def __init__(self):
PWM.cleanup()
self.servo = PWM.Servo()
self.servo.set_servo(17, 1500)
self.servo_lr_angle = 0
self.servo.set_servo(22, 1500)
self.servo_ud_angle = 0
def main():
servo = Servo()
time.sleep(5)
servo.servo_control_up_down(45)
servo.servo_control_left_right(-45)
time.sleep(3)
servo.servo_reset()
time.sleep(3)
PWM.cleanup()
def cleanup(self):
self._print("Cleaning up...")
for pin in self.pins:
self.servo.set_servo(pin, self.pwm_min)
self.servo.stop_servo(pin)
PWM.cleanup()
self._print("Cleaned.")
def stop(pwm):
# stops cells individually
stop_cell(pwm['A'])
stop_cell(pwm['B'])
stop_cell(pwm['C'])
stop_cell(pwm['D'])
# Shutdown all PWM and DMA activity
PWM.cleanup()
def __exit__(self, eType, eValue, eTrace):
""" Clean up routine for context manager (with-statement).
Takes care of closing DMA channel - failure to do this breaks OS and a reboot will be needed."""
log.info("Destroying " + str(self))
self.set([0, 0, 0])
sleep(PWM_PRD / 1e6) # wait a period to ensure set() has been actioned
PWM.clear_channel(PWM_DMA)
PWM.clear_channel(PWM_DMA1)
PWM.cleanup()
return False
def main(): servo = PWM.Servo() time.sleep(0.2) init(servo) move(servo, 0) move(servo, 180) move(servo, 0) PWM.cleanup()
def cleardownGPIO(self):
self.power(0)
self.setBottomLED(0)
self.setTopLED(0)
PWM.clear_channel_gpio(relayChannel, relay)
PWM.clear_channel_gpio(ledChannel, topLed)
PWM.clear_channel_gpio(ledChannel, bottomLed)
# Shutdown all PWM and DMA activity
PWM.cleanup()
def pwm_example2():
from RPIO import PWM
# Setup PWM and DMA channel 0
PWM.setup()
PWM.init_channel(0)
# Add some pulses to the subcycle
PWM.add_channel_pulse(0, 17, 0, 50)
PWM.add_channel_pulse(0, 17, 100, 50)
# Stop PWM for specific GPIO on channel 0
PWM.clear_channel_gpio(0, 17)
# Shutdown all PWM and DMA activity
PWM.cleanup()
def __init__(self):
PWM.cleanup()
PWM.setup(1)
PWM.init_channel(1, 5000)
PWM.init_channel(2, 5000)
PWM.init_channel(3, 5000)
self.r = 0
self.g = 0
self.b = 0
self.dimFactor = 1.
self.fadeTimer = None
self.fadeCallback = None
self.fadeStartTime = datetime.now()
self.fadeSeconds = None
def kickServo():
#hmm RPIO seems to f**k up occasionally and start sending crappy
#commands to the servo. I'm not sure what causes it except it
#may be related to USB camera use? not verified. in any case
#it sucks; the servo just jitters and once the problem occurs
#it appears to persist until the script is shut down cleanly
#(DMA shutdown) and reloaded. Maybe this bullshit will fix it.
#Nope... it didn't.
global servo
print "restarting servo..."
PWM.cleanup()
servo = PWM.Servo()
print "restarted."
yield
print "restarting servo again..."
PWM.cleanup()
servo = PWM.Servo()
print "restarted."
def main():
# Set up Frequency in Hertz
FREQUENCY = 1000
SUBCYCLE_US = ((1 / FREQUENCY) * 1000000)
CHANNEL = 0
# Set duty_cycle 0 -> 100
DUTY_CYCLE = 50
# Set Pin
PINO = PIN.CEL_A_1
# Setup PWM and DMA channel 0
PWM.setup()
PWM.init_channel(channel=CHANNEL, subcycle_time_us=SUBCYCLE_US)
# Test initialization
if not (PWM.is_channel_initialized(CHANNEL)):
print("ERROR: Channel could not be initialized!")
return -1
# Test Frequency
if not (PWM.get_channel_subcycle_time_us(CHANNEL) == SUBCYCLE_US):
print("ERROR: Frequency could not be setted!")
