def set_duty_cycle(self, pulse_width_us):
self.set_motor_direction_pins()
if (math.fabs(pulse_width_us) == self.min):
# If we have reached the bottom of the power range, turn the power off entirely so we don't waste any
self.logger.info("Shutting down motor")
pigpio.set_PWM_dutycycle(self.pin, 0)
else:
pigpio.set_PWM_dutycycle(self.pin, math.fabs(pulse_width_us))
self.logger.info("Motor Speed = %s" % pulse_width_us)
def set_duty_cycle(self, pulse_width_us):
self.set_motor_direction_pins()
if ( math.fabs(pulse_width_us) == self.min ):
# If we have reached the bottom of the power range, turn the power off entirely so we don't waste any
self.logger.info("Shutting down motor")
pigpio.set_PWM_dutycycle(self.pin, 0)
else:
pigpio.set_PWM_dutycycle(self.pin, math.fabs(pulse_width_us))
self.logger.info("Motor Speed = %s" % pulse_width_us)
def t3():
global t3_reset, t3_count, t3_on, t3_off
pw=[500.0, 1500.0, 2500.0]
dc=[0.2, 0.4, 0.6, 0.8]
print("PWM/Servo pulse accuracy tests.")
t3cb = pigpio.callback(GPIO, pigpio.EITHER_EDGE, t3cbf)
t = 0
for x in pw:
t += 1
pigpio.set_servo_pulsewidth(GPIO, x)
time.sleep(1)
t3_reset = True
time.sleep(4)
c = t3_count
on = t3_on
off = t3_off
CHECK(3, t, int((1E3*(on+off))/on), int(2E7/x), 1, "set servo pulsewidth")
pigpio.set_servo_pulsewidth(GPIO, 0)
pigpio.set_PWM_frequency(GPIO, 1000)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(3, 4, f, 1000, 0, "set/get PWM frequency")
rr = pigpio.set_PWM_range(GPIO, 100)
CHECK(3, 5, rr, 200, 0, "set PWM range")
t = 5
for x in dc:
t += 1
pigpio.set_PWM_dutycycle(GPIO, x*100)
time.sleep(1)
t3_reset = True
time.sleep(2)
c = t3_count
on = t3_on
off = t3_off
CHECK(3, t, int((1E3*on)/(on+off)), int(1E3*x), 1, "set PWM dutycycle")
pigpio.set_PWM_dutycycle(GPIO, 0)
def handleFan():
global fanSpeed, sum
actualTemp = float(getCPUtemperature())
diff = actualTemp - desiredTemp
sum = sum + diff
pDiff = diff * pTemp
iDiff = sum * iTemp
fanSpeed = pDiff + iDiff
if fanSpeed > 100:
fanSpeed = 100
if fanSpeed < 0:
fanSpeed = 0
if sum > 100:
sum = 100
if sum < -50:
sum = -50
#print("actualTemp %4.2f TempDiff %4.2f pDiff %4.2f iDiff %4.2f fanSpeed %5d" % (actualTemp,diff,pDiff,iDiff,fanSpeed))
pigpio.set_PWM_dutycycle(gpiochan, fanSpeed)
return ()
def t2():
global t2_count
print("PWM dutycycle/range/frequency tests.")
pigpio.set_PWM_range(GPIO, 255)
pigpio.set_PWM_frequency(GPIO, 0)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 1, f, 10, 0, "set PWM range, set/get PWM frequency")
t2cb = pigpio.callback(GPIO, pigpio.EITHER_EDGE, t2cbf)
pigpio.set_PWM_dutycycle(GPIO, 0)
time.sleep(0.5) # allow old notifications to flush
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 2, f, 0, 0, "set PWM dutycycle, callback")
pigpio.set_PWM_dutycycle(GPIO, 128)
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 3, f, 40, 5, "set PWM dutycycle, callback")
pigpio.set_PWM_frequency(GPIO, 100)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 4, f, 100, 0, "set/get PWM frequency")
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 5, f, 400, 1, "callback")
pigpio.set_PWM_frequency(GPIO, 1000)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 6, f, 1000, 0, "set/get PWM frequency")
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 7, f, 4000, 1, "callback")
r = pigpio.get_PWM_range(GPIO)
CHECK(2, 8, r, 255, 0, "get PWM range")
rr = pigpio.get_PWM_real_range(GPIO)
CHECK(2, 9, rr, 200, 0, "get PWM real range")
pigpio.set_PWM_range(GPIO, 2000)
r = pigpio.get_PWM_range(GPIO)
CHECK(2, 10, r, 2000, 0, "set/get PWM range")
rr = pigpio.get_PWM_real_range(GPIO)
CHECK(2, 11, rr, 200, 0, "get PWM real range")
pigpio.set_PWM_dutycycle(GPIO, 0)
def t2():
global t2_count
print("PWM dutycycle/range/frequency tests.")
