def __init__(self, drive_map, sensor_map, servo_map, control_map):
"""
Initialize Output (and Input) pins. Assign objects to groups
"""
self.drive = drive_map
self.sensor = sensor_map
self.servo = servo_map
self.control = control_map
# Initialize the PWM Device
self.pwm = PWM(0x40)
self.pwm.setPWMFreq(FREQ)
for key in self.drive:
self.pwm.setPWM(self.drive[key],0,0)
for key in self.servo:
self.servo[key]["POS"] = self.servo[key]["MID"]
self.servo[key]["WIDTH"] = self.servo[key]["MAX"] - self.servo[key]["MIN"]
self.pwm.setPWM(self.servo[key]["PIN"],0,self.servo[key]["POS"])
class Robot:
"""
Class to setup a Robot. Takes a dictionary of "commands" and
their associated output pins (BOARD number)
"""
def __init__(self, drive_map, sensor_map, servo_map, control_map):
"""
Initialize Output (and Input) pins. Assign objects to groups
"""
self.drive = drive_map
self.sensor = sensor_map
self.servo = servo_map
self.control = control_map
# Initialize the PWM Device
self.pwm = PWM(0x40)
self.pwm.setPWMFreq(FREQ)
for key in self.drive:
self.pwm.setPWM(self.drive[key],0,0)
for key in self.servo:
self.servo[key]["POS"] = self.servo[key]["MID"]
self.servo[key]["WIDTH"] = self.servo[key]["MAX"] - self.servo[key]["MIN"]
self.pwm.setPWM(self.servo[key]["PIN"],0,self.servo[key]["POS"])
def __repr__(self):
"""
String Representation of Robot instance
"""
rep = "Robot: " + "\n\n"
rep += "Drive Map: " + str(self.drive) + "\n\n"
rep += "Sensor Map: " + str(self.sensor) + "\n\n"
rep += "Servo Map: " + str(self.servo) + "\n\n"
rep += "Control Map: " + str(self.control) + "\n\n"
return rep
def halt(self):
"""
Function to reset Robot to Initial Values and Stop execution
"""
print "HALT()"
for key in self.drive:
self.pwm.setPWM(self.drive[key],0,0)
for key in self.servo:
self.pwm.setPWM(self.servo[key]["PIN"],0,self.servo[key]["MID"])
def update(self, event):
"""
Update Control States and Update PWM for each Motor or Servo when appropriate
"""
## update control states
self.control[event.key] = event.value
## Drive Motors
if event.key in ["X1","Y1"]:
throttle = float(self.control["Y1"]) / MAXJOYSTICK
direction = float(self.control["X1"]) / MAXJOYSTICK
L = MAXPULSE * (throttle + direction)
R = MAXPULSE * (throttle - direction)
if L >= 0:
self.pwm.setPWM(self.drive["LR"],0,0)
self.pwm.setPWM(self.drive["LF"],0,int(min(abs(L),MAXPULSE)))
else:
self.pwm.setPWM(self.drive["LF"],0,0)
self.pwm.setPWM(self.drive["LR"],0,int(min(abs(L),MAXPULSE)))
if R >= 0:
self.pwm.setPWM(self.drive["RR"],0,0)
self.pwm.setPWM(self.drive["RF"],0,int(min(abs(R),MAXPULSE)))
else:
self.pwm.setPWM(self.drive["RF"],0,0)
self.pwm.setPWM(self.drive["RR"],0,int(min(abs(R),MAXPULSE)))
## Pivot Arm
if event.key == "X2":
pivot = float(self.control["X2"]) / MAXJOYSTICK
pivot = -(pivot)
pivot = pivot * self.servo["PVT"]["WIDTH"] / 2
pivot = int(pivot) + self.servo["PVT"]["MID"]
self.servo["PVT"]["POS"] = pivot
self.pwm.setPWM(self.servo["PVT"]["PIN"],0,self.servo["PVT"]["POS"])
## Reach Arm
if event.key == "Y2":
reach = float(self.control["Y2"]) / MAXJOYSTICK
reach = reach * self.servo["RCH"]["WIDTH"] / 2
reach = int(reach) + self.servo["PVT"]["MID"]
self.servo["RCH"]["POS"] = reach
self.pwm.setPWM(self.servo["RCH"]["PIN"],0,self.servo["RCH"]["POS"])
## Lift Arm
if event.key in ["LT","RT"]:
lift = float(self.control["RT"] - self.control["LT"]) / MAXTRIGGER
lift = lift * self.servo["LFT"]["WIDTH"] / 2
lift = int(lift) + self.servo["LFT"]["MID"]
self.servo["LFT"]["POS"] = lift
self.pwm.setPWM(self.servo["LFT"]["PIN"],0,self.servo["LFT"]["POS"])
## CLOSE GRIP
if event.key == "RB" and event.value == 1:
self.servo["GRP"]["POS"] = self.servo["GRP"]["MAX"]
self.pwm.setPWM(self.servo["GRP"]["PIN"],0,self.servo["GRP"]["POS"])
## OPEN GRIP
if event.key == "LB" and event.value == 1:
self.servo["GRP"]["POS"] = self.servo["GRP"]["MIN"]
self.pwm.setPWM(self.servo["GRP"]["PIN"],0,self.servo["GRP"]["POS"])
def read_sensors(self, command):
pass
#!/usr/bin/python
from lib.Adafruit_PWM_Servo_Driver import PWM
from lib import xbox_read
