def __init__(self):
Pi_rev = wiringpi2.piBoardRev() #@TODO: use this?
self.GPIOS = {
'internal_buzzer': 11,
'latch': 7,
'unlock_LED': 15,
'deny_LED': 13,
'buzzer': 12,
'doorStatus1': 19,
'doorStatus2': 21,
}
#set up I/O pins
wiringpi2.wiringPiSetupPhys()
wiringpi2.pinMode(self.GPIOS['unlock_LED'], 1)
wiringpi2.pinMode(self.GPIOS['deny_LED'], 1)
wiringpi2.pinMode(self.GPIOS['latch'], 1)
wiringpi2.pinMode(self.GPIOS['internal_buzzer'], 1)
wiringpi2.pinMode(self.GPIOS['doorStatus1'], 0)
wiringpi2.pinMode(self.GPIOS['doorStatus2'], 0)
GPIO.setup(9, GPIO.IN)
GPIO.setup(10, GPIO.IN)
#GPIO.add_event_detect(9, GPIO.FALLING, callback=self.arm_security, bouncetime=300)
#Set up Hardware PWM - Only works on GPIO 18 (Phys 12)
wiringpi2.pwmSetMode(0) # set PWM to markspace mode
wiringpi2.pinMode(self.GPIOS['buzzer'], 2) # set pin to PWM mode
wiringpi2.pwmSetClock(750) # set HW PWM clock division (frequency)
wiringpi2.pwmWrite(self.GPIOS['buzzer'], 0)
proc = subprocess.Popen(['nfc-list'], stderr=subprocess.PIPE)
result = proc.stderr.read()
self.PN532 = False if 'Timeout' in result else True
if not self.PN532:
self.nfc = NFC.MFRC522()
def initQTI(self,wiring=True):
#pin = pinNum
if wiring == True:
wp.wiringPiSetup()
wp.wiringPiSetupGpio()
wp.wiringPiSetupPhys()
else:
GPIO.setmode(GPIO.BOARD)
def __init__(self, stepPin, dirPin):
#initial a Bipolar_Stepper_Moter objects by assigning the pins
wiringpi2.wiringPiSetupPhys()
self.stepPin = stepPin
self.dirPin = dirPin
wiringpi2.pinMode(self.stepPin, 1)
wiringpi2.pinMode(self.dirPin, 1)
print "Stepper Configured"
def __init__(self,stepPin,dirPin):
#initial a Bipolar_Stepper_Moter objects by assigning the pins
wiringpi2.wiringPiSetupPhys()
self.stepPin=stepPin
self.dirPin=dirPin
wiringpi2.pinMode(self.stepPin,1)
wiringpi2.pinMode(self.dirPin,1)
print "Stepper Configured"
def setup():
wiringpi.wiringPiSetupPhys()
wiringpi.pinMode(OneW, OUTPUT)
wiringpi.pinMode(OneB, OUTPUT)
wiringpi.pinMode(OneG, OUTPUT)
wiringpi.pinMode(OneY, OUTPUT)
wiringpi.pinMode(OneR, OUTPUT)
wiringpi.pinMode(TwoW, OUTPUT)
wiringpi.pinMode(TwoB, OUTPUT)
wiringpi.pinMode(TwoG, OUTPUT)
wiringpi.pinMode(TwoY, OUTPUT)
wiringpi.pinMode(TwoR, OUTPUT)
def __init__(self, lock):
threading.Thread.__init__(self)
self.__lock = lock
# SPI (MCP3008)
self.__adc = MCP3008(SPI_const.CS0, 0, self.__lock)
# Hardware PWM
wipi.wiringPiSetupPhys()
wipi.pinMode(12, 2) # TODO: have pin as parameter to __init__()
self.__running = True
def __init__(self, lock):
threading.Thread.__init__(self)
self.__lock = lock
# SPI (MCP3008)
self.__adc = MCP3008(SPI_const.CS0, 0, self.__lock)
# Hardware PWM
wipi.wiringPiSetupPhys()
wipi.pinMode(12, 2) # TODO: have pin as parameter to __init__()
self.__running = True
def __init__(self, pin, lock):
threading.Thread.__init__(self)
self.__pin = pin
self.__lock = lock
# SPI (MCP3008)
self.__adc = MCP3008(SPI_const.CS0, 0, self.__lock)
# Hardware PWM
wipi.wiringPiSetupPhys()