return -1
# Add pwm Pulse
PWM.add_channel_pulse(dma_channel=CHANNEL,
gpio=PINO,
start=0,
width=((SUBCYCLE_US / 10) * (DUTY_CYCLE / 100)))
# fake while
print("Press any key to stop")
input()
# Stop PWM for specific GPIO on channel 0
PWM.clear_channel_gpio(0, PINO)
# Shutdown all PWM and DMA activity
PWM.cleanup()
return 0
def eStop(self):
PWM.cleanup();
RPIO.output(self.APHASE_Pin,RPIO.LOW);
RPIO.output(self.BPHASE_Pin,RPIO.LOW);
def __del__(self):
PWM.cleanup()
def cleanup(self):
#self.ser.close()
PWM.clear_channel_gpio(1, 17)
PWM.clear_channel_gpio(2, 27)
PWM.clear_channel_gpio(3, 22)
PWM.cleanup()
def clean_up(): # Clean up and exit script
set_led(0,0,0)
GPIO.cleanup()
PWM.cleanup()
time.sleep(0.5)
sys.exit()
def destroy():
webiopi.debug("Script with macros - Destroy")
# Shutdown all PWM and DMA activity
PWM.cleanup()
def shutdown(self):
PWM.cleanup()
def __del__(self):
PWM.cleanup()
servo = PWM.Servo() servo.set_servo(pPan, servo_center) servo.set_servo(pTilt, servo_center) time.sleep(2) servo.set_servo(pPan, servo_min) time.sleep(2) servo.set_servo(pPan, servo_max) time.sleep(2) servo.set_servo(pPan, servo_center) servo.set_servo(pTilt, servo_min) time.sleep(2) servo.set_servo(pTilt, servo_max) time.sleep(2) servo.set_servo(pTilt, servo_center) time.sleep(2) servo.stop_servo(pPan) servo.stop_servo(pTilt) PWM.cleanup()
def Close(self):
PWM.clear_channel(0)
PWM.cleanup()
def cleanup(): PWM.cleanup()
def end():
PWM.cleanup()
def deInit(self): self.servo.stop_servo(self.gpioPin) PWM.cleanup()
while tecla != ord('q'):
tecla = stdscr.getch()
if tecla == curses.KEY_UP:
eixox=1
acelerar(1,eixox)
elif tecla == curses.KEY_DOWN:
eixox=0
acelerar(1,eixox)
elif tecla == curses.KEY_LEFT:
dire=1
rota(8,dire)
elif tecla == curses.KEY_RIGHT:
dire=0
rota(8,dire)
elif tecla == ord('a'):
camesquerda()
elif tecla == ord('d'):
camdireita()
elif tecla == ord('s):
camcentro()
#---FINALIZAÇÃO
PWM.clear_channel_gpio(0, ServoCam) #Limpa Canal 0 do Servo da Câmera
PWM.cleanup() # Limpa Pinos de PWM
stdscr.keypad(0) #Desabilita Teclado Numérico
curses.nocbreak() #Desabilita Curses
curses.echo() #Habilita Verbose Terminal
curses.endwin() #Desliga Biblioteca Curses
GPIO.cleanup() #Limpa Pinos GPIO
def handle(clientsocket):
print('Made connection\n')
# Look for if any exceptions are thrown
try:
flying = 1
while(flying):
# Wait for first command from client
buf = clientsocket.recv(MAX_LENGTH)
navigating = 0
movDirection = 2
search = 0
serInput = ''
sensor1 = 0
sensor2 = 0
sensor3 = 0
sensor4 = 0
# If command is takeoff then initialize and takeoff
if(buf == 'takeoff'):
autopilot.initialize()
autopilot.arm()
autopilot.takeOff()
navigating = 1
# If client is lost then leave method
if buf == '': return
# Handle navigation and object avoidance
while(navigating == 1):
#print("In navigation\n")
# Check for serial input -- Not implemented yet
if(ser.inWaiting()):
serInput = ser.readline()
#if 'f' in serInput: sensor1 = 1
#else: sensor1 = 0
#if 'r' in serInput: sensor2 = 1
#else: sensor2 = 0
#if 'b' in serInput: sensor3 = 1
#else: sensor3 = 0
#if 'l' in serInput: sensor4 = 1
#else: sensor4 = 0
#if 'k' in serInput: isKill = 1
#else: isKill = 0
print(serInput)
#time.sleep(1)
# Prints to see what values are received
#sensor1 = GPIO.input(9)
#print("Sensor1 = " + str(sensor1))
#sensor2 = GPIO.input(7)
#print("Sensor2 = " + str(sensor2))
#sensor3 = GPIO.input(8)
#print("Sensor3 = " + str(sensor3))
#sensor4 = GPIO.input(11)
#print("Sensor4 = " + str(sensor4))