import time
# Define Constants
MAXPULSE = 4095
MAXJOYSTICK = 32700
MAXTRIGGER = 255
FREQ = 60
# Initialize the PWM Device
pwm = PWM(0x40)
pwm.setPWMFreq(FREQ)
class Robot:
"""
Class to setup a Robot. Takes a dictionary of "commands" and
their associated output pins (BOARD number)
"""
def __init__(self, drive_map, sensor_map, servo_map, control_map):
"""
Initialize Output (and Input) pins. Assign objects to groups
"""
self.drive = drive_map
self.sensor = sensor_map
self.servo = servo_map
self.control = control_map
# Initialize the PWM Device
self.pwm = PWM(0x40)
#!/usr/bin/python
import RPi.GPIO as GPIO
from lib.Adafruit_PWM_Servo_Driver import PWM
from lib import xbox_read
import time
import math
# Initialise the PWM device using the default address
pwm = PWM(0x40,
debug=True) #connects to breakout board address 0x40 in debug mode
pwm2 = PWM(0x41, debug=True)
# Default calibration values
#32768 max range in xbox controller analog stick / 255 for triggers
move = 0
move2 = 500 #used for pwm signal max value
servoMin = 500 #used for min value for drive servos
servoMove = 150 #used for min value for camera servos
servoMoveBasket = 400 #used for min value for basket servos
servoMoveArm = 400 #used for min values for arm servos
menu = 1 #used to toggle between camera servos and capture carry servos
pwm.setPWMFreq(50)
pwm2.setPWMFreq(2000) # Set frequency to 50 Hz
#main loop
while (True):
for event in xbox_read.event_stream(
deadzone=6000
): #looks for a button to be pressed sets deadzone (sensitivity) to 6000
if (event.key == 'Y1' and event.value > 0
#!/usr/bin/python
import RPi.GPIO as GPIO
from lib.Adafruit_PWM_Servo_Driver import PWM
from lib import xbox_read
import time
# Initialise the PWM device using the default address
pwm = PWM(0x40, debug=True)
# Initialise the GPIO output channels
GPIO.setmode(GPIO.BCM)
FORWARD = 21
BACKWARD = 17
GPIO.setup(FORWARD, GPIO.OUT)
GPIO.setup(BACKWARD, GPIO.OUT)
direction = None
# Setup direction of travel
def setDirection(new_direction):
global direction # One global property, cut me some slack
if direction:
GPIO.output(direction,False)
GPIO.output(new_direction,True)
direction = new_direction
setDirection(FORWARD)
# Default calibration values
servoMid = 425
servoWidth = 180
#!/usr/bin/python
import RPi.GPIO as GPIO
from lib.Adafruit_PWM_Servo_Driver import PWM
from lib import xbox_read
# Initialise the PWM servo driver using the default address, there are pins you can solder shut, for when you have several contollers.
pwm = PWM(0x40, debug=True)
# Default calibration values
servoDrive = 425 #max turn speed of the servo
servoDriveWidth = 360 #kind of servo, 360 is continuous rotation servo
servoSteer = 425 #max turn speed of the servo
servoSteerWidth = 180 #kind of servo, 180 is 180 degrees rotation servo
pwm.setPWMFreq(60) # Set frequency to 60 Hz
# set the names and values of the servos
drive = servoDrive
steer = servoSteer
for event in xbox_read.event_stream(deadzone=12000):
# left thumbstick controls the speed
if event.key=='Y1':
# if your servo turns the wrong way, add a minus in front of: 32768 so it would be */-32768
drive = int( servoDrive + (servoDriveWidth*-event.value)/32768 )
pwm.setPWM(0, 0, drive)
# Right thumbstick controls the steering
if event.key=='X2':
# if your servo turns the wrong way, add a minus in front of: 32768 so it would be */-32768
steer = int( servoSteer + (servoSteerWidth*-event.value)/32768 )
# import RPi.GPIO as GPIO
from lib.Adafruit_PWM_Servo_Driver import PWM
import time
channels = [0 for i in range(16)]
# Initialise the PWM device using the default address
pwm = PWM(0x40, debug=True)
pwm.setPWMFreq(60) # Set frequency to 60 Hz
# Initialise the GPIO output channels
# GPIO.setmode(GPIO.BCM)
# RED = 21
# GREEN = 17
# GPIO.setup(RED, GPIO.OUT)
# GPIO.setup(GREEN, GPIO.OUT)
# GPIO.output(RED,False)
# GPIO.output(GREEN,False)
def setChannel(channel,val):
channel = int(channel)
val = int(val)
channels[channel] = val
pwm.setPWM(channel, 0, val*16)
def getState():
return {'channels':channels}
