPwmCreate( led_pin, 0, 100)
pi.softPwmWrite( led_pin, 0 )
while True:
strong = 0
while ( strong <= 100 ):
pi.softPwmWrite( led_pin, strong )
time.sleep(0.1)
strong = strong + 1
pi.softPwmWrite( led_pin, 0 )
time.sleep(2)
def setPinConfig(self, EN, INA, INB):
wiringpi.pinMode(EN, self.OUTPUT)
wiringpi.pinMode(INA, self.OUTPUT)
wiringpi.pinMode(INB, self.OUTPUT)
wiringpi.softPwmCreate(EN, 0, 255)
HSV_Lower_White = (7,15,240)
HSV_Upper_White = (30,0,255)
wp.wiringPiSetupGpio() #WiringPi setup and all gpio pins initialized
m1x=26
m1y=20
m2x=19
m2y=16
m1e=13
m2e=21
wp.pinMode(m1x,1) #Motor 1 and Motor 2 - Forward,Backward and Enabler pin Setup
wp.pinMode(m1y,1)
wp.softPwmCreate(m1e,0,100)
wp.pinMode(m2x,1)
wp.pinMode(m2y,1)
wp.softPwmCreate(m2e,0,100)
def forward(dist):
wp.digitalWrite(m1x,0)
wp.digitalWrite(m1y,1)
wp.digitalWrite(m2x,1)
wp.digitalWrite(m2y,0)
wp.softPwmWrite(m1e,20)
wp.softPwmWrite(m2e,25)
print('Moving forward')
time.sleep(dist)
import wiringpi as wpi
PIN_LED = 18
wpi.wiringPiSetupGpio()
wpi.pinMode(PIN_LED, wpi.OUTPUT)
wpi.softPwmCreate(PIN_LED, 0, 100)
while True:
for i in range(0, 101):
wpi.softPwmWrite(PIN_LED, i)
wpi.delay(10)
for i in range(100, -1, -1):
wpi.softPwmWrite(PIN_LED, i)
wpi.delay(10)
# Pulsates an LED connected to GPIO pin 1 with a suitable resistor 4 times using softPwm
# softPwm uses a fixed frequency
import wiringpi
OUTPUT = 1
PIN_TO_PWM = 23
PIN_TO_PWM2 = 24
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(PIN_TO_PWM, OUTPUT)
wiringpi.softPwmCreate(
PIN_TO_PWM, 0,
100) # Setup PWM using Pin, Initial Value and Range parameters
wiringpi.pinMode(PIN_TO_PWM2, OUTPUT)
wiringpi.softPwmCreate(PIN_TO_PWM2, 0, 100)
wiringpi.softPwmWrite(PIN_TO_PWM, 15)
wiringpi.softPwmWrite(PIN_TO_PWM2, 15)
wiringpi.delay(20)
try:
while True:
for brightness in range(5, 25):
wiringpi.softPwmWrite(PIN_TO_PWM,
brightness) # Change PWM duty cycle
wiringpi.delay(20) # Delay for 0.2 seconds
for brightness in reversed(range(5, 25)):
wiringpi.softPwmWrite(PIN_TO_PWM2, brightness)
wiringpi.delay(20)
for brightness in range(5, 25):
import time
import wiringpi
wiringpi.wiringPiSetup()
wiringpi.pinMode(1, 1)
wiringpi.softPwmCreate(1, 0, 100)
wiringpi.softPwmWrite(1, 0)
wiringpi.pinMode(4, 1)
wiringpi.softPwmCreate(4, 0, 100)
wiringpi.softPwmWrite(4, 0)
wiringpi.pinMode(5, 1)
wiringpi.softPwmCreate(5, 0, 100)
wiringpi.softPwmWrite(5, 0)
wiringpi.pinMode(6, 1)
wiringpi.softPwmCreate(6, 0, 100)
wiringpi.softPwmWrite(6, 0)
def forward(speed):
if speed >= 100:
speed = 100
wiringpi.softPwmWrite(1, 0)
wiringpi.softPwmWrite(4, speed)
wiringpi.softPwmWrite(5, 0)
wiringpi.softPwmWrite(6, speed)
elif speed < 0:
speed = abs(speed)
wiringpi.softPwmWrite(1, speed)
duration = patch.getfloat('duration', self.gpio)
duration = EEGsynth.rescale(duration, slope=duration_scale, offset=duration_offset)
# some minimal time is needed for the delay
duration = EEGsynth.limit(duration, 0.05, float('Inf'))
t = threading.Timer(duration, SetGPIO, args=[self.gpio, 0])
t.start()
# use the WiringPi numbering, see http://wiringpi.com/reference/setup/
wiringpi.wiringPiSetup()
# set up PWM for the control channels
previous_val = {}
for gpio, channel in config.items('control'):
print("control", channel, gpio)
wiringpi.softPwmCreate(pin[gpio], 0, 100)
# control values are only relevant when different from the previous value
previous_val[gpio] = None
