def __init__(self, trigger, echo):
self.trigPin = trigger
self.echoPin = echo
GPIO.output(trigger, GPIO.LOW) # attempt to pre-set it low before enabling output
GPIO.setup(trigger, GPIO.OUT)
GPIO.output(trigger, GPIO.LOW)
GPIO.setup(echo, GPIO.IN)
# On one pair, the main pin "leads", on the other encoder the quad pin leads.
# So one encoder counts up, the other down. (16bit unsigned)
import time
import virtGPIO as GPIO
counter2 = GPIO.Intcounter(2, GPIO.Intcounter.QUAD)
# Quad encoder oper
GPIO.setup(2,GPIO.OUT)
GPIO.setup(4,GPIO.OUT)
counter3 = GPIO.Intcounter(3, GPIO.Intcounter.QUAD)
GPIO.setup(3,GPIO.OUT)
GPIO.setup(5,GPIO.OUT)
print()
print ("Initial counter readings: "),
print ( counter2.read())
print ("We will now count one UP and one DOWN.")
print ("1000 pulses. (Quad encoder counts at both rising and falling edges) ...")
for k in range(1,2001):
GPIO.output(4,(k&1)) # quad pin leads on first counter
GPIO.output(2,(k&1))
GPIO.output(3,(k&1)) # main pin leads on other
GPIO.output(5,(k&1))
print ("... Done")
print ("Now read both (16-bit unsigned) counters: "),
print (counter2.read())
import time
import virtGPIO as GPIO
led = 6 # put a LED on pin 6
# Note object GPIO.AVR for MCU register access is pre-defined for us in virtGPIO.py
# and pre-defined register names are in virtGPIO.py
GPIO.setup(led, GPIO.OUT)
c = 0
while True:
c += 1
GPIO.output(led, c & 1) # LED blink
print("pin 6 input by raw atmega238 access %d " %
((GPIO.AVR.read8(GPIO.AVR.PIND) & 0x40) > 0))
# Guided by 328 MCU manual, we read 8-bit register "PIND" and select bit 6
# See <http://www.atmel.com/Images/doc8161.pdf> page 93
# and <http://arduino.cc/en/Hacking/PinMapping168>
time.sleep(2)
# As another example (example only),
# the lines below show the virtGPIO.py internal implementation of analogHiSpeed(),
# which changes the clock prescaler of ADC convertor in the 328.
# Refer 328 MCU manual, pages 253 and 264.
# If you are out of your depth, you don't need any of the raw GPIO.AVR functions!
"""
def analogHiSpeed():
print ("Also, reading the 'FLAGS' shows a pin dispute reported")
print ("by stepper system at Arduino ...")
print ("Flags %s" % bin(GPIO.readFlags()))
time.sleep(4)
print ("Flag bits are defined near top of VirtGPIO.ino. Most refer to conflict when assigning pins.")
print ("\033[32m") # green text
print ("b0 resetFlag, b1 SPI, b2 Servo, b3 IR, b4 I2C, b5 INTctr, b6 pwmplus, b7 stepper")
print ("b8 actLed, b9 SpiXferWithoutOpen, b10 COMport b15 unexpectedCharsArrived")
print ("\033[00m") # normal
print ("Observe b0 = arduino reset flag has not been cleared, b7 = stepper pins conflict")
print
time.sleep(10)
print ("10 LED toggles high speed")
for k in range(10):
GPIO.output(led, k&1) # toggle led.
print ("Done")
time.sleep(3)
print ("5000 LED toggles high speed")
for k in range(5000):
GPIO.output(led, k&1) # toggle led.
print ("Done")
time.sleep(4)
print ("About to cause a problem: (hard) resetting the Arduino!!")
GPIO.hardResetARD()
time.sleep(5)
print ("Destroy the world. Restart this whole program ...")
print
import time
import virtGPIO as GPIO
led = 9 # we have a LED in pin 9 that we will blink
c = 0 # simple loop counter
# Next line is the key. If we clear the arduino's reset flag,
# then we can later test if arduino was (accidentally) reset later on.
GPIO.clearResetFlag()
GPIO.setup(led, GPIO.OUT)
print(
"If you press Arduino reset, this script will detect that, and take action ..."
)
while True:
print("Loop %d" % c)
c = (c + 1)
GPIO.output(led, c & 1) # LED blinking
if not (
c % 4
): # every 4th loop we test if arduino was reset (& working again, approximately)
# If YOU had pressed reset. then our python will spot it now
if (GPIO.resetFlagIsOn()):
print("Arduino is reset! This program going down for restart ...")
GPIO.restart_program()
time.sleep(3)
print(
"b0 resetFlag, b1 SPI, b2 Servo, b3 IR, b4 I2C, b5 INTctr, b6 pwmplus, b7 stepper"
)
print(
"b8 actLed, b9 SpiXferWithoutOpen, b10 COMport b15 unexpectedCharsArrived"
)
print("\033[00m") # normal
print(
"Observe b0 = arduino reset flag has not been cleared, b7 = stepper pins conflict"
)
print
time.sleep(10)
print("10 LED toggles high speed")
for k in range(10):
GPIO.output(led, k & 1) # toggle led.
print("Done")
time.sleep(3)
print("5000 LED toggles high speed")
for k in range(5000):
GPIO.output(led, k & 1) # toggle led.
print("Done")
time.sleep(4)
print("About to cause a problem: (hard) resetting the Arduino!!")