pigpio.set_PWM_range(GPIO, 255)
pigpio.set_PWM_frequency(GPIO,0)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 1, f, 10, 0, "set PWM range, set/get PWM frequency")
t2cb = pigpio.callback(GPIO, pigpio.EITHER_EDGE, t2cbf)
pigpio.set_PWM_dutycycle(GPIO, 0)
time.sleep(0.5) # allow old notifications to flush
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 2, f, 0, 0, "set PWM dutycycle, callback")
pigpio.set_PWM_dutycycle(GPIO, 128)
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 3, f, 40, 5, "set PWM dutycycle, callback")
pigpio.set_PWM_frequency(GPIO,100)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 4, f, 100, 0, "set/get PWM frequency")
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 5, f, 400, 1, "callback")
pigpio.set_PWM_frequency(GPIO,1000)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 6, f, 1000, 0, "set/get PWM frequency")
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 7, f, 4000, 1, "callback")
r = pigpio.get_PWM_range(GPIO)
CHECK(2, 8, r, 255, 0, "get PWM range")
rr = pigpio.get_PWM_real_range(GPIO)
CHECK(2, 9, rr, 200, 0, "get PWM real range")
pigpio.set_PWM_range(GPIO, 2000)
r = pigpio.get_PWM_range(GPIO)
CHECK(2, 10, r, 2000, 0, "set/get PWM range")
rr = pigpio.get_PWM_real_range(GPIO)
CHECK(2, 11, rr, 200, 0, "get PWM real range")
pigpio.set_PWM_dutycycle(GPIO, 0)
def t4():
print("Pipe notification tests.")
pigpio.set_PWM_frequency(GPIO, 0)
pigpio.set_PWM_dutycycle(GPIO, 0)
pigpio.set_PWM_range(GPIO, 100)
h = pigpio.notify_open()
e = pigpio.notify_begin(h, (1 << 4))
CHECK(4, 1, e, 0, 0, "notify open/begin")
time.sleep(1)
with open("/dev/pigpio" + str(h), "rb") as f:
pigpio.set_PWM_dutycycle(GPIO, 50)
time.sleep(4)
pigpio.set_PWM_dutycycle(GPIO, 0)
e = pigpio.notify_pause(h)
CHECK(4, 2, e, 0, 0, "notify pause")
e = pigpio.notify_close(h)
CHECK(4, 3, e, 0, 0, "notify close")
n = 0
s = 0
seq_ok = 1
toggle_ok = 1
while True:
chunk = f.read(12)
if len(chunk) == 12:
S, fl, t, v = struct.unpack("HHII", chunk)
if s != S:
seq_ok = 0
L = v & (1 << 4)
if n:
if l != L:
toggle_ok = 0
if L:
l = 0
else:
l = 1 << 4
s += 1
n += 1
# print(S, fl, t, hex(v))
else:
break
f.close()
CHECK(4, 4, seq_ok, 1, 0, "sequence numbers ok")
CHECK(4, 5, toggle_ok, 1, 0, "gpio toggled ok")
CHECK(4, 6, n, 80, 10, "number of notifications")
def fanOFF():
pigpio.set_PWM_dutycycle(gpiochan, 0) # switch fan off
return ()
def set_duty_cycle(self, pulse_width_us):
pigpio.set_PWM_dutycycle(self.pin, math.fabs(pulse_width_us))
self.logger.info("Position = %s" % pulse_width_us)
self.set_direction_pin()
def set_channel(pin, duty_cycle_us):
pigpio.set_PWM_dutycycle(pin, duty_cycle_us)
print_at(5, 0, "Channel Duty Cycle: %d/%d " % (PERIOD, RANGE))
def stop_channel(pin):
pigpio.set_PWM_dutycycle(pin, 0)
def set_duty_cycle(self, pulse_width_us):
pigpio.set_PWM_dutycycle(self.pin, math.fabs(pulse_width_us))
self.logger.info("Position = %s" % pulse_width_us)
self.set_direction_pin()
def t4():
print("Pipe notification tests.")
pigpio.set_PWM_frequency(GPIO, 0)
pigpio.set_PWM_dutycycle(GPIO, 0)
pigpio.set_PWM_range(GPIO, 100)
h = pigpio.notify_open()
e = pigpio.notify_begin(h, (1<<4))
CHECK(4, 1, e, 0, 0, "notify open/begin")
time.sleep(1)
with open("/dev/pigpio"+ str(h), "rb") as f:
pigpio.set_PWM_dutycycle(GPIO, 50)
time.sleep(4)
pigpio.set_PWM_dutycycle(GPIO, 0)
e = pigpio.notify_pause(h)
CHECK(4, 2, e, 0, 0, "notify pause")
e = pigpio.notify_close(h)
CHECK(4, 3, e, 0, 0, "notify close")
n = 0
s = 0
seq_ok = 1
toggle_ok = 1
while True:
chunk = f.read(12)
if len(chunk) == 12:
S, fl, t, v = struct.unpack('HHII', chunk)
if s != S:
seq_ok = 0
L = v & (1<<4)
if n:
if l != L:
toggle_ok = 0
if L:
l = 0
else:
l = (1<<4)
s += 1
n += 1
# print(S, fl, t, hex(v))
else:
break
f.close()
CHECK(4, 4, seq_ok, 1, 0, "sequence numbers ok")
CHECK(4, 5, toggle_ok, 1, 0, "gpio toggled ok")
CHECK(4, 6, n, 80, 10, "number of notifications")