# create the threads that deal with the triggers
trigger = []
for gpio, channel in config.items('trigger'):
wiringpi.pinMode(pin[gpio], 1)
try:
duration = patch.getstring('duration', gpio)
except:
duration = None
trigger.append(TriggerThread(channel, gpio, duration))
print("trigger", channel, gpio)
# start the thread for each of the triggers
wiringpi.softPwmWrite(enableA, 255) wiringpi.digitalWrite(h1, 1) wiringpi.digitalWrite(h2, 0) wiringpi.softPwmWrite(enableB, 255) wiringpi.digitalWrite(h3, 0) wiringpi.digitalWrite(h4, 1) wiringpi.wiringPiSetup() wiringpi.pinMode(enableA, 1) wiringpi.pinMode(h1, 1) wiringpi.pinMode(h2, 1) wiringpi.pinMode(enableB, 1) wiringpi.pinMode(h3, 1) wiringpi.pinMode(h4, 1) wiringpi.softPwmCreate(enableA, 0, 255) wiringpi.softPwmCreate(enableB, 0, 255) wiringpi.pinMode(obsA, wiringpi.INPUT) wiringpi.pinMode(obsB, wiringpi.INPUT) mthread = startMouse() while True: valueA = wiringpi.digitalRead(obsA) valueB = wiringpi.digitalRead(obsB) #print 'obsA:', valueA, 'obsB:', valueB if valueA == 0 or valueB == 0: if direction == 'Pause':
def _gpio_setup(self):
wiringpi.wiringPiSetup()
wiringpi.pinMode(AC_LOAD_PIN, 1)
wiringpi.softPwmCreate(AC_LOAD_PIN, LEVEL_MIN, LEVEL_MAX)
clock = int(19.2 / float(RANGE) * CYCLE * 1000) SERVO_MIN_VALUE = int(SERVO_MIN * RANGE / CYCLE) SERVO_MAX_VALUE = int(SERVO_MAX * RANGE / CYCLE) pi.wiringPiSetupGpio() pi.pinMode(blue_right_pin, pi.OUTPUT) pi.pinMode(green_right_pin, pi.OUTPUT) pi.pinMode(red_right_pin, pi.OUTPUT) pi.pinMode(blue_left_pin, pi.OUTPUT) pi.pinMode(green_left_pin, pi.OUTPUT) pi.pinMode(red_left_pin, pi.OUTPUT) pi.pinMode(blue_center_pin, pi.OUTPUT) pi.pinMode(green_center_pin, pi.OUTPUT) pi.pinMode(red_center_pin, pi.OUTPUT) pi.softPwmCreate(blue_right_pin, 0, 100) pi.softPwmCreate(green_right_pin, 0, 100) pi.softPwmCreate(red_right_pin, 0, 100) pi.softPwmCreate(blue_left_pin, 0, 100) pi.softPwmCreate(green_left_pin, 0, 100) pi.softPwmCreate(red_left_pin, 0, 100) pi.softPwmCreate(blue_center_pin, 0, 100) pi.softPwmCreate(green_center_pin, 0, 100) pi.softPwmCreate(red_center_pin, 0, 100) pi.pinMode(servo_pin, pi.GPIO.PWM_OUTPUT) pi.pwmSetMode(pi.GPIO.PWM_MODE_MS) pi.pwmSetRange(RANGE) pi.pwmSetClock(clock) for num in range(1, 4):
duration = patch.getfloat('duration', self.gpio)
duration = EEGsynth.rescale(duration, slope=scale_duration, offset=offset_duration)
# some minimal time is needed for the delay
duration = EEGsynth.limit(duration, 0.05, float('Inf'))
t = threading.Timer(duration, SetGPIO, args=[self.gpio, 0])
t.start()
# use the WiringPi numbering, see http://wiringpi.com/reference/setup/
wiringpi.wiringPiSetup()
# set up PWM for the control channels
previous_val = {}
for gpio, channel in config.items('control'):
print("control", channel, gpio)
wiringpi.softPwmCreate(pin[gpio], 0, 100)
# control values are only relevant when different from the previous value
previous_val[gpio] = None
# create the threads that deal with the triggers
trigger = []
for gpio, channel in config.items('trigger'):
wiringpi.pinMode(pin[gpio], 1)
try:
duration = patch.getstring('duration', gpio)
except:
duration = None
trigger.append(TriggerThread(channel, gpio, duration))
print("trigger", channel, gpio)
# start the thread for each of the triggers
import wiringpi
print "Testing..."