wipi.pinMode(self.__pin, 2)
self.__running = True
def setup():
wiringpi.wiringPiSetupPhys()
# assign pins
wiringpi.pinMode(RST, OUTPUT)
wiringpi.pinMode(A0, OUTPUT)
wiringpi.pinMode(A1, OUTPUT)
wiringpi.pinMode(A2, OUTPUT)
wiringpi.pinMode(A3, OUTPUT)
wiringpi.pinMode(CE, OUTPUT)
wiringpi.pinMode(WR, OUTPUT)
wiringpi.pinMode(latch, OUTPUT)
wiringpi.pinMode(SER, OUTPUT)
wiringpi.pinMode(CLK, OUTPUT)
resetdisplay()
def __init__(self, pid, default_value=None, max_value=None):
super(GPIOPWMPin, self).__init__(pid)
if default_value is None:
self.default_value = self.DEFAULT_VALUE
else:
self.default_value = default_value
if max_value is None:
self.max_value = self.MAX_VALUE
else:
self.max_value = max_value
wiringpi.wiringPiSetupPhys()
wiringpi.softPwmCreate(pid, self.default_value, self.max_value)
def setup():
wiringpi.wiringPiSetupPhys()
# assign pins
wiringpi.pinMode(RST, OUTPUT)
wiringpi.pinMode(A0, OUTPUT)
wiringpi.pinMode(A1, OUTPUT)
wiringpi.pinMode(A2, OUTPUT)
wiringpi.pinMode(A3, OUTPUT)
wiringpi.pinMode(CE, OUTPUT)
wiringpi.pinMode(WR, OUTPUT)
wiringpi.pinMode(latch, OUTPUT)
wiringpi.pinMode(SER, OUTPUT)
wiringpi.pinMode(CLK, OUTPUT)
wiringpi.pinMode(DSP0, OUTPUT)
wiringpi.pinMode(DSP1, OUTPUT)
resetdisplay()
def setup(self, **kwargs):
""" Initialise this particular Dock instance
"""
# Initialise wiringpi2
wiringpi2.wiringPiSetupPhys()
# Set up the hardware interfaces
global SLOTS
self.slots = dict()
for slot in SLOTS:
info = SLOTS[slot]
# Initialise the hardware
if info[3] <> 0:
wiringpi2.pinMode(info[3], 1)
if info[4] <> 0:
wiringpi2.pinMode(info[4], 0)
if info[5] <> 0:
wiringpi2.pinMode(info[5], 0)
# Create the slot instance
self.slots[slot] = info[0](info)
def init_board():
wiringpi.wiringPiSetupPhys()
wiringpi.pinMode(7, 1)
wiringpi.pinMode(11, 1)
wiringpi.pinMode(13, 1)
### need to insert code to blank display so that the next line doesn't flash all segments until data is displayed
wiringpi.pinMode(12, 2)
wiringpi.pwmWrite(12, disp_numbrt)
try:
for x in [disp_home, disp_away]:
i2c.write_byte_data(x, 0x04, 0x05) # Turns MAX6953 on and sets fast blink
i2c.write_i2c_block_data(x, 0x01, [disp_teambrt, disp_teambrt]) # Sets brightness for the team name
i2c.write_byte_data(x, 0x03, 0x01) # Sets SCANLIMIT to 4
except:
init_board()
return
disp_ready.set()
print "Board Initialized"
return
def setup(self, **kwargs):
""" Initialise this particular Dock instance
"""
# Initialise wiringpi2
wiringpi2.wiringPiSetupPhys()
# Set up the hardware interfaces
global SLOTS
self.slots = dict()
for slot in SLOTS:
info = SLOTS[slot]
# Initialise the hardware
if info[3] <> 0:
wiringpi2.pinMode(info[3], 1)
if info[4] <> 0:
wiringpi2.pinMode(info[4], 0)
if info[5] <> 0:
wiringpi2.pinMode(info[5], 0)
# Create the slot instance
self.slots[slot] = info[0](info)
def main():
# use BCM GPIO numbers
wp.wiringPiSetupPhys()
# enable PWM0
wp.pinMode(12,2)
# switch from default mode to mark:space mode
wp.pwmSetMode(PWM_MODE_MS)