GPIO.hardResetARD()
time.sleep(5)
print("Destroy the world. Restart this whole program ...")
print
import virtGPIO as GPIO
led = 9
# Demonstrate classic digital read/write, & analog read, and pwm
# Setup: a LED on pin 9,
# plus a jumper from pin 9 to pin A2
GPIO.setup(led,GPIO.OUT)
c = 0
while True:
c = (c+21)
GPIO.output(led,c & 1) # LED blink
print ("Written LED as %d" % (c&1))
# read it back
print ("pin%d=%x" % (led, GPIO.input(led)))
# Analog 2 is tied to LED, so should go from 0000 to 03FF (0 to 1023)
print ("anl2 = %04x" % GPIO.analogRead(GPIO.A2))
time.sleep(5)
# pin 9 is also a native PWM pin on arduino:
print ("Changing pwm brightness to %d" % (c%255))
GPIO.pwmWrite(led, c % 256)
def led_illumination_on():
if led_illumination_string.get() == 'IR':
print "IR"
GPIO.output(ir, 1) #start infrared
GPIO.output(white1, 0) #stop white1
GPIO.output(white2, 0) #stop white2
GPIO.output(white3, 0) #stop white3
elif led_illumination_string.get() == 'WHITE':
print "WHITE"
GPIO.output(ir, 0) #stop infrared
GPIO.output(white1, 1) #start white1
GPIO.output(white2, 1) #start white2
GPIO.output(white3, 1) #start white3
else:
print "OFF"
GPIO.output(ir, 0) #stop infrared
GPIO.output(white1, 0) #stop white
GPIO.output(white2, 0) #stop white
GPIO.output(white3, 0) #stop white
def camera_start():
GPIO.output(ir, 1) #start infrared
GPIO.output(white1, 0) #stop white1
GPIO.output(white2, 0) #stop white2
GPIO.output(white3, 0) #stop white3
# subprocess.call(["rm", "1.png","2.png"])
cam = pexpect.spawn('sudo ./Grab', timeout=400)
cam.expect('XXXXXX')
GPIO.output(ir, 0) #stop infrared
GPIO.output(white1, 1) #start white1
GPIO.output(white2, 1) #start white2
GPIO.output(white3, 1) #start white3
sleep(0.4)
GPIO.output(white1, 0) #stop white1
GPIO.output(white2, 0) #stop white2
GPIO.output(white3, 0) #stop white3
sleep(2)
#now take the generated images and combine them.
process_images()
# setting pin5 as MCU-based counter (no interrupts, no arduino counting code!)
# Put a LED on pin 5 to see
import time
import virtGPIO as GPIO
led = 5
GPIO.setup(led, GPIO.OUT)
counter5 = GPIO.HWcounter()
# set up pin 5 as a hardware counter (rising edge). It can STILL do any other GPIO job!
c = 0
while True:
print(c)
c = (c + 1)
GPIO.output(led, c & 1) # LED blink on pin 5
print("Dig read 5 = %d" %
GPIO.input(led)) # read pin 5 straight back to confirm
# But pin 5 is ALSO doing a counter job. Read the current count
print("HW ctr: %x" % counter5.read()) #
if not (c % 100): # every 100 passes
counter5.zero()
time.sleep(0.5)
# setup: put a LED on pin 7.
import time
import virtGPIO as GPIO
led = 7
GPIO.setup(led,GPIO.OUT)
print ("VCC = %f Volts" % GPIO.VccRead())
c=0
while True:
c += 1
GPIO.output(led,c & 1) # LED
print ("Read (as list of int16) all analogs: %s" % GPIO.analogReadAll())
print ("Read (as int16) all digitals 0 to 13 %s" % bin(GPIO.digitalReadAll()))
print ("Precision digital read pin 7 (LED?): %d" % GPIO.digitalPreciseRead(7))
print ("Precision digital read pin A0: %d" % GPIO.digitalPreciseRead(GPIO.A0))
print ("(precision read is from analog comparator against internal 1.1V reference.)")
if c==10:
GPIO.analogHiSpeed()
print ("Increasing analog read clockspeed: AnalogReadAll() is a lot faster from now.")
print ("")
time.sleep(1)
print ("pulseIn, a 'blocking' call: in this routine, will timeout by lack of a pulse:")
print (GPIO.pulseIn(led, GPIO.HIGH, 500, 1000)) # allow 500 uSEc to start, then 1000 uSec max pulselength.
# NOTE: those high value returns correspond to "error codes" set in VirtGPIO.ino.
# Examine Pulse_in function there, and the "case 'I':" code.
# By testing these codes you can see the precise reason your pulsein failed.
# setting pin5 as MCU-based counter (no interrupts, no arduino counting code!)
# Put a LED on pin 5 to see
import time
import virtGPIO as GPIO
led = 5
GPIO.setup(led,GPIO.OUT)
counter5 = GPIO.HWcounter()
# set up pin 5 as a hardware counter (rising edge). It can STILL do any other GPIO job!
c=0
while True:
print (c)
c = (c+1)
GPIO.output(led,c & 1) # LED blink on pin 5
print ("Dig read 5 = %d" % GPIO.input(led)) # read pin 5 straight back to confirm
# But pin 5 is ALSO doing a counter job. Read the current count
print ("HW ctr: %x" % counter5.read()) #
if not (c%100): # every 100 passes
counter5.zero()
time.sleep(0.5)