wiringpi.delay(1000)
print "..1.."
wiringpi.delay(1000)
print "..2.."
wiringpi.delay(1000)
print "...3!"
print "Testing under progress"
OUTPUT = 2
SERVO_G4 = 4
print "Setting up wiringPi"
wiringpi.wiringPiSetup()
print "Setting PWM Output on G4"
wiringpi.pinMode(4, 2)
wiringpi.softPwmCreate(SERVO_G4, 0, 100)
print "Going through PWM ranges"
for r in range(0, 100):
wiringpi.softPwmWrite(SERVO_G4, r)
wiringpi.delay(100)
# frontRight: A = purple, B = blue, PWM = green
robot.frontRight = Motor(A=22, B=27, pwmPin=15, duty=60, range=pwm_range)
########################
# Hardware PWM - for shooter servo
pwmPin = 18 # Broadcom pin 18 (P1 pin 12)
GPIO.setup(pwmPin, GPIO.OUT) # PWM pin set as output
pwm = GPIO.PWM(pwmPin, 50) # Initialize PWM
pwm.start(dc) # Initial state
########################
# Software PWM
wiringpi.wiringPiSetupGpio()
wiringpi.softPwmCreate(robot.rearLeft.softPWM, robot.rearLeft.val, robot.rearLeft.range)
wiringpi.softPwmCreate(robot.rearRight.softPWM, robot.rearRight.val, robot.rearRight.range)
wiringpi.softPwmCreate(robot.frontLeft.softPWM, robot.frontLeft.val, robot.frontLeft.range)
wiringpi.softPwmCreate(robot.frontRight.softPWM, robot.frontRight.val, robot.frontRight.range)
########################
## Shooter Process
class ShooterThread (threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
self.servo = Servo()
self.servo.update(30)
def run(self):
# Servo Control import time import wiringpi # set the PWM mode to milliseconds stype wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS) PIN_TO_PWM = 24 PIN_TO_PWM2 = 23 wiringpi.wiringPiSetupGpio() OUTPUT = 1 val = 15 wiringpi.pinMode(PIN_TO_PWM,OUTPUT) wiringpi.softPwmCreate(PIN_TO_PWM,15,25) wiringpi.pinMode(PIN_TO_PWM2,OUTPUT) wiringpi.softPwmCreate(PIN_TO_PWM2,14,25) #wiringpi.softPwmWrite(PIN_TO_PWM, 15) #wiringpi.softPwmWrite(PIN_TO_PWM2, 15) writeval = 14 #wiringpi.softPwmWrite(PIN_TO_PWM2,writeval) wiringpi.delay(20) #wiringpi.softPwmWrite(PIN_TO_PWM2,writeval) wiringpi.delay(20) # set the PWM mode to milliseconds stype while True: try:
def __init__(self, communication_style = "WIFI"):
# parameters
self.communication_style = communication_style
self.HOST = ''
self.CONNECTION_PORT = 2525
self.DRIVING_PORT = 2526
self.DRIVING_SERVICE_UUID = "94f39d29-7d6d-437d-973b-fba39e49d4ed"
self.SONAR_PORT = 2527
self.CAMERA_PORT = 2528
self.CAMERA_DRIVING_PORT = 2529
self.CAMERA_DRIVING_SERVICE_UUID = "94f39d29-7d6d-437d-973b-fba39e49d4ec"
# MOTORS' PINS ----> still to be set correctly
# Nomenclature: _F : forward _B : backward
self.MOTOR_LEFT_F = 7
self.MOTOR_LEFT_B = 11
self.MOTOR_RIGHT_F = 15
self.MOTOR_RIGHT_B = 13
# we know map them to the wiringPi gpio map
# http://wiringpi.com/pins/
self.MOTOR_LEFT_F = mapGPIO2WIRINGPI(self.MOTOR_LEFT_F)
self.MOTOR_LEFT_B = mapGPIO2WIRINGPI(self.MOTOR_LEFT_B)
