def Get_WPI_12(COM):
Serial = pyfirmata.ArduinoMega(COM)
for i in range(0, 9):
print('.', end=" ")
Pause_Time(.05)
it = pyfirmata.util.Iterator(Serial)
it.start()
print('WPI Ready\n')
return Serial
def __init__(self, robotName):
board = pyfirmata.ArduinoMega('/dev/ttyACM0')
self.name = robotName
if (robotName == "Lovebird"):
self.leftPower = board.get_pin("d:2:p")
self.rightPower = board.get_pin("d:3:p")
self.leftDir = board.get_pin("d:22:o")
self.rightDir = board.get_pin("d:23:o")
elif (robotName == "Tessle"):
self.leftPower = board.get_pin("d:2:s")
self.rightPower = board.get_pin("d:3:s")
def __init__(self, usingvision, usingpixhawk, usingsim):
# setting up board serial port
print("Communicating with Arduino...")
# something so the serial buffer doesn't overflow
self.board = pyfirmata.ArduinoMega(
'/dev/serial/by-id/usb-Arduino__www.arduino.cc__0042_55839313438351417131-if00')
self.iterator = pyfirmata.util.Iterator(self.board)
self.iterator.start()
print("Communication with Arduino started...")
self.YawOffset = 0
self.PitchOffset = 0
self.RollOffset = 0
self.EastOffset = 0
self.NorthOffset = 0
self.DownOffset = 0
self.UsingVision = usingvision
self.UsingPixHawk = usingpixhawk
self.UsingSim = usingsim
if self.UsingVision:
import Theos_Really_Good_Detection_Script as obj_det
self.VisionAI = obj_det.Detector("TensorFlow_Graph/Tflite", False)
print("MovementCommander is using Vision AI...")
else:
print("MovementCommander is not using Vision AI...")
if self.UsingPixHawk:
from pixhawk_data import PixHawk
self.PixHawk = PixHawk()
print("MovementCommander is using PixHawk...")
else:
print("MovementCommander is not using PixHawk...")
if self.UsingSim:
from advancedtelemetry import Telemetry
self.TelemetrySim = Telemetry()
print("MovementCommander is using Telemetry...")
else:
print("MovementCommander is not using Telemetry...")
# thruster hardpoint classes
self.ThrusterLB = ThrusterDriver(2, self.board) # left back
self.ThrusterLF = ThrusterDriver(4, self.board) # left front
self.ThrusterRB = ThrusterDriver(3, self.board) # right back
self.ThrusterRF = ThrusterDriver(5, self.board) # right front
self.ThrusterBL = ThrusterDriver(6, self.board) # back left
self.ThrusterBR = ThrusterDriver(7, self.board) # back right
self.ThrusterFL = ThrusterDriver(8, self.board) # front left
self.ThrusterFR = ThrusterDriver(9, self.board) # front right
print("Wait 3 to arm thrusters...")
time.sleep(3)
def getArduino(vid, pid):
import pyfirmata
import sys
ArduinoPort = find_usb(vid, pid)
if not ArduinoPort:
print("Arduino non collegato--------------- Exit")
sys.exit()
else:
print("Arduino collegato a ..... : ", ArduinoPort)
board = pyfirmata.ArduinoMega(ArduinoPort)
return board
def __init__(self):
self.__init_constants()
self.__init_globals()
self.__init_map()
## init
self.board = pyfirmata.ArduinoMega('/dev/ttyUSB0')
self.__init_motor()
self.__init_infrared()
# refresh GPIO input
it = pyfirmata.util.Iterator(self.board)
it.start()
sleep(0.1)
def __init__(self, portti, moottori_x, moottori_y, moottori_z):
"""
The constructor. The parameters:
portti: the name of the USB-port. The name can be determined, for
example, via the Device Manager or the Arduino IDE.
The rest: the motor-objects that
take care of moving the carriage on the x-, y-, and z-axes.