wp.pwmSetClock(200)
wp.pwmWrite(12, 0)
while True:
try:
wp.pwmWrite(12, 2)
time.sleep(3)
# turn then wait
wp.pwmWrite(12,128)
time.sleep(3)
# turn then wait
wp.pwmWrite(12, 256)
time.sleep(3)
def __init__(self):
# Set up the wiringpi object to use physical pin numbers
wp.wiringPiSetupPhys()
# Initialize the DRDY pin
wp.pinMode(self.DRDY_PIN, wp.INPUT)
# Initialize the reset pin
wp.pinMode(self.RESET_PIN, wp.OUTPUT)
wp.digitalWrite(self.RESET_PIN, wp.HIGH)
# Initialize PDWN pin
wp.pinMode(self.PDWN_PIN, wp.OUTPUT)
wp.digitalWrite(self.PDWN_PIN, wp.HIGH)
# Initialize CS pin
wp.pinMode(self.CS_PIN, wp.OUTPUT)
wp.digitalWrite(self.CS_PIN, wp.HIGH)
# Initialize the wiringpi SPI setup
spi_success = wp.wiringPiSPISetup(self.SPI_CHANNEL, self.SPI_FREQUENCY)
debug_print("SPI success " + str(spi_success))
def findDistance(TYPE):
ON=1
OFF=0
IN=0
OUT=1
PULSE=0.00001
SPEED_OF_SOUND=34029
if TYPE == "front":
TRIG = 15
ECHO = 13
elif TYPE == "back":
TRIG = 16
ECHO = 18
elif TYPE != "stop":
return False
else: return True
wiringpi2.wiringPiSetupPhys()
wiringpi2.pinMode(TRIG, OUT)
wiringpi2.pinMode(ECHO, IN)
wiringpi2.digitalWrite(TRIG, OFF)
wiringpi2.digitalWrite(TRIG, ON)
time.sleep(PULSE)
wiringpi2.digitalWrite(TRIG, OFF)
starttime=time.time()
stop=starttime
start=starttime
while wiringpi2.digitalRead(ECHO)==0 and start<starttime+2:
start=time.time()
while wiringpi2.digitalRead(ECHO)==1 and stop<starttime+2:
stop=time.time()
delta=stop-start
resultDistance=delta*SPEED_OF_SOUND
return resultDistance/2.0
import wiringpi2 import sys pin = 31 #wiringpi2.wiringPiSetup() #wiringpi2.wiringPiSetupSys() #wiringpi2.wiringPiSetupGpio() wiringpi2.wiringPiSetupPhys() wiringpi2.pinMode(pin,2) #PWM_OUTPUT while 1: #wiringpi2.pwmWrite(pin,128) print "===== set clock" wiringpi2.pwmSetClock(0) # 24M/120 * 256 = 781HZ wiringpi2.delay(1000) wiringpi2.pwmSetClock(1);# 24M/180 * 256 = 520.8HZ wiringpi2.delay(1000) wiringpi2.pwmSetClock(2);# 24/240 * 256 = 390HZ wiringpi2.delay(1000) #wiringpi2.pwmSetRange(255); # wiringpi2.pwmWrite(pin,1); # wiringpi2.delay(1000) # wiringpi2.pwmWrite(pin,128); # wiringpi2.delay(1000) # wiringpi2.pwmWrite(pin,255) # wiringpi2.delay(1000) # print "================>>>>" # pwmSetMode(0); #wiringpi2.pwmWrite(pin,128)
import wiringpi2 as wp
wp.wiringPiSetupPhys()
import os
if os.geteuid() != 0:
print('WARNING: Not root')
INPUT = 0
OUTPUT = 1
PWM = 2
PUD_DOWN = 1
PUD_UP = 2
output_pins = []
# controls a victor
# must use the hardware pwm on physical pin 12
class Victor(object):
def __init__(self, freq = 100.0):
self.freq = freq
output_pins.append(12)
wp.pinMode(12, PWM)
wp.pwmSetRange(4000) #range can go up to 4096, 4000 is good because it's large and a multiple of 100
clock = 19.2e6 / (4000.0 * freq) #set the divisor so the frequency comes out right
wp.pwmSetClock(int(clock)) #this function needs an int
wp.pwmSetMode(0) # necessary or else it's in a weird mode where nothing works
