def __init__(self, i2c):
self.i2c = int(i2c, 16)
self.mux = qwiic.QwiicTCA9548A(address=self.i2c)
self.ports = [0, 1, 2, 3, 4, 5, 6, 7]
self.disable_port(self.ports)
if self.mux.is_connected():
print("Successfully connected to QwiicTCA9548A at {0}".format(hex(self.i2c)))
else:
print("Connection Failed for QwiicTCA9548A at {0}!".format(hex(self.i2c)))
def change_address(old_address: int, new_address):
# Connect to Mux
mux = qwiic.QwiicTCA9548A()
# Initially Disable All Channels
mux.disable_all()
print("Running VL53L1X I2C Address Change")
# Scans I2C addresses
avail_addresses = qwiic.scan()
# Check I2C addresses for Pi Servo pHat
while 0x40 in avail_addresses:
if 0x70 in avail_addresses:
pca = qwiic.QwiicPCA9685()
pca.set_addr_bit(0, 0)
avail_addresses = qwiic.scan()
# Remove Pi Servo pHat from avail_address list
try:
avail_addresses.remove(0x40)
except ValueError:
print(
"Addresses for Pi Servo pHat (0x40) not in scanned addresses.")
while 0x29 not in avail_addresses:
print(
"VL53L1X ToF sensor not detected on I2C bus at default address (0x29 or 41)."
)
mux.list_channels()
mux.enable_channels(4)
avail_addresses = qwiic.scan()
print("Initializing Device")
ToF = qwiic.QwiicVL53L1X(old_address)
ToF.SensorInit()
ToF.SetI2CAddress(new_address)
print("Address change to new address (", hex(new_address),
") is complete.")
import os import time import tsys01 import numpy as np import datetime # ============================================================================= # import busio # import qwiic_icm20948 # import sys # import struct # import math # ============================================================================= # Initialize Constructor test = qwiic.QwiicTCA9548A() # Test Run ######################################### # ------------------------------- # IMU SENSOR # ------------------------------- # Take reading from IMU on Mux Channel 0 # ============================================================================= # test.disable_channels([0,1,2,3,4,5,6,7]) # ============================================================================= # ============================================================================= # test.enable_channels([0]) # # List Channel Configuration # test.list_channels() #
# Author: Riley Redfern
# Date: 5/4/2021
# Purpose: This file is meant to handle the code that would be used for
# The multiplexer and its interactions with the scales hooked up to its
# The scales need to be calibrated and code needs to be adjusted a lot here
import qwiic as q
import PyNAU7802
import smbus2
multiplex = q.QwiicTCA9548A()
scale = PyNAU7802.NAU7802()
bus = smbus2.SMBus(1)
multiplex.enable_channels(4)
multiplex.list_channels()
#multiplex.disable_channels(4)
if scale.begin(bus):
print("\nConnected scale successfully\n")
else:
print("\nCannot connect to scale, exiting\n")
exit()
currentReading = scale.getReading()
currentWeight = scale.getWeight()
print("Current weight is {0:0.3f}".format(currentWeight))
print("Current reading is {0:0.3f}".format(currentReading))
ATdata = np.array(
[["Temp(C)", "Year", "Month", "Day", "Hour", "Min", "Sec", "Lat", "Long"],
["--", "--", "--", "--", "--", "--", "--", "--",
"--"]]) # initialize an array for storing AT data
WTdata = np.array(
[["Temp(C)", "Year", "Month", "Day", "Hour", "Min", "Sec", "Lat", "Long"],
["--", "--", "--", "--", "--", "--", "--", "--",
"--"]]) # initialize an array for storing WT data
# initialize an array for storing IMU data
IMUdata = np.array([[
"Date", "Time", "AccelX", "AccelY", "AccelZ", "GyroX", "GyroY", "GyroZ",
"MagX", "MagY", "MagZ", "Temp"
], ["--", "--", "--", "--", "--", "--", "--", "--", "--", "--", "--", "--"]])
# Initialize the 8-channel Qwiic Multiplexer
mux = qwiic.QwiicTCA9548A()
# Create an IMU object
IMU = qwiic_icm20948.QwiicIcm20948()
mux.disable_channels([0, 1, 2, 3, 4, 5, 6, 7])
mux.enable_channels([0])
IMU.begin()
# Main loop runs forever printing the location, etc. every second.
last_log = time.monotonic()
imu_log = time.monotonic()
h2o_time = time.monotonic()
air_time = time.monotonic()
imu_cycle = time.monotonic()
start_time = time.monotonic()
async def main():
"""
Runs the main control loop for this demo. Uses the KeyboardHelper class to read a keypress from the terminal.
