elbow_dir = 6 #elbow direction pin
swivel_continuous = 1 #pin for swivel motor
ppin_shoulder = 5 #pin number for shoulder potentiometer
ppin_elbow = 6 #pin number for elbow potentiomenter
ppin_swivel = 7 #pin number for swivel potentiomenter
print "shoulder_pul", shoulder_pul
print "shoulder_dir", shoulder_dir
print "elbow_pul", elbow_pul
print "elbow_dir", elbow_dir
print "swivel_continuous", swivel_continuous
print "ppin_shoulder", ppin_shoulder
print "ppin_elbow", ppin_elbow
print "ppin_swivel", ppin_swivel
RPL.pinMode(
shoulder_pul,
RPL.PWM) #set shoulder_pul pin as a pulse-width modulation output
RPL.pinMode(
shoulder_dir,
RPL.OUTPUT) #set shoulder_dir pin to an output and write 1 to it
RPL.pinMode(elbow_pul,
RPL.PWM) #set elbow_pul pin as a pulse-width modulation output
RPL.pinMode(elbow_dir,
RPL.OUTPUT) #set elbow_dir pin to an output and write 1 to it
except:
print 'Motors unrunnable: unable to reach RoboPiLib_pwm'
def motor_runner(
): #sends signals to all the motors based on potentiometer readings
def DT_PWM_Speedrange():
ServoR = int(raw_input(0))
RPL.pinMode(ServoR, RPL.PWM)
ServoL = int(raw_input(1))
RPL.pinMode(ServoL, RPL.PWM)
from bsmLib import RPL
RPL.init()
sensor_pin = 5
RPL.pinMode(sensor_pin, RPL.INPUT)
def analogRead(pin):
putPacket(ANREAD, bytearray([5]), 1)
buff = getPacket()
return int(buff[3][1]) | (int(buff[3][2]) << 8)
import RPL
RPL.init()
import time
f_reverse = 1000
neutral = 1500
f_forward = 2000
#anglepersecond = 30
def DT_PWM_Speedrange():
ServoR = int(raw_input(0))
RPL.pinMode(ServoR, RPL.PWM)
ServoL = int(raw_input(1))
RPL.pinMode(ServoL, RPL.PWM)
# analogRead(1) = side slant left
# analogRead(2) = side slant right
# analogRead(3) = front left
from bsmLib import RPL
RPL.init()
import curses, time
screen = curses.initscr()
curses.noecho()
curses.halfdelay(1)
elbow_dir = 6
elbow_pul = 5
swivel_pin = 1
speed = 500
key = ''
key_hit = time.time()
RPL.pinMode(elbow_pul, RPL.PWM)
RPL.pinMode(elbow_dir, RPL.OUTPUT)
RPL.pinModw(shoulder_pul, RPL.PWM)
RPL.pinMode(shoulder_dir, RPL.OUTPUT)
while key != ord('1'):
key = screen.getch()
screen.clear()
if key == ord('w'):
screen.addstr('Moving elbow up')
RPL.digitalWrite(elbow_dir, 0)
RPL.pwmWrite(elbow_pul, speed, speed * 2)
key_hit = time.time()
if key == ord('s'):
screen.addstr('Moving elbow down')
RPL.digitalWrite(elbow_dir, 1)
from bsmLib import RPL
RPL.init()
import post_to_web as PTW
RPL.pinMode(1, RPL.INPUT)
RPL.analogRead(1)
frana = 1
rfana = 2
rbana = 3
brana = 4
blana = 5
lbana = 6
lfana = 7
flana = 8
while True:
PTW.state['FRanalog'] = FRanalog
PTW.state['BRanalog'] = BRanalog
PTW.state['LFanalog'] = LFanalog
PTW.state['FLanalog'] = FLanalog
PTW.state['RFanalog'] = RFanalog
PTW.state['BLanalog'] = BLanalog
PTW.state['LBanalog'] = LBanalog
PTW.state['RBanalog'] = RBanalog
PTW.post()
R = 1
# PWM
PERIOD = 3000
######################
## 0. Setup
######################
# Create tcp connection and listen
t = tcpServer(HOST, PORT)
t.listen()
RPL.init() # Init RoboPi hat connection
# Set to PWM pin mode
RPL.pinMode(L, RPL.PWM)
RPL.pinMode(R, RPL.PWM)
######################
## 1. drive
######################
def drive():
d = t.recv()
if d == "stop":
RPL.servoWrite(L, 0)
RPL.servoWrite(R, 0)
t.stop()
exit()
d = d.split(' ')
l = int(map(float(d[0]), -1, 1, MIN, MAX))