wp.pwmWrite(12, 0) # stop for safety
def set(self, speed):
if speed > 1.0:
speed = 1.0
def GPIOsetup(self):
wiringpi2.wiringPiSetupPhys()
for gpio in self.pins:
wiringpi2.pinMode(gpio, OUT)
def run(self,config):
self.config = config
while(1):
p.rint("LIGHT, thread started","l")
self.alive = True
# Create NeoPixel object with appropriate configuration.
if(str(self.config.with_lights) == "1"):
p.rint("LIGHT, configured with NEO usage","l")
if(self.neo_support and self.neo_loaded!=1):
p.rint("LIGHT, neopixel supported, starting","l")
strip = Adafruit_NeoPixel(self.neo_LED_COUNT, self.neo_LED_PIN, self.neo_LED_FREQ_HZ, self.neo_LED_DMA, self.neo_LED_INVERT, self.neo_LED_BRIGHTNESS)
# Intialize the library (must be called once before other functions).
strip.begin()
strip.show()
self.neo_loaded = 1 # avoid loading it twice
elif(self.neo_support):
p.rint("LIGHT, neopixel already loaded","l")
else:
p.rint("LIGHT, ERROR neopixel not supported","l")
elif(str(self.config.with_lights) == "2"):
p.rint("LIGHT, configured with PWM usage","l")
if(self.pwm_support):
p.rint("LIGHT, PWM supported, starting","l")
wiringpi.wiringPiSetupPhys()
wiringpi.pinMode(12,2)
else:
p.rint("LIGHT, ERROR PWM not supported","l")
elif(str(self.config.with_lights) == "3"):
p.rint("LIGHT, configured with i2c usage","l")
if(self.i2c_support and self.i2c_loaded!=1):
p.rint("LIGHT, i2c supported, starting","l")
salsa = arduino_bridge.connection()
salsa.setup_pwm_output(0)
salsa.setup_pwm_output(1)
salsa.setup_pwm_output(2)
salsa.setup_pwm_output(3)
self.i2c_loaded = 1
elif(self.i2c_loaded == 1):
p.rint("LIGHT, i2c already loaded","l")
else:
p.rint("LIGHT, ERROR i2c not supported","l")
else:
p.rint("LIGHT, started without pwm and neo and i2c","l")
p.rint("LIGHT, selection was "+str(self.config.with_lights),"l")
while self.alive:
### ------------ check if we have something to do ------------ ###
if(len(self.light_dimming_q) > 0):
for data in self.light_dimming_q:
if(data[0]<=time.time()):
light_action=data
self.light_dimming_q.remove(data)
if(light_action[1]==-1 and light_action[2]==-1 and light_action[3]==-1):
self.return_to_old(light_action[4])
else:
self.dimm_to(light_action[1],light_action[2],light_action[3],light_action[4])
### ------------ check if we have something to do ------------ ###
if(self.l.state==1): # state= 1 means dimming is active
if(time.time()>=self.l.last_ts+self.l.ms_step/1000): # last_ts holds time of last event, ms_step the time between two dimm steps,
# if that sum is smaller than NOW - we have work
self.l.last_ts=time.time() # refresh last_ts to now
differ_r=self.l.s_r-self.l.t_r # caluclate the difference of each color between the start and the end color
differ_g=self.l.s_g-self.l.t_g
differ_b=self.l.s_b-self.l.t_b
differ_time=(self.l.t_t-self.l.s_t) # calulate the total time between the start and end
#(this should be the same as the "dimm time" specified by the user)
