def main():
address = int(sys.argv[1])
relayno = int(sys.argv[2])
status = int(sys.argv[3])
dev = easyi2c.IIC(address, 1)
# click relays in turn one after the other
print "Relay ", relayno
dev.i2c([relayno, status, 0, 1], 0) # on
sleep(0.2)
dev.close()
def __init__(self, easybus=None):
if easybus:
self.easyi2c = easybus
return
DEVICE_ADDRESS = 0x27 #7 bit address (will be left shifted to add the read write bit)
# Figure out which bus to use by seeing what devices are present
import os
if os.path.exists("/dev/i2c-0"):
I2C_BUS = 0
elif os.path.exists("/dev/i2c-1"):
I2C_BUS = 1
else:
raise Exception("HIH6130: can't access the I2C bus on either '/dev/i2c-0' or '/dev/i2c-1'. Have you enabled I2C in the kernel?")
self.easyi2c = easyi2c.IIC(DEVICE_ADDRESS, I2C_BUS)
income_data_led = []
flag = 0
servo_up_limit = 2300
servo_down_limit = 1300
#i2c address
address0 = 0x04 #motor0
address1 = 0x08 #motor1
address2 = 0x16 #motor2
address3 = 0x20 #motor3
address4 = 0x30 #servos
address5 = 0x77 #LEDs
bus0 = easyi2c.IIC(address0, 1)
bus1 = easyi2c.IIC(address1, 1)
bus2 = easyi2c.IIC(address2, 1)
bus3 = easyi2c.IIC(address3, 1)
bus4 = easyi2c.IIC(address4, 1)
bus5 = easyi2c.IIC(address5, 1)
out = motors_feedback()
pub = rospy.Publisher('motors_feedback', motors_feedback, queue_size=10)
def l2dig(n): #function taking last 2 digits of number
return int(str(n)[-3:]) if '.' in str(n)[-2:] else int(str(n)[-2:])
import smbus import time import easyi2c # Define the SMBus interface bus = smbus.SMBus(1) DEVICE_ADDRESS = 0x6F #7 bit address (will be left shifted to add the read write bit) myDevice= easyi2c.IIC(DEVICE_ADDRESS, 1) #address and bus #DEVICE_REG_MODE1 = 0x00 #DEVICE_REG_LEDOUT0 = 0x1d #Write a single register #bus.write_byte_data(DEVICE_ADDRESS, DEVICE_REG_MODE1, 0x80) #Write an array of registers #ledout_values = [0xff, 0xff, 0xff, 0xff, 0xff, 0xff] #bus.write_i2c_block_data(DEVICE_ADDRESS, DEVICE_REG_LEDOUT0, ledout_values) ###THIS WORKS #easyi2c #myData=myDevice.i2c([0x00,0x3F],1) #for iChar in myData: # print hex(iChar) ###THIS WORKS #SMBus #bus.write_byte_data(DEVICE_ADDRESS, 0x00, 0x30) # the 0x00, 0x00 is the '16 bit' address split into 2 bytes #myData = bus.read_byte(DEVICE_ADDRESS) # this will read at the current address pointer, which we on the previous line #print hex(myData) #Check status