def t1():
print("Mode/PUD/read/write tests.")
pigpio.set_mode(GPIO, pigpio.INPUT)
v = pigpio.get_mode(GPIO)
CHECK(1, 1, v, 0, 0, "set mode, get mode")
pigpio.set_pull_up_down(GPIO, pigpio.PUD_UP)
v = pigpio.read(GPIO)
CHECK(1, 2, v, 1, 0, "set pull up down, read")
pigpio.set_pull_up_down(GPIO, pigpio.PUD_DOWN)
v = pigpio.read(GPIO)
CHECK(1, 3, v, 0, 0, "set pull up down, read")
pigpio.write(GPIO, pigpio.LOW)
v = pigpio.get_mode(GPIO)
CHECK(1, 4, v, 1, 0, "write, get mode")
v = pigpio.read(GPIO)
CHECK(1, 5, v, 0, 0, "read")
pigpio.write(GPIO, pigpio.HIGH)
v = pigpio.read(GPIO)
CHECK(1, 6, v, 1, 0, "write, read")
def __init__(self, gpio_0, gpio_1, callback, bit_timeout=5):
"""
Instantiate with the gpio for 0 (green wire), the gpio for 1 (white wire),
the callback function, and the bit timeout in milliseconds which indicates
the end of a code.
The callback is passed the code length in bits and the value.
"""
self.gpio_0 = gpio_0
self.gpio_1 = gpio_1
self.callback = callback
self.bit_timeout = bit_timeout
self.in_code = False
pigpio.set_mode(gpio_0, pigpio.INPUT)
pigpio.set_mode(gpio_1, pigpio.INPUT)
pigpio.set_pull_up_down(gpio_0, pigpio.PUD_UP)
pigpio.set_pull_up_down(gpio_1, pigpio.PUD_UP)
self.cb_0 = pigpio.callback(gpio_0, pigpio.FALLING_EDGE, self._cb)
self.cb_1 = pigpio.callback(gpio_1, pigpio.FALLING_EDGE, self._cb)
def start(self):
pigpio.set_mode(self.GPIO_TRIGGER, pigpio.OUTPUT)
pigpio.set_mode(self.GPIO_ECHO, pigpio.INPUT)
pigpio.write(self.GPIO_TRIGGER, 0)
self.echo_cb = pigpio.callback(
self.GPIO_ECHO, pigpio.EITHER_EDGE, self.on_echo)
pigpio.set_watchdog(self.GPIO_ECHO, 100)
def trigger(self):
"""Trigger a new relative humidity and temperature reading."""
self.bit = -3 # header bits
self.hH = 0
self.hL = 0
self.tH = 0
self.tL = 0
self.CS = 0
self.accumulating = True
pigpio.write(self.gpio, 0)
time.sleep(0.0001)
pigpio.set_mode(self.gpio, pigpio.INPUT)
pigpio.set_watchdog(self.gpio, 50)
def __init__(self, gpio):
"""
Instantiate with the gpio to which the DHT22 output pin is connected.
"""
self.gpio = gpio
self.bad_CS = 0 # checksum
self.bad_TO = 0 # time-out
self.accumulating = False
self.rhum = -999
self.temp = -999
self.tov = None
self.tick = 0
pigpio.set_mode(gpio, pigpio.INPUT)
pigpio.set_pull_up_down(gpio, pigpio.PUD_OFF)
self.cb = pigpio.callback(gpio, pigpio.EITHER_EDGE, self._cb)
def t5():
global t5_count
BAUD = 4800
TEXT = """
Now is the winter of our discontent
Made glorious summer by this sun of York;
And all the clouds that lour'd upon our house
In the deep bosom of the ocean buried.
Now are our brows bound with victorious wreaths;
Our bruised arms hung up for monuments;
Our stern alarums changed to merry meetings,
Our dreadful marches to delightful measures.
Grim-visaged war hath smooth'd his wrinkled front;
And now, instead of mounting barded steeds
To fright the souls of fearful adversaries,
He capers nimbly in a lady's chamber
To the lascivious pleasing of a lute.
