def robot_init():
print("I/O Initialization")
print("PWM Starting")
pwmExp.driverInit()
pwmExp.setupDriver(pins.ALL, 0, 0)
pwmExp.setVerbosity(-1)
print("Setting I/O")
ain2.setOutputDirection(LOW)
ain1.setOutputDirection(LOW)
bin2.setOutputDirection(LOW)
bin1.setOutputDirection(LOW)
print("Ready!")
def __init__(self, channel, frequency=50):
self.channel = channel
self.frequency = frequency
# check that pwm-exp has been initialized
bInit = pwmExp.checkInit()
if (bInit == 0):
# initialize the Expansion
ret = pwmExp.driverInit()
if (ret != 0):
print 'ERROR: pwm-exp init not successful!'
# set to default frequency
self._setFrequency(self.frequency)
def __init__(self, channel): self.channel = channel self.frequency = SERVO_FREQUENCY # check that pwm-exp has been initialized bInit = pwmExp.checkInit() if (bInit == 0): # initialize the expansion ret = pwmExp.driverInit() if (ret != 0): print 'ERROR: pwm-exp init not successful!' # set to default frequency self._setFrequency(self.frequency)
def Initialize(): pwmExp.driverInit() Stop() return
def ws_on_close(ws):
print("### Disconnected from SignalR Server ###")
def ws_on_open(ws):
print("### Connected to SignalR Server via WebSocket ###")
# Do a handshake request
print("### Performing handshake request ###")
ws.send(encode_json({"protocol": "json", "version": 1}))
# Handshake completed
print("### Handshake request completed ###")
if __name__ == "__main__":
pwmExp.driverInit()
pwmExp.setFrequency(freq)
websocket.enableTrace(True)
## Use wss as protocol for your url. for example, wss://localshot:44321/messagehub
ws = websocket.WebSocketApp("[YOUR SIGNALR URL HERE]",
on_message=ws_on_message,
on_error=ws_on_error,
on_close=ws_on_close)
ws.on_open = ws_on_open
ws.run_forever(sslopt={"cert_reqs": ssl.CERT_NONE})
import OmegaExpansion.pwmExp as pwm
import sys
status = pwm.driverInit()
if pwm.checkInit() == 0:
print("PWM Init failed")
exit
lr = float(sys.argv[1])
ud = float(sys.argv[2])
pwm.setFrequency(50)
pwm.setupDriver( 0, lr, 0)
pwm.setupDriver(15, ud, 0)
# check the arguments
channel = 0
if len(sys.argv) == 2:
channel = int(sys.argv[1])
print '>> Using channel ', channel
pwmExp.setVerbosity(0)
# check initialization
# should return 0 if the PWM Expansion has just been plugged in
ret = pwmExp.checkInit()
print "checking if initialized: ", ret
# initialize the pwm-exp
ret = pwmExp.driverInit()
print "driverInit return: ", ret
if (ret != 0):
exit()
ret = pwmExp.setFrequency(50)
print "setFrequency return: ", ret
if (ret != 0):
exit()
# check initialization
# should return 1 since the Expansion was initialized above
ret = pwmExp.checkInit()
print "checking if initialized: ", ret
time.sleep(1)
# set channel 0
# check the arguments channel = 0 if len(sys.argv) == 2: channel = int(sys.argv[1]) print '>> Using channel ', channel pwmExp.setVerbosity(0) # check initialization # should return 0 if the PWM Expansion has just been plugged in ret = pwmExp.checkInit() print "checking if initialized: ", ret # initialize the pwm-exp ret = pwmExp.driverInit() print "driverInit return: ", ret if (ret != 0): exit() ret = pwmExp.setFrequency(50) print "setFrequency return: ", ret if (ret != 0): exit() # check initialization # should return 1 since the Expansion was initialized above ret = pwmExp.checkInit() print "checking if initialized: ", ret time.sleep(1)