Konstruktori. Parametreinä PC:ssä käytetty usb-portti ja x-, y-
ja z-akseleilla kelkan liikuttelusta vastaavat moottorit. Portin nimi
selviää esim. Device Managerin tai Arduino IDE:n kautta.
"""
self.portti = portti
self.kortti = pyfirmata.ArduinoMega(portti)
self.moottori_x = moottori_x
self.moottori_y = moottori_y
self.moottori_z = moottori_z
self.viive = 2.6 * 1e-6 # pulse interval min. 2.5 µs
self.viive_y = 4 * 1e-6 # y-moottori hyötyy hieman pitemmästä viiveestä
# the y-motor benefits from a slightly longer delay
self.iteraattori = pyfirmata.util.Iterator(self.kortti)
self.iteraattori.start()
self.kortti.digital[
self.moottori_x.rajakytkin_0
].mode = pyfirmata.INPUT
self.kortti.digital[
self.moottori_x.rajakytkin_1
].mode = pyfirmata.INPUT
self.kortti.digital[
self.moottori_y.rajakytkin_0
].mode = pyfirmata.INPUT
self.kortti.digital[
self.moottori_y.rajakytkin_1
].mode = pyfirmata.INPUT
self.kortti.digital[
self.moottori_z.rajakytkin_0
].mode = pyfirmata.INPUT
self.kortti.digital[
self.moottori_z.rajakytkin_1
].mode = pyfirmata.INPUT
def arduino(lists):
try:
board = pyfirmata.ArduinoMega('COM3')
except:
pass
for item in lists:
if item.startswith("o"):
pin_number = str(''.join(filter(str.isdigit,item)))
#pin_on = 0
try:
board.digital[Python_to_arduino.get(pin_number)].write(1)
except:
pass
print('high', Python_to_arduino.get(pin_number))
if item.startswith("w"):
waiting = int(''.join(filter(str.isdigit,item)))
try:
time.sleep(waiting/1000)
except:
pass
print('wait', waiting)
if item.startswith("c"):
pin_number2 = str(''.join(filter(str.isdigit,item)))
#pin_off = 0
try:
board.digital[Python_to_arduino.get(pin_number2)].write(0)
except:
pass
print('low', Python_to_arduino.get(pin_number2))
try:
board.exit()
except:
pass
AngleDegy = 0
AngleDegz = 0
# Camera picam
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(640, 480))
fourcc = cv2.cv.CV_FOURCC(*'XVID') # cv.videowriter
times = datetime.datetime.now()
videoOut = cv2.VideoWriter("UUV" + str(times) + ".avi", fourcc, 20.0,
(640, 480)) # Videowriter
# allow the camera to warmup
time.sleep(0.1)
try:
hardware = pyfirmata.ArduinoMega("/dev/ttyUSB0")
except:
print("connecting the backup protocol")
try:
hardware = pyfirmata.ArduinoMega("/dev/ttyUSB1")
except:
print("All hardware not connected")
XLservo = hardware.get_pin('d:8:s')
XRservo = hardware.get_pin('d:9:s')
YUservo = hardware.get_pin('d:10:s')
YBservo = hardware.get_pin('d:11:s')
def read_byte(reg):
return bus.read_byte_data(address, reg)
import pyfirmata
import time
#defining mail variables
port = 465 #for ssl
smtp_server = 'smtp.gmail.com'
sender_email = '*****@*****.**' #enter your email address to send alert from
password = '******' #enter password of sender email account
receiver_email = '*****@*****.**' #enter email address to receive alert
alert_message = '''\
Subject: Alert!
Motion sensor tripped!'''
