def test_start_pwm(self):
PWM.start("P9_14", 0)
files = os.listdir('/sys/devices')
ocp = '/sys/devices/'+[s for s in files if s.startswith('ocp')][0]
files = os.listdir(ocp)
pwm_test = ocp+'/'+[s for s in files if s.startswith('pwm_test_P9_14')][0]
assert os.path.exists(pwm_test)
duty = open(pwm_test + '/duty').read()
period = open(pwm_test + '/period').read()
assert int(duty) == 0
assert int(period) == 500000
PWM.cleanup()
def convert(s):
global last
values = map(ord, s)
output = ''
#send servo commands to Arduino based on command string
for x in range(1, 6):
if values[8] == 250:
output = 'FAILSAFE MODE!!!!!!!!!!!!!!!!!!!!!!!'
elif values[8] == 125:
arm_motors()
else:
if values[x] != last[x]:
mapped = map_val(values[x], 0, 250, 5.0, 10.0)
PWM.set_duty_cycle(pins[x], float(mapped))
if x < 4:
output += ' | ' + str(mapped) + ','
else:
output += ' | ' + str(mapped)
output += str(values[x]) + ' | '
print output
last = s
def test_pwm_start_invalid_frequency_string(self):
with pytest.raises(TypeError):
PWM.start("P9_14", 0, "1")
def test_pwm_start_invalid_frequency_negative(self):
with pytest.raises(ValueError):
PWM.start("P9_14", 0, -1)
def teardown_module(module):
PWM.cleanup()
def test_pwm_start_invalid_duty_cycle_string(self):
with pytest.raises(TypeError):
PWM.start("P9_14", "1")
def test_pwm_start_invalid_duty_cycle_high(self):
with pytest.raises(ValueError):
PWM.start("P9_14", 101)
def init_pwm():
# due to a small issue with the library,
# the first pin initialized is not usable
# until it is stopped and started again
# after this, all pins work normally
PWM.start(pins[1], 7.5)
time.sleep(0.5)
PWM.stop(pins[1])
time.sleep(0.5)
# start PWM output at 50Hz, all middle except throttle
# 1.5/20 = .075 = 7.5%
PWM.start(pins[1], 7.5, 50)
PWM.start(pins[2], 7.5, 50)
PWM.start(pins[3], 7.5, 50)
PWM.start(pins[4], 10, 50)
PWM.start(pins[5], 7.64, 50)
PWM.on(pins[1])
PWM.on(pins[2])
PWM.on(pins[3])
PWM.on(pins[4])
PWM.on(pins[5])
def test_pwm_start_invalid_pwm_key(self):
with pytest.raises(ValueError):
PWM.start("P8_25", -1)
def test_pwm_freq_non_setup_key(self):
with pytest.raises(ValueError):
PWM.set_frequency("P9_15", 100)
PWM.cleanup()
def test_pwm_frequency_invalid_value_string(self):
PWM.start("P9_14", 0)
with pytest.raises(TypeError):
PWM.set_frequency("P9_14", "11")
PWM.cleanup()
def test_pwm_frequency_invalid_value_negative(self):
PWM.start("P9_14", 0)
with pytest.raises(ValueError):
PWM.set_frequency("P9_14", -1)
PWM.cleanup()
def test_pwm_duty_cycle_invalid_value_string(self):
PWM.start("P9_14", 0)
with pytest.raises(TypeError):
PWM.set_duty_cycle("P9_14", "a")
PWM.cleanup()
def arm_motors():
PWM.set_duty_cycle(pins[1], 5)
PWM.set_duty_cycle(pins[2], 10)
PWM.set_duty_cycle(pins[3], 5)
PWM.set_duty_cycle(pins[4], 10)
def test_pwm_duty_cycle_non_setup_key(self):
with pytest.raises(RuntimeError):
PWM.set_duty_cycle("P9_14", 100)
PWM.cleanup()
def test_pwm_start_invalid_duty_cycle_negative(self):
with pytest.raises(ValueError):
PWM.start("P9_14", -1)
def test_pwm_duty_cycle_invalid_key(self):
with pytest.raises(ValueError):
PWM.set_duty_cycle("P9_15", 100)
PWM.cleanup()
def test_pwm_start_valid_duty_cycle_max(self):
#testing an exception isn't thrown
PWM.start("P9_14", 100)
PWM.cleanup()
def test_pwm_duty_cycle_invalid_value_negative(self):
PWM.start("P9_14", 0)
with pytest.raises(ValueError):
PWM.set_duty_cycle("P9_14", -1)
PWM.cleanup()
#this will eventually be used to send sensor data back to command
s.sendall(last)
except KeyboardInterrupt:
raise
except:
s.close()
print 'CONNECTION LOST: ATTEMPTING RECONNECT -- '# + msg[1]
#loop to beginning
except socket.error, msg:
print 'Send failed: '
except KeyboardInterrupt:
raise
except socket.error, msg:
print 'Failed to create socket. Error code: ' + str(msg[0]) + ' Error message: ' + msg[1]
except KeyboardInterrupt:
print 'Closing socket...'
s.close()
print 'Shutting down PWM outputs...'
PWM.cleanup()
time.sleep(.5)
sys.exit()
# Allow use as a module or standalone script
if __name__ == "__main__":
main()