# Wait for next input from client -- causes program
# to hang until it receives something. Needs changed!
#buf = clientsocket.recv(MAX_LENGTH)
#if buf == '': return
#isKill = GPIO.input(15)
print(isKill)
# Initial move right
if(sensor3 == 1 and sensor1 == 0 and sensor4 == 0 and sensor2 == 0 and movDirection == 2):
#print("Initial move right")
autopilot.strafeR()
autopilot.forward()
movDirection = 2
print('Moving right')
if(sensor3 == 0 and sensor1 == 0 and sensor4 == 0 and sensor2 == 0 and movDirection == 2):
autopilot.strafeR()
autopilot.backward()
movDirection = 2
print('Moving right-ADJ')
# End initial move right
# Found right wall, start moving forward
if(sensor1 == 0 and sensor2 == 1 and (sensor3 == 0 or sensor3 == 1) and sensor4 == 0 and movDirection == 2):
#print("Found right wall, start moving forward")
autopilot.stop()
time.sleep(1)
autopilot.forward()
movDirection = 1
print('Start Moving forward')
# Following right wall
if(sensor1 == 0 and sensor2 == 1 and sensor3 == 0 and sensor4 == 0 and movDirection == 1):
#print("Following right wall")
#autopilot.stop()
autopilot.forward()
autopilot.strafeL()
#movDirection = 1
print('Moving forward')
if(sensor1 == 0 and sensor2 == 0 and sensor3 == 0 and sensor4 == 0 and movDirection == 1):
#autopilot.stop()
autopilot.forward()
autopilot.strafeR()
#movDirection = 1
print('Moving forward-ADJ')
# End following right wall
# Hit a right back corner
if(sensor1 == 1 and sensor4 == 0 and sensor2 == 1 and sensor3 == 0 and movDirection == 1):
#print("Hit a right back corner")
autopilot.stop()
#time.sleep(.3)
autopilot.strafeL()
movDirection = 4
print('Start Moving left')
# Moving left following front wall
if(sensor1 == 1 and sensor4 == 0 and sensor2 == 0 and sensor3 == 0 and movDirection == 4):
#print("Moving left following front wall")
autopilot.stop()
#time.sleep(.3)
autopilot.strafeL()
autopilot.backward()
#movDirection = 4
print('Moving left')
if(sensor1 == 0 and sensor4 == 0 and sensor2 == 0 and sensor3 == 0 and movDirection == 4):
autopilot.stop()
#time.sleep(.3)
autopilot.strafeL()
autopilot.forward()
#movDirection = 4
print('Moving left-ADJ')
# End following front wall
# Lost front wall
if(sensor1 == 0 and sensor2 == 0 and sensor3 == 0 and sensor4 == 0 and movDirection == 4):
#print("Lost front wall")
autopilot.stop()
time.sleep(.3)
audopilot.strafeL()
time.sleep(.3)
autopilot.stop()
time.sleep(.5)
autopilot.forward()
time.sleep(.5)
autopilot.stop()
time.sleep(.5)
movDirection = 2
while (sensor3 == 0):
autopilot.strafeR()
time.sleep(1)
autopilot.stop()
print('Wall vanished')
ser.flush()
# Found back left corner
if(sensor1 == 1 and sensor2 == 0 and sensor3 == 0 and sensor4 == 1 and movDirection == 4):
print("Found back left corner")
autopilot.stop()
time.sleep(1)
autopilot.turnR()
time.sleep(1.5)
autopilot.stop()
time.sleep(1)
search = 1
navigating = 0
ser.flush()
# No direction to fly
if(sensor1 == 1 and sensor2 == 1 and sensor3 == 1 and sensor4 == 1):
#print("No direction to fly")
autopilot.land()
time.sleep(5)
flying = 0
print('Can\'t fly')
# Emergency kill command
if(buf == "kill"):
autopilot.throttleCut()
#time.sleep(10)
#autopilot.landed()
flying = 0
#print('Killing operation')
if(isKill):
#autopilot.throttleCut()
autopilot.stop()
autopilot.land()
time.sleep(10)
flying = 0
return
#print('Killed manually')
# Variable for if ball is seen
seen = 0
# Start searching for ball -- Needs implemented
#while(search == 1 and buf != 'stop'):
# Capture image and look for ball
# Close the socket if ctrl+c key combination is used
except KeyboardInterrupt:
clientsocket.close()
# Close the socket in all other exceptions
except:
print('Error occured, closing socket')
PWM.cleanup()
clientsocket.close()
def clean_up(): # Clean up and exit script
set_led(0, 0, 0)
GPIO.cleanup()
PWM.cleanup()
time.sleep(0.5)
sys.exit()
def cleanup():
PWM.cleanup()
def destroy():
webiopi.debug("Script with macros - Destroy")
# Shutdown all PWM and DMA activity
PWM.cleanup()
def end(self):
"""Cleanup after usage."""
PWM.cleanup()
def cleanup(self):
if self.__backlight:
PWM.clear_channel_gpio(0, self.__backlight)
PWM.cleanup()
GPIO.cleanup()
def stop(self):
RPIO.del_interrupt_callback(self.pPanicBtn)
PWM.clear_channel(0)
PWM.cleanup()
try:
while True:
# LED per vedere se tutto funziona
for t in led_time:
for i in gpio_port:
RPIO.output(i, RPIO.HIGH)
sleep(t)
RPIO.output(i, RPIO.LOW)
sleep(t)
for d in canale_dma:
subcycle_T = PWM.get_channel_subcycle_time_us(d)
incr_T = PWM.get_pulse_incr_us()
print("CANALE ", d, "subcycle_T =", subcycle_T, "--- incr_T =", incr_T)
sleep(2)
# if PWM.is_setup(): #è stato fatto il setup d'inizializzazione
# granularity=granularity*10 #se sì: incremento la granularity
# PWM.setup(granularity,0) #rifaccio il setup
except KeyboardInterrupt:
pass
for i in canale_dma:
PWM.clear_channel(i)
PWM.clear_channel_gpio(i,gpio_port(i))
PWM.cleanup()
print "STOP!"
print "Ciao!"
def cleanup_all_motors(cls):
PWM.cleanup()