#defining pyfirmata variables
board = pyfirmata.ArduinoMega('COM4')
pir_output = board.get_pin('d:7:i')
it = pyfirmata.util.Iterator(board)
#user-defined functions
def send_email():
print ('Motion Detected! Sending Email')
context = ssl.create_default_context() #create secure ssl connection
with smtplib.SMTP_SSL(smtp_server, port, context=context) as server: #using 'with smtplib.SMTP_SSL() as server: makes sure that the connection is automatically colsed at the end of the indented code block.
server.login(sender_email, password)
server.sendmail(sender_email, receiver_email, alert_message)
def buzzLED_pulse():
board.digital[13].write(1)
board.digital[12].write(1)
time.sleep(0.2) #change to increase/decrease on state
file = open("RoboticsScrypt.csv","a+") # Add the full processing constance processing scrypt
def Knobcontrol(self):
print("Dial value = %i" % (self.dial.value()))
blink.write(self.dial.value()/10) # Hardware linking control brigtness of the LED test
def AnalogRead(self):
for _ in itertools.count():
AnalogReadA1 = hardware.analog[0].read()
self.progressBar_2.setValue(AnalogReadA1*500)
print(AnalogReadA1)
if __name__ == "__main__":
import sys
import os
try:
hardware = pyfirmata.ArduinoMega('/dev/ttyACM0')
print("Hardware robotics assembly line connected successfully !")
except:
print("Hardware connection fail please reconnect and check connection port !")
it = pyfirmata.util.Iterator(hardware)
it.start()
blink = hardware.get_pin('d:13:p')
hardware.analog[0].enable_reporting()
#AnalogReadA1 = hardware.analog[0].read()
blink.write(0)
time.sleep(0.1)
for i in range(0,10):
blink.write(i)
time.sleep(0.2)
time.sleep(0.1)
for i in range(0,10,-1):
import pyfirmata
import pygame
import time
from pygame.locals import *
pygame.init()
# controller setup
joysticks = []
for i in range(pygame.joystick.get_count()):
joysticks.append(pygame.joystick.Joystick(i))
joysticks[-1].init()
controller = joysticks[0]
# The port changes from linux to windows, with windows having multiple COM ports
board = pyfirmata.ArduinoMega('COM3') # this is (one of) windows ports
#board = pyfirmata.ArduinoMega('/dev/ttyACM0') # this is linux port
# setting pins
onboard_led = board.get_pin('d:13:o')
l_motor_pin = board.get_pin('d:11:p')
r_motor_pin = board.get_pin('d:12:p')
motor_toggle_pin = board.get_pin('d:24:o')
while (1):
pygame.event.pump()
# puts rover in "stop" state if no input, avoids rover from "running away"
motor_toggle_pin.write(0)
l_motor_pin.write(.49804)
r_motor_pin.write(.49804)
import time
import pyfirmata
import os
import threading
from ardupin import *
from configku import *
board = pyfirmata.ArduinoMega(ARDUINO_COM_PORT)
#board = pyfirmata.Arduino('COM3')
it = pyfirmata.util.Iterator(board)
it.start()
#RELAY/PENENDANG
PENENDANG = board.get_pin(PENENDANG_PIN)
MODE_PENENDANG = board.get_pin(MODE_PENENDANG_PIN)
#INFRARED
IR_KIRI = board.get_pin(IR_PIN_KIRI)
IR_KIRI2 = board.get_pin(IR_PIN_KIRI2)
IR_TENGAH = board.get_pin(IR_PIN_TENGAH)
IR_KANAN = board.get_pin(IR_PIN_KANAN)
IR_KANAN2 = board.get_pin(IR_PIN_KANAN2)
#MOTOR
RPWM_DRIBLE = board.get_pin(RPWM_DRIBLE_PIN)
LPWM_DRIBLE = board.get_pin(LPWM_DRIBLE_PIN)
EON1_DRIBLE = board.get_pin(EON1_DRIBLE_PIN)
EON2_DRIBLE = board.get_pin(EON2_DRIBLE_PIN)
RPWM_KANAN = board.get_pin(RPWM_KANAN_PIN)
LPWM_KANAN = board.get_pin(LPWM_KANAN_PIN)
EON1_KANAN = board.get_pin(EON1_KANAN_PIN)
EON2_KANAN = board.get_pin(EON2_KANAN_PIN)
dog_cascade = cv2.CascadeClassifier('/usr/share/opencv/opencv/data/Dogcascade-/cascade.xml')
time.sleep(1)
r = 0
# 3D space angle convert function radians to degrees
angleDegX = 0
angleDegY = 0
angleDegZ = 0
c = 0
# Gyro scope address
#Register
power_mgmt_1 = 0x6b
power_mgmt_2 = 0x6c
#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
#Hardware connection part
try:
hardware = pyfirmata.ArduinoMega('/dev/ttyACM0') # Hardware try connection
except:
print("Hardware STM32 not found !")
