def standby(state):
if state:
pwmExp.setupDriver(pins.STBY, 100, 0)
print("Standby Activated!")
else:
pwmExp.setupDriver(pins.STBY, 0, 0)
print("Standby Disabled!")
def ws_on_message(ws, message: str):
ignore_list = ['{"type":6}', '{}']
for msg in message.split(chr(0x1E)):
if msg and msg not in ignore_list:
print(f"From server: {msg}")
jmsg = json.loads(msg)
print(jmsg["arguments"][1])
# orientation read from signar message
lrangle = float(jmsg["arguments"][1])
#converting the orientation to a PWM signal
x = (lrangle + 90.0) / 180.0
dutycycle = 3.0 + x * (13.5 - 3.0)
pwmExp.setupDriver(0, dutycycle, 0)
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 setDutyCycle(self, duty):
"""Set duty cycle for pwm channel"""
ret = pwmExp.setupDriver(self.channel, duty, 0)
if (ret != 0):
print 'ERROR: pwm-exp setupDriver not successful!'
return ret
def setDutyCycle(self, duty): """Set duty cycle for pwm channel""" ret = pwmExp.setupDriver(self.channel, duty, 0) if (ret != 0): print 'ERROR: pwm-exp setupDriver not successful!' return ret
def SetLeftRight( speed_left, speed_right): "This moves the robot forward with speeds for left and right" pwmExp.setupDriver(7, speed_left, 0) pwmExp.setupDriver(8, speed_right * STEERING_ADJUST, 0) return
def Stop(): "This stops the robot" pwmExp.setupDriver(-1, 0, 0) return
def Stop():
"This stops the robot"
pwmExp.setupDriver(-1, 0, 0)
# print "Stopped."
return
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)
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
ret = pwmExp.setupDriver(channel, 9, 0)
print "setupDriver return: ", ret
if (ret != 0):
exit()
time.sleep(2)
# set channel 0
ret = pwmExp.setupDriver(channel, 5, 0)
print "setupDriver return: ", ret
if (ret != 0):
exit()
time.sleep(2)
# change the frequency
ret = pwmExp.setFrequency(60)
print "setFrequency return: ", ret
with open ('/tmp/pid.conf', 'r') as f:
config = f.readline().split(',')
pid.SetPoint = float(config[0])
targetT = pid.SetPoint
pid.setKp (float(config[1]))
pid.setKi (float(config[2]))
pid.setKd (float(config[3]))
def createConfig ():
if not os.path.isfile('/tmp/pid.conf'):
with open ('/tmp/pid.conf', 'w') as f:
f.write('%s,%s,%s,%s'%(targetT,P,I,D))
createConfig()
while 1:
readConfig()
#read temperature data
a0 = adc.read_voltage(0)
temperature = (a0 - 0.5) * 100
pid.update(temperature)
targetPwm = pid.output
targetPwm = max(min( int(targetPwm), 100 ),0)
print "Target: %.1f C | Current: %.1f C | PWM: %s %%"%(targetT, temperature, targetPwm)
# Set PWM expansion channel 0 to the target setting
pwmExp.setupDriver(0, targetPwm, 0)
time.sleep(0.5)
print("I/O Initialization")
# Instantiate
ain2 = onionGpio.OnionGpio(pins.AIN2)
ain1 = onionGpio.OnionGpio(pins.AIN1)
bin2 = onionGpio.OnionGpio(pins.BIN2)
bin1 = onionGpio.OnionGpio(pins.BIN1)
# All Outputs, low default
print("PWM Starting")
pwmExp.driverInit()
pwmExp.setupDriver(pins.ALL, 0, 0)
print("Setting I/O")
ain2.setOutputDirection(LOW)
ain1.setOutputDirection(LOW)
bin2.setOutputDirection(LOW)
bin1.setOutputDirection(LOW)
print("Ready")
# 1. Set Standby to HIGH
pwmExp.setupDriver(pins.STBY, 100, 0)
################################# A
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 ret = pwmExp.setupDriver(channel, 9, 0) print "setupDriver return: ", ret if (ret != 0): exit() time.sleep(2) # set channel 0 ret = pwmExp.setupDriver(channel, 5, 0) print "setupDriver return: ", ret if (ret != 0): exit() time.sleep(2) # change the frequency ret = pwmExp.setFrequency(60) print "setFrequency return: ", ret
def set_speed(pwm, speed):
pwmExp.setupDriver(pwm, speed, 0)
def safe():
pwmExp.setupDriver(pins.ALL, 0, 0)
ain1.setValue(LOW)
ain2.setValue(LOW)
bin1.setValue(LOW)
bin2.setValue(LOW)