if(differ_time>0): # if the user set instant switch, this time will be 0. avoid division by zero
ratio=(time.time()-self.l.s_t)/(self.l.t_t-self.l.s_t) # ratio of the time that has passed, should be 0..1
else:
ratio=1
if(ratio<1): # if ratio is below 1 we are still in the middle of the dimming
if(LED_DEBUG):
print(".", end="")
self.l.c_r=int(self.l.s_r-ratio*differ_r) # refresh the r,g,b parts to the current dimm ratio (minus since we did a "self.l.s_r - self.l.t_r")
self.l.c_g=int(self.l.s_g-ratio*differ_g)
self.l.c_b=int(self.l.s_b-ratio*differ_b)
else: # ratio is bigger than one, time has passed, set it to target color
self.l.c_r=int(self.l.t_r)
self.l.c_g=int(self.l.t_g)
self.l.c_b=int(self.l.t_b)
self.l.state=0 # stop further dimming
if(LED_DEBUG):
print("LED stop at "+str(time.time())+" "+str(self.l.c_r)+"/"+str(self.l.c_g)+"/"+str(self.l.c_b))
self.l.c_r=max(min(255,self.l.c_r),0) # avoid that we set a value bigger then 255 or smaller then 0
self.l.c_g=max(min(255,self.l.c_g),0)
self.l.c_b=max(min(255,self.l.c_b),0)
# neo pixel
if(str(self.config.with_lights) == "1" and self.neo_support):
for i in range(0,self.neo_LED_COUNT):
strip.setPixelColor(i,Color(self.l.c_r,self.l.c_g,self.l.c_b)) # set value
strip.show()
# neo pixel
# pwm controll on pin 12
elif(str(self.config.with_lights) == "2" and self.pwm_support):
wiringpi.pwmWrite(12, self.l.c_r*4)
# pwm controll on pin 12
# i2c controll
elif(str(self.config.with_lights) == "3" and self.i2c_support):
try:
print(str(self.l.c_b))
salsa.dimmTo(0,int(self.l.c_r/2.55),10) # dimming is in % #R
salsa.dimmTo(1,int(self.l.c_g/2.55),10) # dimming is in % #G
salsa.dimmTo(2,int(self.l.c_b/2.55),10) # dimming is in % #B
salsa.dimmTo(3,int(self.l.c_b/2.55),10) # dimming is in % #B
except:
print("LIGHT i2c bus transaction crashed")
# i2c controll
# we can wait here a little while because we know that nothing will happen for us earlier than that anyway
time.sleep(0.8*self.l.ms_step/1000)
else:
time.sleep(0.01) # sleep to avoid 100% cpu
# while
p.rint("LIGHT, thread stopped","l")
def GPIOsetup(self):
wiringpi2.wiringPiSetupPhys()
for gpio in self.pins:
wiringpi2.pinMode(gpio,IN)
wiringpi2.pullUpDnControl(gpio,PULL_UP)
rightPressed = False leftPressed = False coins = 0 STEP = 0 OVERRIDE = 100 # add this in /boot/config.txt (remove first # on every row) # # # uncomment to force a specific HDMI mode (this will force VGA) # hdmi_group=2 # hdmi_mode=8 # http://raspi.tv/how-to-use-interrupts-with-python-on-the-raspberry-pi-and-rpi-gpio-part-2 import wiringpi2 as GPIO GPIO.wiringPiSetupPhys() # Wiring Joystick + buttons: # door signal gpio23 pin 33 open when high # coin signal gpio22 pin 31 active high pinUp = 38 pinRight = 32 pinLeft = 36 pinDown = 40 pinShoot = 35 pinReady = 37 pinWiringDoorOcto = 33 # door open when HIGH pinWiringPlugA = 8
def run(self,config):
self.config = config
while(1):
p.rint("LIGHT, thread started","l")