self.MOTOR_RIGHT_F = mapGPIO2WIRINGPI(self.MOTOR_RIGHT_F)
self.MOTOR_RIGHT_B = mapGPIO2WIRINGPI(self.MOTOR_RIGHT_B)
# STATE OF THE ROBOT
# The possible states are:
# IDLE : don't move
# FORWARD : moving forward
# BACKWARD : moving backward
# TURNING_LEFT : turning left
# TURNING_RIGHT : turning right
self.state = 'IDLE'
# Then these states are enriched by the velocity for each well
self.MAX_SPEED = 100
self.MIN_SPEED = 70
self.velocity_left_weel = 0
self.velocity_right_weel = 0
# The "connection socket" is the one with the only aim to establish a connection to the computer
if self.communication_style == "WIFI":
self.connection_socket = udpsocket.UDPSocket()
# We make all the sockets as servers here for the robot. Once they have binded they can be used for normal communication
self.connection_socket.bind(self.CONNECTION_PORT, self.HOST)
else:
self.connection_socket = bluetooth.BluetoothSocket( bluetooth.RFCOMM )
# bind the socket to an address, this format bounds the socket to any port and any address. You can bound the socket to a specific address and a specific port.
self.connection_socket.bind(("", bluetooth.PORT_ANY))
# Listen to connections made to the socket. The argument specified the maximum number of queded connections. It has to be at least 0 but in that case it does not listen anyone.
self.connection_socket.listen(1)
# The "driving socket" has the aim to receive data regarding the driving of the robot (direction and velocity)
if self.communication_style == "WIFI":
self.driving_socket = udpsocket.UDPSocket()
self.driving_socket.bind(self.DRIVING_PORT, self.HOST)
else:
self.driving_socket = bluetooth.BluetoothSocket( bluetooth.RFCOMM )
# bind the socket to an address, this format bounds the socket to any port and any address. You can bound the socket to a specific address and a specific port.
self.driving_socket.bind(("", bluetooth.PORT_ANY))
# Listen to connections made to the socket. The argument specified the maximum number of queded connections. It has to be at least 0 but in that case it does not listen anyone.
self.driving_socket.listen(1)
# The "driving socket" has the aim to receive data regarding the driving of the robot (direction and velocity)
if self.communication_style == "WIFI":
self.camera_driving_socket = udpsocket.UDPSocket()
self.camera_driving_socket.bind(self.CAMERA_DRIVING_PORT, self.HOST)
else:
self.camera_driving_socket = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
# bind the socket to an address, this format bounds the socket to any port and any address. You can bound the socket to a specific address and a specific port.
self.camera_driving_socket.bind(("", bluetooth.PORT_ANY))
# Listen to connections made to the socket. The argument specified the maximum number of queded connections. It has to be at least 0 but in that case it does not listen anyone.