print("Prepare for seccond protocol ....")
try:
connection = SerialManager() # Firmware update hardware serial finder
catbot = ArduinoApi(connection=connection)
except:
print("All hardware fail connection")
# GPS
try:
gps = serial.Serial("/dev/ttyS0",115200) #GPS connection
except:
print("GPS device notfound !")
x = str(gps.read(1200))
# 需要Arduino先烧入StandFirmata
# 请修改串口编号为实际Arduino串口编号
# 设置舵机的高点和低点 单位：角度
# 范围 0-180°
servo_high = 45
servo_low = 37
# 修改串口编号 如果Arduino驱动正确，在Arduino IDE可以看到串口编号
serial_int = 'COM3'
# 如果是Arduino UNO 使用这一条
# board = pyfirmata.Arduino(serial_int)
# 如果是Arduino Mega 使用这一条 pyfirmata库暂不支持Nano
board = pyfirmata.ArduinoMega(serial_int)
servo_pin = board.get_pin('d:3:s') # 使用3号输出口 可以自行调整
iter8 = pyfirmata.util.Iterator(board)
iter8.start()
servo_pin.write(servo_high)
# 舵机控制函数
def arduino_servo_run(t):
servo_pin.write(servo_low)
time.sleep(t + 0.05)
servo_pin.write(servo_high)
def getThread(self):
existingThreads = self.GUI.threadList
return existingThreads
def checkIfAlive(self):
fram = self.GUI.frame
try:
val = fram.winfo_exists()
except:
val = False
return val
"""setting up which usb port is the arduino connected to"""
board = pyfirmata.ArduinoMega('COM3') # might want to change this based on your pc
"""Initialize communication with the arduino board"""
it = pyfirmata.util.Iterator(board)
it.start()
time.sleep(0.01)
"""Initialize the player"""
player = AdditiveStream()
"""Arrays for storing some initial data"""
notes = [65.41, 73.42, 82.41, 92.50, 103.83, 116.54]
pins = ['a:0:i', 'a:1:i', 'a:2:i', 'a:3:i', 'a:4:i', 'a:5:i'] # array of pins
leds = [2, 3, 4, 5, 6, 7]
piezoThreads = []
samplerate = 44100
GPIO.setup(feed3, GPIO.OUT)
GPIO.setup(feed4, GPIO.OUT)
GPIO.setup(feed5, GPIO.OUT)
GPIO.setup(feed6, GPIO.OUT)
#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
# Reset pin function for the relay control
GPIO.setup(r1, GPIO.OUT)
GPIO.setup(r2, GPIO.OUT)
GPIO.setup(r3, GPIO.OUT)
GPIO.setup(r4, GPIO.OUT)
GPIO.setup(r5, GPIO.OUT)
GPIO.setup(r6, GPIO.OUT)
# Handleling the first hardware connection support
try:
hardware = pyfirmata.ArduinoMega(
"/dev/ttyUSB0") #USB serial connection hardware
print("Successfully connect hardware 1")
# Initial setting logic low
FanT1 = hardware.get_pin('d:2:p')
p1 = hardware.get_pin('d:3:p')
p2 = hardware.get_pin('d:4:p')
p3 = hardware.get_pin('d:9:p')
p4 = 5
p5 = 6
GPIO.setup(p4, GPIO.OUT) # Setting the GPIO pin 5 out
GPIO.setup(p5, GPIO.OUT) # Setting the GPIO pins 6 out
p6 = hardware.get_pin('d:12:p')
FanT1.write(0)
p1.write(0)
p2.write(0)
p3.write(0)
# for UI:
import PySimpleGUI as sg
# for working with Arduino:
import pyfirmata as pf
# any preferred appearance of the UI:
theme = 'DarkBlack1'
# set the theme:
sg.theme(theme);
del theme
# Boolean to check connection
connected = False
# Variable to keep board's type and dictionaries for ports
board_type = " "
