def getDistance(self):
# pins setup
GPIO.setup(self.trig, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(self.echo, GPIO.IN)
# set Trigger to HIGH for 10 us
GPIO.output(self.trig, GPIO.HIGH)
time.sleep(0.00001) # 10 us
GPIO.output(self.trig, GPIO.LOW)
# start counting time at Echo rising edge
GPIO.wait_for_edge(self.echo, GPIO.RISING, timeout=100) # 100 ms
startTime = time.time()
# stop counting time at Echo falling edge
GPIO.wait_for_edge(self.echo, GPIO.FALLING, timeout=100) # 100 ms
elapsedTime = time.time() - startTime # in seconds
distance = -1
# check if the measurement succeeded
if elapsedTime < 0.1:
# get the distance in cm using sonic speed (aprox. 34300 cm/s)
distance = (elapsedTime * 34300) / 2
GPIO.cleanup([self.trig, self.echo])
return distance
def main():
# Pin Setup:
GPIO.setmode(GPIO.BOARD) # BOARD pin-numbering scheme
#GPIO.setup(led_pin, GPIO.OUT) # LED pin set as output
GPIO.setup(but_pin, GPIO.IN) # button pin set as input
# Initial state for LEDs:
#GPIO.output(led_pin, GPIO.LOW)
print("Starting demo now! Press CTRL+C to exit")
try:
while True:
print("Waiting for button event")
GPIO.wait_for_edge(but_pin, GPIO.FALLING)
# event received when button pressed
print("Button Pressed!")
#GPIO.output(led_pin, GPIO.HIGH)
time.sleep(1)
#GPIO.output(led_pin, GPIO.LOW)
finally:
GPIO.cleanup() # cleanup all GPIOs
def mov_detector(gpio_sensor=0,
cm_hole=0,
distance_interval=0,
start_photo_inference=0,
start_photo_check=0,
spray_line1=0,
spray_line2=0):
'''
In this function we will use a disk with 20 or 40 holes and a radius of 5.1 cm,
the the end of the disk (perpendicular), we will use an infrared sensor to detect interruptions,
every interruption is a movement.
It will also be used to check the speed, trigger a photo for inference and checage.
Parameters:
gpio_sensor: this is the device port to connect as an input
cm_hole: it means how many centimeters each hole in the disk has (it's one step in the disk)
distance_interval: This is the distance in CM to be defined to trigger a photo
start_photo_inference: the minimal distance to trigger the photo for inference
start_photo_check: the minimal distance to trigger the check photo (check the spray)
spray_line1: if KeyBoard interrupt is triggered it turns off the solenoids in the first line
spray_line2: if KeyBoard interrupt is triggered it turns off the solenoids in the second line
# TODO:
Use two sensors to detect the direction of the disk
'''
# Setting initial time to measure the speed
global curr_position
global counter_speed
global counter_infer_photo
global counter_check_photo
global start
global speed
try:
if counter_speed == 0:
start = datetime.now()
if GPIO.wait_for_edge(gpio_sensor, GPIO.RISING):
pass
if GPIO.wait_for_edge(
gpio_sensor, GPIO.FALLING): # Change in signal, counting steps
curr_position += 1
counter_speed += 1
counter_infer_photo += 1
counter_check_photo += 1
# Measuring distance travelled
distance = curr_position * cm_hole # LOOK AT THIS
print('[WEEDS] Distance Traveled: ', round(distance / 100, 4),
' meters')
# Measuring variation on time and distance
if counter_speed == 10:
end = datetime.now()
diff = end - start
delta_time = diff.seconds + diff.microseconds / 1e6
delta_distance = counter_speed * cm_hole / 100 #in meters
speed = delta_distance / delta_time # m/sec
counter_speed = 0
if curr_position > 10:
print('[WEEDS] Current speed: ', round(speed, 2),
' m/sec or: ', round(speed * 3.6, 2), ' km/h.')
# Triggering Inference Photo
if curr_position >= start_photo_inference:
if counter_infer_photo * cm_hole >= distance_interval:
infer_trigger = True
counter_infer_photo = 0
print('[WEEDS] Inference Photo Triggered')
else:
infer_trigger = False
# Triggering Check Photo
if curr_position >= start_photo_check:
if counter_check_photo * cm_hole >= distance_interval:
check_trigger = True
counter_check_photo = 0
print('[WEEDS] Check Photo Triggered')
else:
check_trigger = False
print('[WEEDS] Position:', curr_position, ', Infer Trigger:',
infer_trigger, ', Check Trigger:', check_trigger)
except KeyboardInterrupt:
print("[WEEDS] KeyboardInterrupt has been caught.")
GPIO.output(spray_line1, GPIO.LOW)
GPIO.output(spray_line2, GPIO.LOW)
GPIO.cleanup()
sys.exit()
return curr_position, infer_trigger, check_trigger
#!/usr/bin/env python2
import os
import Jetson.GPIO as GPIO
SWITCH_PIN = 22
if __name__ == "__main__":
try:
GPIO.setmode(GPIO.BOARD)
GPIO.setup(SWITCH_PIN, GPIO.IN)
print("Waiting for switch edge...")
GPIO.wait_for_edge(SWITCH_PIN, GPIO.FALLING)
print("Switch triggered; shutting down...")
os.system("shutdown -h now")
except KeyboardInterrupt:
GPIO.cleanup()