self.camera_driving_socket.listen(1)
# The "sonar socket" send data regarding the measurement of the SONAR
self.sonar_socket = udpsocket.UDPSocket()
self.sonar_socket.bind(self.SONAR_PORT, self.HOST)
# The "picamera socket" send data regarding the picamera
self.picamera_socket = udpsocket.UDPSocket()
self.picamera_socket.bind(self.CAMERA_PORT, self.HOST)
# set up the wiringPi library
wiringpi.wiringPiSetup()
wiringpi.pinMode(self.MOTOR_LEFT_F, 1)
wiringpi.pinMode(self.MOTOR_LEFT_B, 1)
wiringpi.pinMode(self.MOTOR_RIGHT_F, 1)
wiringpi.pinMode(self.MOTOR_RIGHT_B, 1)
wiringpi.softPwmCreate(self.MOTOR_LEFT_F, 0, 100)
wiringpi.softPwmCreate(self.MOTOR_LEFT_B, 0, 100)
wiringpi.softPwmCreate(self.MOTOR_RIGHT_F, 0, 100)
wiringpi.softPwmCreate(self.MOTOR_RIGHT_B, 0, 100)
# CAMERA SERVO MOTORS -----------------------------------
# set pwm for servo motors (motor for the camera)
self.yaw_motor_pin = 12
self.pitch_motor_pin = 16
self.PWM_FREQUENCY = 50 # Hz
self.camera_motors_max_time = 0.3 #sec - Maximum time to send a pwm (for noise reduction)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(self.yaw_motor_pin, GPIO.OUT)
GPIO.setup(self.pitch_motor_pin, GPIO.OUT)
self.yaw_motor_pwm = GPIO.PWM(self.yaw_motor_pin,self.PWM_FREQUENCY )
self.yaw_motor_pwm.start(0.0)
self.pitch_motor_pwm = GPIO.PWM(self.pitch_motor_pin, self.PWM_FREQUENCY)
self.pitch_motor_pwm.start(0.0)
# initial angle
self.yaw_angle = 0
self.pitch_angle = 0
self.PULSES2DEGREE = 180/200 # 180 degree/ 200 pulses
self.yaw_angle_old = self.yaw_angle
self.pitch_angle_old = self.pitch_angle
self.new_yaw_angle = False # this is set to true when tehre is a new yaw angle
self.new_yaw_angle_arrived = time.time() # time at which the new yaw angle arrived
self.new_pitch_angle = False
self.new_pitch_angle_arrived = time.time()
# the servo motors are controlled with pulses, from 50 to 250
# we use the term pulse because it refers to the pwm with (50=0.5ms,250=2.5ms)
# we are going to set the zero value of the servo with the central pulse
# ideally 50 is -90 degree and 250 is + 90 degree (- is on the rigth for the yaw, and down for the pitch)
self.yaw_angle_zero_pulse = 140
self.pitch_angle_zero_pulse = 145
# iF the zero values are not perfectly calibrated to 150 we are going to center with saturation values
self.yaw_range_pulse = min( self.yaw_angle_zero_pulse - 50, 250 - self.yaw_angle_zero_pulse)
self.yaw_max_pulse = self.yaw_angle_zero_pulse + self.yaw_range_pulse + 50
self.yaw_min_pulse = self.yaw_angle_zero_pulse - self.yaw_range_pulse
self.pitch_range_pulse = min(self.pitch_angle_zero_pulse - 50, 250 - self.pitch_angle_zero_pulse)
self.pitch_max_pulse = self.pitch_angle_zero_pulse + self.pitch_range_pulse + 50
self.pitch_min_pulse = self.pitch_angle_zero_pulse - self.pitch_range_pulse
# 180degree/200pulses = degree/pulses is the resolution
self.yaw_range_degree = 180/200 * 2 * self.yaw_range_pulse
self.pitch_range_degree = 180/200 * 2 * self.pitch_range_pulse
self.yaw_max_angle = self.yaw_range_degree/2
self.yaw_min_angle = - self.yaw_max_angle
self.pitch_max_angle = self.pitch_range_degree / 2
self.pitch_min_angle = - self.pitch_max_angle
print "YAW/PITCH RANGES [+/-degree]: ", self.yaw_range_degree/2, "/",self.pitch_range_degree/2
# let's give the motors 0.3s to set to the zero position
# we have to give it some times to reach a certain position
# but we have to stop after sometime the motors because of noise problem
t_start = time.time()
yaw_duty_cycle = (self.yaw_angle_zero_pulse / 1000) * self.PWM_FREQUENCY