W - Go forward. Press multiple times to increase speed.
A - Decrease heading by -10 degrees with each key press.
S - Go reverse. Press multiple times to increase speed.
D - Increase heading by +10 degrees with each key press.
Spacebar - Reset speed and flags to 0. RVR will coast to a stop
"""
global current_key_code
global speed
global heading
global flags
await rvr.wake()
await rvr.reset_yaw()
mux = qwiic.QwiicTCA9548A()
mux.disable_all()
mux.enable_channels([3, 4])
results = qwiic.list_devices()
avail_addresses = qwiic.scan()
print(avail_addresses)
for r in results:
print(r)
frontSensor = qwiic.QwiicVL53L1X(address=95)
rearSensor = qwiic.QwiicVL53L1X(address=64)
while True:
rearSensor.StartRanging()
frontSensor.StartRanging()
time.sleep(.005)
distance = frontSensor.GetDistance()
time.sleep(.005)
rDistance = rearSensor.GetDistance()
time.sleep(.005)
frontSensor.StopRanging()
rearSensor.StopRanging()
print("Front Distance: %s Rear Distance: %s" % (distance, rDistance))
if current_key_code == 119: # W
# if previously going reverse, reset speed back to 64
if flags == 1:
speed = 64
else:
# else increase speed
speed += 64
# go forward
flags = 0
elif current_key_code == 97: # A
heading -= 10
elif current_key_code == 115: # S
# if previously going forward, reset speed back to 64
if flags == 0:
speed = 64
else:
# else increase speed
speed += 64
# go reverse
flags = 1
elif current_key_code == 100: # D
heading += 10
elif current_key_code == 32: # SPACE
# reset speed and flags, but don't modify heading.
speed = 0
flags = 0
if distance < 50:
speed = 0
flags = 0
# check the speed value, and wrap as necessary.
if speed > 255:
speed = 255
elif speed < -255:
speed = -255
# check the heading value, and wrap as necessary.
if heading > 359:
heading = heading - 359
elif heading < 0:
heading = 359 + heading
# reset the key code every loop
current_key_code = -1
# issue the driving command
await rvr.drive_with_heading(speed, heading, flags)
# sleep the infinite loop for a 10th of a second to avoid flooding the serial port.
await asyncio.sleep(0.1)
WTdata = np.array([]) # initialize an array for storing WT data
ATdata = "NaN"
WTdata = "NaN"
# =============================================================================
# ***
# ***
# =============================================================================
# Create an ADC I2C connection
#sensor_ADC = ADS.ADS1015(i2c) # Uncomment if using the ADS1015 ADC
#sensor_ADC = ADS.ADS1115(i2c) # Uncomment if using the ADS1115 ADC
# =============================================================================
# ***
# ***
# =============================================================================
# Initialize the 8-channel Qwiic Multiplexer for IMU, AT, WT, etc.
MUX8 = qwiic.QwiicTCA9548A()
# Create and IMU object
IMU = qwiic_icm20948.QwiicIcm20948()
# =============================================================================
# Sets file up for logging Sensors (not IMU)
# -- Latitude, Longitude -> degrees
# -- Temperatures -> Degrees Centigrade
# -- Time -> 24hr clock (needs to be in UTC!!!)
# -- Date -> YYYYMMDD
# =============================================================================
data_File = open("~/BuoyDAQ_Data.csv", "a") # need to append date and time to filename
if os.stat("~/BuoyDAQ_Data.csv").st_size == 0: # checks to see if file already exists
StatsHdr_input = ["Date(YYYYMMDD)","Time(hhmmss)(UTC)","Lat","Lon","BattV","AT(C)","WT(C)",...
"WVH(m)","DPD(s)","MWD(deg)","MXWVH(m)"]