def __init__(self,
channel,
invert=False,
frequency=60,
left_pulse=290,
right_pulse=490):
from navio import util
import RPi.GPIO as GPIO
import Adafruit_PCA9685
util.check_apm()
#Navio+ requires the GPIO line 27 to be set to low
#before the PCA9685 is accesed
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(27, GPIO.OUT)
GPIO.output(27, GPIO.LOW)
self.frequency = frequency
self.channel = channel
self.invert = invert
self.left_pulse = left_pulse
self.right_pulse = right_pulse
self.pwm = Adafruit_PCA9685.PCA9685()
self.pwm.set_pwm_freq(frequency)
def __init__(self, channel, frequency=50):
from navio2 import pwm as navio_pwm
from navio2 import util
util.check_apm()
self.pwm = navio_pwm.PWM(channel)
self.pwm.initialize()
self.channel = channel
self.pwm.set_period(frequency)
async def start(self):
util.check_apm()
self.imu = mpu9250.MPU9250()
try:
self.imu.initialize()
except:
logging.error("Could not initialize IMU")
return
await asyncio.sleep(2)
while not self.stopped:
m9a, m9g, m9m = self.imu.getMotion9()
await asyncio.sleep(0.1)
self.cached = (m9a, m9g, m9m)
def __init__(self, channel, invert=False):
from navio import adafruit_pwm_servo_driver as pwm
from navio import util
import RPi.GPIO as GPIO
util.check_apm()
#Navio+ requires the GPIO line 27 to be set to low
#before the PCA9685 is accesed
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(27, GPIO.OUT)
GPIO.output(27, GPIO.LOW)
#GPIO.cleanup()
self.frequency = 60
self.channel = channel
self.invert = invert
self.pwm = pwm.PWM()
self.pwm.setPWMFreq(self.frequency)
async def start(self):
logging.info("Start StereoSonar")
util.check_apm()
logging.info("APM checked")
try:
self.adc = adc.ADC()
except:
logging.error("Could not load ADC, no sonar available")
return
logging.info("Created ADC")
await asyncio.gather(self.__setup_pin(self.trigger_left),
self.__setup_pin(self.trigger_right))
logging.info("Setup Sonar Pins")
await asyncio.sleep(2)
while not self.stopped:
left_volts = await self.__read_pin(self.trigger_left,
self.channel_left)
self.cached = (left_volts, self.cached[1])
right_volts = await self.__read_pin(self.trigger_right,
self.channel_right)
self.cached = (self.cached[0], right_volts)