def initialise():
# Setup
pz.init()
pz.setOutputConfig(0, 2) # set output 0 to Servo
pz.setOutputConfig(1, 1) # set output 1 to PWM
pz.setOutputConfig(2, 1) # set output 2 to PWM
pz.setOutputConfig(3, 1) # set output 3 to PWM
pz.setInputConfig(0, 0) # set input 1 to digital
# Setup Action queues
global qLED
qLED = Queue(maxsize=0)
global qServo
qServo = Queue(maxsize=0)
workerLED = Thread(target=processq, args=(qLED, ))
workerLED.setDaemon(True)
workerLED.start()
workerServo = Thread(target=processq, args=(qServo, ))
workerServo.setDaemon(True)
workerServo.start()
# Initialise dropbox
global dbx
dbx = dropbox.Dropbox(get_dropboxkey())
#! /usr/bin/env python
#
# Basic test of HC-SR04 ultrasonic sensor on Picon Zero
import hcsr04, time
import piconzero as pz
pz.setInputConfig(2, 0)
pz.setInputConfig(3, 0)
pz.init()
hcsr04.init()
try:
while True:
distance = int(hcsr04.getDistance())
print("Distance : "), distance
if (((pz.readInput(2) != 1) or (pz.readInput(3) != 1))
and distance > 13):
pz.reverse(60)
else:
pz.stop()
time.sleep(0.2)
pz.spinRight(50)
time.sleep(0.2)
pz.stop()
break
except KeyboardInterrupt:
print
finally:
hcsr04.cleanup()
pz.cleanup()
from __future__ import absolute_import
import piconzero as pz, time
pz.setInputConfig(0, 1) # set input 0 to Analog
pz.setOutputConfig(0, 1) # set output 0 to PWM
pz.setOutputConfig(2, 2) # set output 2 to Servo
pz.setOutputConfig(5, 3) # set output 5 to WS2812
while True:
ana0 = pz.readInput(0)
pz.setOutput(0, ana0/10)
pz.setPixel(0,0,0,ana0/4)
pz.setOutput(2, int(ana0/7))
time.sleep(0.1) # this makes 11 active lines, but can be removed
#! /usr/bin/env python
# GNU GPL V3
# Test code for 4tronix Picon Zero
import piconzero as pz, time
pz.init()
pz.setInputConfig(0, 2) # set input 0 to DS18B20
pz.setInputConfig(2, 2) # set input 2 to DS18B20
try:
while True:
ana0 = pz.readInput(0)
if (ana0>32767):
ana0 -= 65536
ana2 = pz.readInput(2)
if (ana2>32767):
ana2 -= 65536
print ana0*0.0625, ana2*0.0625
time.sleep(1)
except KeyboardInterrupt:
print
finally:
pz.cleanup()
#! /usr/bin/env python
# GNU GPL V3
# Test code for 4tronix Picon Zero
from __future__ import absolute_import
from __future__ import print_function
import piconzero as pz, time
pz.init()
pz.setInputConfig(0, 2) # set input 0 to DS18B20
pz.setInputConfig(2, 2) # set input 2 to DS18B20
try:
while True:
ana0 = pz.readInput(0)
if (ana0 > 32767):
ana0 -= 65536
ana2 = pz.readInput(2)
if (ana2 > 32767):
ana2 -= 65536
print(ana0 * 0.0625, ana2 * 0.0625)
time.sleep(1)
except KeyboardInterrupt:
print()
finally:
pz.cleanup()
from gpiozero import Button import sys from inputs import get_key import os import hcsr04 import I2C_LCD_driver #I2C LCD driver from http://www.circuitbasics.com/raspberry-pi-i2c-lcd-set-up-and-programming/ #____________________________________________________________________________________ #hardware setup mylcd = I2C_LCD_driver.lcd() #assign LCD to variable for ease of use pz.init() #initiate hardware pz.setInputConfig(0, 0) #right IR sensor is input 0 and digital pz.setInputConfig(1, 0) #left IR sensor is input 1 and digital pz.setInputConfig(2, 0) #right line sensor is input 2 and digital pz.setInputConfig(3, 0) #left line is input 3 and digital RIGHTIR = pz.readInput(0) #assign right IR to a variable LEFTIR = pz.readInput(1) #assign left IR to a variable RIGHTLINE = pz.readInput(2) #assign right line sensor to a variable LEFTLINE = pz.readInput(3) #assign left line sensor to a variable hcsr04.init() #initiate hardware RANGE = hcsr04.getDistance() #assign HC-SR04 range to variable button = Button(22) #end of hardware setup
#! /usr/bin/env python
# GNU GPL V3
# Test code for 4tronix Picon Zero
from __future__ import absolute_import
from __future__ import print_function
import piconzero as pz, time
pz.init()
pz.setInputConfig(0, 0, True) # request pullup on input
vsn = pz.getRevision()
if (vsn[1] == 2):
print("Board Type:", "Picon Zero")
else:
print("Board Type:", vsn[1])
print("Firmware version:", vsn[0])
print()
try:
while True:
switch = pz.readInput(0)
if (switch == 0):
print("Switch Pressed", switch)
else:
print("Switch Released", switch)
time.sleep(5)
except KeyboardInterrupt:
print()