"""
print("Waveforms & serial read/write tests.")
t5cb = pigpio.callback(GPIO, pigpio.FALLING_EDGE, t5cbf)
pigpio.set_mode(GPIO, pigpio.OUTPUT)
e = pigpio.wave_clear()
CHECK(5, 1, e, 0, 0, "callback, set mode, wave clear")
wf = []
wf.append(pigpio.pulse(1 << GPIO, 0, 10000))
wf.append(pigpio.pulse(0, 1 << GPIO, 30000))
wf.append(pigpio.pulse(1 << GPIO, 0, 60000))
wf.append(pigpio.pulse(0, 1 << GPIO, 100000))
e = pigpio.wave_add_generic(wf)
CHECK(5, 2, e, 4, 0, "pulse, wave add generic")
e = pigpio.wave_tx_repeat()
CHECK(5, 3, e, 9, 0, "wave tx repeat")
oc = t5_count
time.sleep(5)
c = t5_count - oc
CHECK(5, 4, c, 50, 1, "callback")
e = pigpio.wave_tx_stop()
CHECK(5, 5, e, 0, 0, "wave tx stop")
e = pigpio.serial_read_open(GPIO, BAUD)
CHECK(5, 6, e, 0, 0, "serial read open")
pigpio.wave_clear()
e = pigpio.wave_add_serial(GPIO, BAUD, 5000000, TEXT)
CHECK(5, 7, e, 3405, 0, "wave clear, wave add serial")
e = pigpio.wave_tx_start()
CHECK(5, 8, e, 6811, 0, "wave tx start")
oc = t5_count
time.sleep(3)
c = t5_count - oc
CHECK(5, 9, c, 0, 0, "callback")
oc = t5_count
while pigpio.wave_tx_busy():
time.sleep(0.1)
time.sleep(0.1)
c = t5_count - oc
CHECK(5, 10, c, 1702, 0, "wave tx busy, callback")
c, text = pigpio.serial_read(GPIO)
CHECK(5, 11, TEXT == text, True, 0, "wave tx busy, serial read")
e = pigpio.serial_read_close(GPIO)
CHECK(5, 12, e, 0, 0, "serial read close")
c = pigpio.wave_get_micros()
CHECK(5, 13, c, 6158704, 0, "wave get micros")
CHECK(5, 14, 0, 0, 0, "NOT APPLICABLE")
c = pigpio.wave_get_max_micros()
CHECK(5, 15, c, 1800000000, 0, "wave get max micros")
c = pigpio.wave_get_pulses()
CHECK(5, 16, c, 3405, 0, "wave get pulses")
CHECK(5, 17, 0, 0, 0, "NOT APPLICABLE")
c = pigpio.wave_get_max_pulses()
CHECK(5, 18, c, 12000, 0, "wave get max pulses")
c = pigpio.wave_get_cbs()
CHECK(5, 19, c, 6810, 0, "wave get cbs")
CHECK(5, 20, 0, 0, 0, "NOT APPLICABLE")
c = pigpio.wave_get_max_cbs()
CHECK(5, 21, c, 25016, 0, "wave get max cbs")
e = pigpio.wave_clear()
CHECK(5, 22, e, 0, 0, "wave clear")
e = pigpio.wave_add_generic(wf)
CHECK(5, 23, e, 4, 0, "pulse, wave add generic")
w1 = pigpio.wave_create()
CHECK(5, 24, w1, 0, 0, "wave create")
e = pigpio.wave_send_repeat(w1)
CHECK(5, 25, e, 9, 0, "wave send repeat")
oc = t5_count
time.sleep(5)
c = t5_count - oc
CHECK(5, 26, c, 50, 1, "callback")
e = pigpio.wave_tx_stop()
CHECK(5, 27, e, 0, 0, "wave tx stop")
e = pigpio.wave_add_serial(GPIO, BAUD, 5000000, TEXT)
CHECK(5, 28, e, 3405, 0, "wave add serial")
w2 = pigpio.wave_create()
CHECK(5, 29, w2, 1, 0, "wave create")
e = pigpio.wave_send_once(w2)
CHECK(5, 30, e, 6811, 0, "wave send once")
oc = t5_count
time.sleep(3)
c = t5_count - oc
CHECK(5, 31, c, 0, 0, "callback")
oc = t5_count