pitch_duty_cycle = (self.pitch_angle_zero_pulse / 1000) * self.PWM_FREQUENCY
while time.time() - t_start <= 0.3:
#self.yaw_motor_pwm.ChangeDutyCycle(yaw_duty_cycle)
self.yaw_motor_pwm.ChangeDutyCycle(self.yawDegreeToDutyCycle(0.0))
self.pitch_motor_pwm.ChangeDutyCycle(self.pitchDegreeToDutyCycle(0.0))
#self.pitch_motor_pwm.ChangeDutyCycle(pitch_duty_cycle)
self.yaw_motor_pwm.ChangeDutyCycle(0.0)
self.pitch_motor_pwm.ChangeDutyCycle(0.0)
import time
# pin: 11, 12, 15, 16
# BCM: 17, 18, 22, 23
front_l = 17
front_r = 18
back_l = 22
back_r = 23
pi.wiringPiSetupGpio()
pi.pinMode(front_l, pi.OUTPUT)
pi.pinMode(front_r, pi.OUTPUT)
pi.pinMode(back_l, pi.OUTPUT)
pi.pinMode(back_r, pi.OUTPUT)
pi.softPwmCreate(front_l, 0, 100)
pi.softPwmWrite(front_l, 0)
pi.softPwmCreate(front_r, 0, 100)
pi.softPwmWrite(front_r, 0)
pi.softPwmCreate(back_l, 0, 100)
pi.softPwmWrite(back_l, 0)
pi.softPwmCreate(back_r, 0, 100)
pi.softPwmWrite(back_r, 0)
try:
while True:
speed = 20
pi.softPwmWrite(front_l, speed)
def __init__(self):
rospy.init_node('gpio')
rospy.loginfo("Starting GPIO ROS Driver")
#os.system('/home/pi/phri_ros/scripts/setup_gpio')
os.system(os_setup)
self.io = wp.GPIO(wp.GPIO.WPI_MODE_SYS)
self.pwm_range = 50
self.button_Hz = 20.0
self.button_offtime = rospy.Duration(4.0)
rospy.loginfo("Starting Soft PWM Timers")
wp.softPwmCreate(17, 0, self.pwm_range)
wp.softPwmCreate(18, 0, self.pwm_range)
wp.softPwmCreate(21, 0, self.pwm_range)
wp.softPwmCreate(22, 0, self.pwm_range)
self.io.digitalWrite(23,1)
self.io.digitalWrite(24,0)
wp.softPwmCreate(25, 0, self.pwm_range)
self.io.digitalWrite(10,0)
self.io.digitalWrite(9,0)
wp.softPwmCreate(11, 0, self.pwm_range)
wp.softPwmCreate(8, 0, self.pwm_range)
wp.softPwmCreate(7, 0, self.pwm_range)
self.leye_sub = rospy.Subscriber("left_eye", ColorRGBA, self.leye)
self.reye_sub = rospy.Subscriber("right_eye", ColorRGBA, self.reye)
self.l_motor_sub = rospy.Subscriber("left_motor", Float32, self.lmotor)
self.r_motor_sub = rospy.Subscriber("right_motor", Float32, self.rmotor)
self.twistsub = rospy.Subscriber("cmd_vel", Twist, self.twistCallback)
self.button_pub = rospy.Publisher("buttons", Bool)
rospy.loginfo("Starting Button Query Timers")
rospy.Timer(rospy.Duration(1.0/self.button_Hz), self.check_buttons)
self.yes_time = rospy.Time()
self.no_time = rospy.Time()
pinblue = 12
pingreen = 5
red = [255, 0, 0]
orange = [255, 127, 0]
yellow = [255, 255, 0]
white = [255, 255, 255]
green = [0, 255, 0]
blue = [0, 0, 255]
i = [75, 0, 130]
v = [159, 0, 255]
black = [0, 0, 0]
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(pinred, OUTPUT) # as output
wiringpi.softPwmCreate(
pinred, 0, 255) # Setup PWM using Pin, Initial Value and Range parameters
wiringpi.pinMode(pingreen, OUTPUT) # as output
wiringpi.softPwmCreate(
pingreen, 0,
255) # Setup PWM using Pin, Initial Value and Range parameters
wiringpi.pinMode(pinblue, OUTPUT) # as output
wiringpi.softPwmCreate(
pinblue, 0, 255) # Setup PWM using Pin, Initial Value and Range parameters
color = black
if sys.argv[1]:
farbe = str(sys.argv[1])
brightness = int(100)
try:
print(len(sys.argv))
if len(sys.argv) > 2:
def __init(self): self.gpio = wiringpi.wiringPiSetup() wiringpi.softPwmCreate(PIN_RED, 0, LED_MAX) wiringpi.softPwmCreate(PIN_GREEN, 0, LED_MAX) wiringpi.softPwmCreate(PIN_BLUE, 0, LED_MAX) self.off()
def setPinConfig(EN, INA , INB):
wiringpi.pinMode(EN, OUTPUT)
wiringpi.pinMode(INA, OUTPUT)
wiringpi.pinMode(INB, OUTPUT)
wiringpi.softPwmCreate(EN, 0, 255)
