#!/usr/bin/python3
import RPi.GPIO as GPIO
import time
from adafruit_motorkit import MotorKit
kit = MotorKit()
GPIO.setmode(GPIO.BCM)
#22 LED Active
#23 Input Active
GPIO.setup(23, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
#24 LED Recording
#25 Input Recording
GPIO.setup(25, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
#5 Button Even (pulled up)
# GPIO.setup(5, GPIO.IN)
#6 Sound sensor
GPIO.setup(6, GPIO.IN, pull_up_down=GPIO.PUD_UP)
i=0
try:
while True:
# HEAD
if GPIO.input(23):
#print(".")
kit.motor1.throttle = 1
import time
import board
from adafruit_motorkit import MotorKit
wheels = MotorKit(i2c=board.I2C())
class robotManuevers:
def turnLeft90Over():
wheels.motor3.throttle = 0
wheels.motor4.throttle = 0
time.sleep(.5)
wheels.motor3.throttle = 0.80
wheels.motor4.throttle = -0.67
time.sleep(.84)
wheels.motor3.throttle = 0
wheels.motor4.throttle = 0
time.sleep(.5)
def turnLeft90():
wheels.motor3.throttle = 0
wheels.motor4.throttle = 0
time.sleep(.5)
wheels.motor3.throttle = 0.7
wheels.motor4.throttle = -0.65
time.sleep(.93)
wheels.motor3.throttle = 0
wheels.motor4.throttle = 0
time.sleep(.5)
def turnRight90():
#!/usr/bin/python
#
# NOTE - Only for use on Raspberry Pi or other SBC.
#
import time
import atexit
import threading
import random
import board
from adafruit_motor import stepper as STEPPER
from adafruit_motorkit import MotorKit
# create a default object, no changes to I2C address or frequency
kit = MotorKit(i2c=board.I2C())
# create empty threads (these will hold the stepper 1 and 2 threads)
st1 = threading.Thread() # pylint: disable=bad-thread-instantiation
st2 = threading.Thread() # pylint: disable=bad-thread-instantiation
# recommended for auto-disabling motors on shutdown!
def turnOffMotors():
kit.stepper1.release()
kit.stepper2.release()
atexit.register(turnOffMotors)
stepstyles = [
STEPPER.SINGLE, STEPPER.DOUBLE, STEPPER.INTERLEAVE, STEPPER.MICROSTEP
]
"""Simple test for using adafruit_motorkit with a stepper motor"""
from adafruit_motor import stepper
from adafruit_motorkit import MotorKit
import time
kit = MotorKit(0x6f, None, 2)
NotDone = True
myRange = 400
delay = 3
while NotDone:
print("Single coil steps")
for i in range(myRange):
kit.stepper2.onestep(direction=stepper.FORWARD, style=stepper.SINGLE)
for i in range(myRange):
kit.stepper2.onestep(direction=stepper.BACKWARD, style=stepper.SINGLE)
time.sleep(delay)
print("Double coil steps")
for i in range(myRange):
kit.stepper2.onestep(direction=stepper.FORWARD, style=stepper.DOUBLE)
for i in range(myRange):
kit.stepper2.onestep(direction=stepper.BACKWARD, style=stepper.DOUBLE)
time.sleep(delay)
print("Interleaved coil steps")
for i in range(myRange):
kit.stepper2.onestep(direction=stepper.FORWARD,
style=stepper.INTERLEAVE)
for i in range(myRange):
kit.stepper2.onestep(direction=stepper.BACKWARD,
style=stepper.INTERLEAVE)
def __init__(self, _address):
self.kit = MotorKit(address=_address)
self.kit.stepper2.release()
self.status = 'up'
def __init__(self):
self.kit = MotorKit()
self.speed = 0
import os
import time
from adafruit_motorkit import MotorKit
folder_name = "5_14_turnleft" ## image saved name => " date +action type"
times = 100 ## number of image
kit = MotorKit() ## wheel1 =right ,wheel 2 = left
for i in range(times):
kit.motor1.throttle = 0 ## set wheel1 speed
kit.motor2.throttle = 0.5 ## set wheel 2 speed
time.sleep(0.2)
kit.motor1.throttle = 0 ## wheel1 stop
kit.motor2.throttle = 0 ## wheel 2stop
a = "raspistill -o "
b = folder_name
c = str(i) # the ith photo
d = ".jpg"
command = a + b + c + d
os.system(command)
class ControllerType(Enum):
none = 0
PID = 1
class LimitAction(Enum):
none = 0
Abort = 1
Disable = 2
NegDisable = 3
PosDisable = 4
Home = 5
Count = 0
kit = MotorKit(0x6f)
class Axis(object):
'''
def __init__(self, number, axis_type, feedback, pos_lim_switch, neg_lim_switch, home_switch=None):
if axis_type == AxisType.Stepper:
return _Stepper(number)
elif axis_type == AxisType.Motor:
return _Motor(number, feedback, pos_lim_switch, neg_lim_switch, home_switch)
else:
Axis.error("Unknown motor type.")