while pigpio.wave_tx_busy():
time.sleep(0.1)
time.sleep(0.1)
c = t5_count - oc
CHECK(5, 32, c, 1702, 0, "wave tx busy, callback")
e = pigpio.wave_delete(0)
CHECK(5, 33, e, 0, 0, "wave delete")
def pigpio_init_pwm(self):
AbstractPWMGenerator.pigpio_init_pwm(self)
pigpio.set_mode(self.gpio_direction_pin, pigpio.OUTPUT)
def pigpio_init_pwm(self):
AbstractPWMGenerator.pigpio_init_pwm(self)
pigpio.set_mode(self.gpio_direction_pin, pigpio.OUTPUT)
GOPRO_IP = '10.5.5.9'
GOPRO_SSID = 'Valtor'
GOPRO_PASS = '******'
#GOPRO_SSID = 'vulcan'
#GOPRO_PASS = '******'
GOPRO_MAC = 'd6d919ee4133'
network = Wireless(IFACE)
##########################################
#
# GPIO setup
#
import pigpio
pigpio.start()
GPIO_PIN = 11
pigpio.set_mode(GPIO_PIN, pigpio.INPUT)
###########################################
camera = None
#
# The Main loop
#
def main_loop():
global camera
camera = GoProHero(password=GOPRO_PASS)
# Record a 5 second test video, just to signal the user that
# Raspberry Pi has booted up and that this program is running. This is useful
# as feedback, when your Pi is not connected to a monitor or a terminal
self.speed = speed
motor1 = motor(pin1,
1210) #front motor speed initialised at 1210 ms pulse width
motor2 = motor(pin2,
1230) #back motor speed initialised at 1230 ms pulse width
motors = [] #array of motors to be controlled
motors.append(motor1)
motors.append(motor2)
if pigpio.start(''): # must run notification test on localhost
print("Connected to pigpio daemon.")
#initialisation
pigpio.set_mode(pin1, pigpio.OUTPUT)
pigpio.set_mode(pin2, pigpio.OUTPUT)
pigpio.set_PWM_range(pin1, 255)
pigpio.set_PWM_range(pin2, 255)
pigpio.set_PWM_frequency(pin1, 50)
pigpio.set_PWM_frequency(pin2, 50)
pigpio.set_servo_pulsewidth(pin1, 0)
pigpio.set_servo_pulsewidth(pin2, 0)
#open the serial port rfcomm1 defined in rfcomm.conf file
ser = serial.Serial('/dev/rfcomm1', 38400, timeout=.08)
print("\nConnected\n")
ser.write('Connected') #send message to the smartphone
raw = ser.readline()
def init_pin(pin): pigpio.start() pigpio.set_mode(PIN, pigpio.OUTPUT)
def init_pin(pin):
pigpio.start()
pigpio.set_mode(PIN, pigpio.OUTPUT)
def t5():
global t5_count
BAUD=4800
TEXT="""
Now is the winter of our discontent
Made glorious summer by this sun of York;
And all the clouds that lour'd upon our house
In the deep bosom of the ocean buried.
Now are our brows bound with victorious wreaths;
Our bruised arms hung up for monuments;
Our stern alarums changed to merry meetings,
Our dreadful marches to delightful measures.
Grim-visaged war hath smooth'd his wrinkled front;
And now, instead of mounting barded steeds
To fright the souls of fearful adversaries,
He capers nimbly in a lady's chamber
To the lascivious pleasing of a lute.