from triangula.input import SixAxis, SixAxisResource import time import smbus import os import hcsr04 import piconzero as pz from gpiozero import Button import I2C_LCD_driver #__________________________________________________________________ #initiate piconzero and display pz.init() #initiate hardware mylcd = I2C_LCD_driver.lcd() #assign LCD to variable for ease of use pz.setInputConfig(0,0) #developer switch is input 0 and digital pz.setInputConfig(1,0) #right IR sensor is input 1 and digital pz.setInputConfig(2,0) #left IR sensor is input 2 and digital pz.setInputConfig(3,0) #right line sensor is input 3 and digital pz.setInputConfig(4,0) #left line is input 4 and digital DEVELOPER = Button(22) #assign developer switch to variable DEVELOPER = 0 RIGHTIR = pz.readInput(0) #assign right IR to a variable LEFTIR = pz.readInput(1) #assign left IR to a variable RIGHTLINE = pz.readInput(2) #assign right line sensor to a variable LEFTLINE = pz.readInput(3) #assign left line sensor to a variable hcsr04.init() #initiate hardware RANGE = hcsr04.getDistance() #assign HC-SR04 range to variable
rightState=0 # running total of change of state leftTotal=0 rightTotal=0 # init all hardware pz.init() # Set output mode to Servo pz.setOutputConfig(pan, 2) pz.setOutputConfig(tilt, 2) pz.setOutputConfig(cam, 2) pz.setInputConfig(irSen, 1) # set input 0 to Analog pz.setInputConfig(leftCounter, 0) # set input 0 to Analog pz.setInputConfig(rightCounter, 0) # set input 0 to Analog # Centre positions for all servos panVal = 90 tiltVal = 90 camVal = 90 pz.setOutput (pan, panVal) pz.setOutput (tilt, tiltVal) pz.setOutput (cam, camVal) # position for 'head down' while moving forward for collis detection fwdPan=90
#! /usr/bin/env python
# Sound controlled McRoboFace by Robin Newman June 4th 2016
# requires picon zero hardware plus software library
# see circuitry in article at rbnrpi.wordpress.com
#version 1.2
import piconzero as pz, time
#setup piconzero card
pz.init()
pz.setInputConfig(
1, 0, True
) # used for push button digital input (normally high using internal resistor)
pz.setOutputConfig(5, 3) # set output 5 to WS2812
pz.setInputConfig(0, 1) # set to Analogue used to sample audio
#initialise variables used by the program
v = 0 #adc value
offset = 0 #rest adc value read when button pushed
opencount = 0 #count cycles between shutting and next opening of mouth
shutcount = 0 #count cycles between opening and next shutting of mouth
openFlag = 0 #0 closed, 1 open
b = 0 #current brightness
threshold = 65 #trigger brightness level to open mouth
blast = 0 #last brightness
openslot = 8 #number of cycles for which mouth remains open (initial value)
shutslot = 2 #number of cycles for which mouth remains closed (I have had this higher at 4: experiment with it!)
#define function to open or close mouth
def change(t): #parameter = 1 to open mouth anything else to close it
servoPort0 = 0
#ch1
servoPort1 = 1
#ch2
servoPort2 = 2
#define input ports
analogPort0 = 0 #input port 0
analogPort1 = 1 #input port 1
# Set output mode
pz.setOutputConfig(servoPort0, 2) #set to output Servo (0 - 180)
#pz.setOutputConfig(servoPort0, 1) # set output 0 to PWM (100)
# Set input mode
pz.setInputConfig(analogPort0, 1) # set input 0 to Analog
def motor(servoPort, speed): #activate servo hat servo motor
pz.setOutput(servoPort, speed)
class Encoder(threading.Thread):
'Class for Analog encoder on continous rotation servo motors'
def __init__(self, servo_port, analog_port, threshold):
threading.Thread.__init__(self)
self.q = queue.Queue() #q, command queue
self.event = threading.Event()
self.encoderLoop = True
self.servo_port = servo_port
def setup():
print("Init line sensor")
# read from config file
LineSensor.channel = int(IniReader.read('pins', 'LINE_SENSOR_CHANNEL'))
pz.setInputConfig(LineSensor.channel, 0) # set DIGITAL
print("Line sensor initialised")
import piconzero as pz, time
pz.setInputConfig(0, 1) # set input 0 to Analog
pz.setOutputConfig(0, 1) # set output 0 to PWM
pz.setOutputConfig(2, 2) # set output 2 to Servo
pz.setOutputConfig(5, 3) # set output 5 to WS2812
while True:
ana0 = pz.readInput(0)
pz.setOutput(0, ana0/10)
pz.setPixel(0,0,0,ana0/4)
pz.setOutput(2, int(ana0/7))
time.sleep(0.1) # this makes 11 active lines, but can be removed
#! /usr/bin/env python
# GNU GPL V3
# Test code for 4tronix Picon Zero
import piconzero as pz, time
pz.init()
pz.setInputConfig(0, 0, True) # request pullup on input
vsn = pz.getRevision()
if (vsn[1] == 2):
print "Board Type:", "Picon Zero"
else:
print "Board Type:", vsn[1]
print "Firmware version:", vsn[0]
print
try:
while True:
switch = pz.readInput(0)
if (switch == 0):
print "Switch Pressed", switch
else:
print "Switch Released", switch
time.sleep(5)
except KeyboardInterrupt:
print
finally:
pz.cleanup()