'''
def __init__(self, number, feedback, pos_lim_switch, neg_lim_switch, home_switch=None):
self.Number = number
"""Simple test for using adafruit_motorkit with a stepper motor"""
import sys
import time
import board
import ntplib
from datetime import datetime, timezone
import pytz
from adafruit_motorkit import MotorKit
from adafruit_motor import stepper
import RPi.GPIO as GPIO
# ir sensor on GPIO pin 4
ir = 4
GPIO.setup(ir, GPIO.IN)
clock = MotorKit(i2c=board.I2C())
c = ntplib.NTPClient()
# if sensor is high, step off of it
if GPIO.input(ir) == 1:
for i in range(144):
clock.stepper1.onestep(style=stepper.DOUBLE)
time.sleep(0.005)
# find home
position = 0
while GPIO.input(ir) == 0:
elif togo == 2:
goForward()
elif barcodeData == '4':
togo = random.randint(1, 3)
if togo == 1:
goLeft()
elif togo == 2:
goForward()
elif togo == 3:
goRight()
if __name__ == "__main__":
motor = MotorKit()
def_speed = 50
error = 0
last_error = 0
output = 0
kp = 1.2
kd = 1.5
running = True
goReadBar = False
res_change = False
turnBar = 0
timeforreadBar = 3000
millis = 0
startmillis = False
barcodeData = None
# please install the libraries from here
# https://github.com/adafruit/Adafruit_CircuitPython_DHT
# adafruit libraries
import board
import adafruit_dht
import time
# Initial the dht device, with data pin connected to:
dhtDevice = adafruit_dht.DHT22(board.D4)
#motor hat section
from adafruit_motorkit import MotorKit
kit = MotorKit(0x40)
while True:
try:
# Print the values to the serial port
temperature_c = dhtDevice.temperature
temperature_f = temperature_c * (9 / 5) + 32
humidity = dhtDevice.humidity
print("Temp: {:.1f} F / {:.1f} C Humidity: {}% ".format(
temperature_f, temperature_c, humidity))
# motor direction based on temperature
if ((temperature_c >= 24.0) and (temperature_c <= 29.0)):
# moves forward
kit.motor1.throttle = 1.0
kit.motor2.throttle = 1.0
pass
# ------------------ Initialize IMU ------------------
if imu_activated:
imu = IMU()
# ------------------ Initialize IR -------------------
if ir_sensor_activated:
#ir = IR(17)
pass
# ---------------- Initialize Motors -----------------
#print("motor1")
if motors_running:
robot = MotorKit()
if arm_active:
arm = Arm(0x61)
# ---------------- Initialize Cube Sensor -----------------
if cubesensor_active:
ser = serial.Serial(port='/dev/ttyS0',
baudrate=9600,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
bytesize=serial.EIGHTBITS,
timeout=1)
# ---------------- Initialize USFS -----------------
if usfs_active:
MAG_RATE = 100
def init():
global kit
kit = MotorKit()