"""
print("Waveforms & serial read/write tests.")
t5cb = pigpio.callback(GPIO, pigpio.FALLING_EDGE, t5cbf)
pigpio.set_mode(GPIO, pigpio.OUTPUT)
e = pigpio.wave_clear()
CHECK(5, 1, e, 0, 0, "callback, set mode, wave clear")
wf = []
wf.append(pigpio.pulse(1<<GPIO, 0, 10000))
wf.append(pigpio.pulse(0, 1<<GPIO, 30000))
wf.append(pigpio.pulse(1<<GPIO, 0, 60000))
wf.append(pigpio.pulse(0, 1<<GPIO, 100000))
e = pigpio.wave_add_generic(wf)
CHECK(5, 2, e, 4, 0, "pulse, wave add generic")
e = pigpio.wave_tx_repeat()
CHECK(5, 3, e, 9, 0, "wave tx repeat")
oc = t5_count
time.sleep(5)
c = t5_count - oc
CHECK(5, 4, c, 50, 1, "callback")
e = pigpio.wave_tx_stop()
CHECK(5, 5, e, 0, 0, "wave tx stop")
e = pigpio.serial_read_open(GPIO, BAUD)
CHECK(5, 6, e, 0, 0, "serial read open")
pigpio.wave_clear()
e = pigpio.wave_add_serial(GPIO, BAUD, 5000000, TEXT)
CHECK(5, 7, e, 3405, 0, "wave clear, wave add serial")
e = pigpio.wave_tx_start()
CHECK(5, 8, e, 6811, 0, "wave tx start")
oc = t5_count
time.sleep(3)
c = t5_count - oc
CHECK(5, 9, c, 0, 0, "callback")
oc = t5_count
while pigpio.wave_tx_busy():
time.sleep(0.1)
time.sleep(0.1)
c = t5_count - oc
CHECK(5, 10, c, 1702, 0, "wave tx busy, callback")
c, text = pigpio.serial_read(GPIO)
CHECK(5, 11, TEXT == text, True, 0, "wave tx busy, serial read");
e = pigpio.serial_read_close(GPIO)
CHECK(5, 12, e, 0, 0, "serial read close")
c = pigpio.wave_get_micros()
CHECK(5, 13, c, 6158704, 0, "wave get micros")
CHECK(5, 14, 0, 0, 0, "NOT APPLICABLE")
c = pigpio.wave_get_max_micros()
CHECK(5, 15, c, 1800000000, 0, "wave get max micros")
c = pigpio.wave_get_pulses()
CHECK(5, 16, c, 3405, 0, "wave get pulses")
CHECK(5, 17, 0, 0, 0, "NOT APPLICABLE")
c = pigpio.wave_get_max_pulses()
CHECK(5, 18, c, 12000, 0, "wave get max pulses")
c = pigpio.wave_get_cbs()
CHECK(5, 19, c, 6810, 0, "wave get cbs")
CHECK(5, 20, 0, 0, 0, "NOT APPLICABLE")
c = pigpio.wave_get_max_cbs()
CHECK(5, 21, c, 25016, 0, "wave get max cbs")
def __init__(self, pin, speed):
self.pin = pin
self.speed = speed
motor1 = motor(pin1, 1210) # front motor speed initialised at 1210 ms pulse width
motor2 = motor(pin2, 1230) # back motor speed initialised at 1230 ms pulse width
motors = [] # array of motors to be controlled
motors.append(motor1)
motors.append(motor2)
if pigpio.start(""): # must run notification test on localhost
print("Connected to pigpio daemon.")
# initialisation
pigpio.set_mode(pin1, pigpio.OUTPUT)
pigpio.set_mode(pin2, pigpio.OUTPUT)
pigpio.set_PWM_range(pin1, 255)
pigpio.set_PWM_range(pin2, 255)
pigpio.set_PWM_frequency(pin1, 50)
pigpio.set_PWM_frequency(pin2, 50)
pigpio.set_servo_pulsewidth(pin1, 0)
pigpio.set_servo_pulsewidth(pin2, 0)
# open the serial port rfcomm1 defined in rfcomm.conf file
ser = serial.Serial("/dev/rfcomm1", 38400, timeout=0.08)
print("\nConnected\n")
ser.write("Connected") # send message to the smartphone
raw = ser.readline()