digital_ports = pwm_ports_values = pwm_ports = dict()
gitoverflow = [
[sg.T("Github: Muhammadrasul446", size=(28, 1))],
[sg.T("Stackoverflow: user:13490404", size=(28, 1))]
]
twittedin = [
[sg.T("Twitter: A_M_R_4_4_6", size=(28, 1))],
[sg.T("Linkedin: 6644821a9", size=(28, 1))]
]
# Window layout for selecting boards
select_win_lay = [
[sg.T('Select your board:')],
[sg.Button("Nano/Uno/Leonardo")],
[sg.Button("Mega/Mega2560")]
]
window = sg.Window("Select your board", select_win_lay)
# keep the window open:
import pyfirmata
import time
import numpy as np
import math
from multiprocessing import Process
import itertools
try:
hardware = pyfirmata.ArduinoMega("/dev/ttyACM0")
print("Catbot main body hardware connection successfully connected !")
except:
print("Hardware connection error resouting the serial communication...")
try:
hardware = pyfirmata.ArduinoMega("/dev/ttyACM1")
print("Main body hardware serial rerouting connection successfully!")
except:
print("Main serial error please check the physical hardware!")
# USB
try:
hardware2 = pyfirmata.Arduino("/dev/ttyUSB0")
print("Catbot seccond body hardware connection successfully connected !")
except:
print(
"Hardware seccond connection error resouting the serial communication..."
)
try:
hardware2 = pyfirmata.Arduino("/dev/ttyUSB0")
print("Main body hardware serial rerouting connection successfully!")
except:
print("Seccond serial error please check the physical hardware!")
#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
#
# Copyright © 2015 cameron <cameron@Megatron-Dev>
#
# Distributed under terms of the MIT license.
"""
This is the second script for building the face tracker.
"""
import cv2
import pyfirmata
import time
face_cascade = cv2.CascadeClassifier('haarcascade_frontalface_default.xml')
port = "/dev/ttyACM0"
board = pyfirmata.ArduinoMega(port)
board.digital[11].mode = pyfirmata.SERVO # Pan Servo
board.digital[10].mode = pyfirmata.SERVO # Tilt Servo
board.digital[11].write(90)
board.digital[10].write(90)
pan_increment = 0
tilt_increment = 0
video_capture = cv2.VideoCapture(0)
while True:
ret, frame = video_capture.read()
gray_image = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
faces = face_cascade.detectMultiScale(gray_image,
scaleFactor=1.1,
lower = {
'green': (66, 122, 129),
'blue': (97, 100, 117),
'yellow': (23, 59, 119)
} #assign new item lower['blue'] = (93, 10, 0)
upper = {
'green': (86, 255, 255),
'blue': (117, 255, 255),
'yellow': (54, 255, 255)
}
# define standard colors for circle around the object
colors = {'green': (0, 255, 0), 'blue': (255, 0, 0), 'yellow': (0, 255, 217)}
AngleCam = 0
#pts = deque(maxlen=args["buffer"])
hardware = pyfirmata.ArduinoMega("/dev/ttyACM0") # hardware connection
base = hardware.get_pin('d:5:s')
shoulder = hardware.get_pin('d:6:s')
elbow = hardware.get_pin('d:7:s')
wrist = hardware.get_pin('d:4:s')
wristrotate = hardware.get_pin('d:8:s')
gripper = hardware.get_pin('d:9:s')
# if a video path was not supplied, grab the reference
# to the webcam
#cv2.namedWindow("Window")
camera = cv2.VideoCapture(0)
# otherwise, grab a reference to the video file
# keep looping
import pyfirmata
import time
uno = pyfirmata.Arduino('/dev/ttyUSB_UNO')
mega = pyfirmata.ArduinoMega('/dev/ttyUSB_MEGA')
servo = dict()
servo[1] = uno.get_pin('d:5:s')
servo[2] = uno.get_pin('d:6:s')
servo[3] = mega.get_pin('d:8:s')
servo[4] = mega.get_pin('d:9:s')
n = 2
servo[n].write(70)
time.sleep(0.5)
servo[n].write(80)
time.sleep(0.5)
servo[n].write(90)
time.sleep(0.5)
servo[n].write(80)
time.sleep(0.5)
servo[n].write(70)
time.sleep(0.5)
#servo[n].write(95)
#time.sleep(0.5)
# time.sleep(0.5)
# servo[n].write(90)
# time.sleep(0.5)
# servo[n].write(45)
from modules.getStatus import getInfo
from modules.gear import gearUp
from modules.gear import gearDown
#IMPORTA IP DE TRABAJO PARA INICIAR PRUEBAS DE CONEXIÓN
jsondata = open('/var/www/html/sys/settings.json', 'r')
ipdata = json.load(jsondata)
xhost = ipdata[0]["ip"]
#VARIABLES GENERALES DE SISTEMA
#init = ftest(xhost) #PRUEBA GENERAL DE CONEXIÓN CON XPLANE
#ESCANEO DE PUERTOS ABIERTOS
b0 = pyfirmata.ArduinoMega('/dev/ttyACM0') #Linux
#b0 = pyfirmata.ArduinoMega('/dev/ttyS0') #Linux en VM
#b0 = pyfirmata.ArduinoMega('COM3') #WINDOWS
it = pyfirmata.util.Iterator(b0)
it.start()
#Se inician los puertos del starter module
xpout = list(range(2, 12))
xpin = list(range(15, 49))
refout = getOutput()
refin = getInput()
for pt in xpout:
b0.digital[pt].mode = pyfirmata.OUTPUT
except Exception as e:
printMsg(e)
finally:
pass
try:
raspberryPi = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
raspberryPi.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
raspberryPi.bind((PI_IP,PI_PORT))
raspberryPi.listen(2)
except Exception as e:
printMsg(e)
else:
printMsg("connection opend")
while 1:
try:
arduino = pyfirmata.ArduinoMega(PORT)
except Exception as e:
printMsg(e)
break;
else:
printMsg("arduino connected")
printMsg("8888")
printMsg("waiting for gui client")
printMsg("pwm : 4, derectionPin : 3, torquePin : 2")
while 1:
try:
guiClient, guiClientAddress = raspberryPi.accept()
printMsg(guiClientAddress)
except Exception as e:
printMsg(e)
else:
Gregory Ferguson
"""
import socket
import threading
import pyfirmata
import time
import struct
# raspberry pi's static ip
HOST = '192.168.4.1'
FORWARD = 'ABS_RZ'
BACKWARD = 'ABS_Z'
# setting up the board
board = pyfirmata.ArduinoMega('/dev/ttyACM0')
l_motor_pin = board.get_pin('d:11:p')
r_motor_pin = board.get_pin('d:12:p')
motor_toggle_pin = board.get_pin('d:24:o')
def Serial_Send(data, ser):
#Once you have the data in bytes, send to embedded system.
encoded_data = []
for i in range(0, len(data)):
length = len(data[i])
data[i] = data[i].encode('utf-8')
encoded_data.append(struct.pack(str(length) + 's', data[i]))
print(encoded_data)