self.alive = True
self.config.with_neo=0
self.config.with_pwm=0
self.config.with_i2c=1
# Create NeoPixel object with appropriate configuration.
if(self.config.with_neo):
p.rint("LIGHT, configured with NEO usage","l")
if(self.neo_support and self.neo_loaded!=1):
p.rint("LIGHT, neopixel supported, starting","l")
strip = Adafruit_NeoPixel(self.neo_LED_COUNT, self.neo_LED_PIN, self.neo_LED_FREQ_HZ, self.neo_LED_DMA, self.neo_LED_INVERT, self.neo_LED_BRIGHTNESS)
# Intialize the library (must be called once before other functions).
strip.begin()
strip.show()
self.neo_loaded = 1 # avoid loading it twice
elif(self.neo_support):
p.rint("LIGHT, neopixel already loaded","l")
else:
p.rint("LIGHT, ERROR neopixel not supported","l")
elif(self.config.with_pwm):
p.rint("LIGHT, configured with PWM usage","l")
if(self.pwm_support):
p.rint("LIGHT, PWM supported, starting","l")
wiringpi.wiringPiSetupPhys()
wiringpi.pinMode(12,2)
else:
p.rint("LIGHT, ERROR PWM not supported","l")
elif(self.config.with_i2c and self.i2c_loaded!=1):
p.rint("LIGHT, configured with i2c usage","l")
if(self.i2c_support):
p.rint("LIGHT, i2c supported, starting","l")
bus = i2c.I2CMaster(1)
self.i2c_loaded = 1
else:
p.rint("LIGHT, ERROR i2c not supported","l")
else:
p.rint("LIGHT, started without pwm and neo","l")
while self.alive:
### ------------ check if we have something to do ------------ ###
if(len(self.light_dimming_q) > 0):
for data in self.light_dimming_q:
if(data[0]<=time.time()):
light_action=data
self.light_dimming_q.remove(data)
if(light_action[1]==-1 and light_action[2]==-1 and light_action[3]==-1):
self.return_to_old(light_action[4])
else:
self.dimm_to(light_action[1],light_action[2],light_action[3],light_action[4])
### ------------ check if we have something to do ------------ ###
if(self.l.state==1): # state= 1 means dimming is active
if(time.time()>=self.l.last_ts+self.l.ms_step/1000): # last_ts holds time of last event, ms_step the time between two dimm steps,
# if that sum is smaller than NOW - we have work
self.l.last_ts=time.time() # refresh last_ts to now
differ_r=self.l.s_r-self.l.t_r # caluclate the difference of each color between the start and the end color
differ_g=self.l.s_g-self.l.t_g
differ_b=self.l.s_b-self.l.t_b
differ_time=(self.l.t_t-self.l.s_t) # calulate the total time between the start and end
#(this should be the same as the "dimm time" specified by the user)
if(differ_time>0): # if the user set instant switch, this time will be 0. avoid division by zero
ratio=(time.time()-self.l.s_t)/(self.l.t_t-self.l.s_t) # ratio of the time that has passed, should be 0..1
else:
ratio=1
if(ratio<1): # if ratio is below 1 we are still in the middle of the dimming
if(LED_DEBUG):
print(".", end="")
self.l.c_r=int(self.l.s_r-ratio*differ_r) # refresh the r,g,b parts to the current dimm ratio (minus since we did a "self.l.s_r - self.l.t_r")
self.l.c_g=int(self.l.s_g-ratio*differ_g)
self.l.c_b=int(self.l.s_b-ratio*differ_b)
else: # ratio is bigger than one, time has passed, set it to target color
self.l.c_r=int(self.l.t_r)
self.l.c_g=int(self.l.t_g)
self.l.c_b=int(self.l.t_b)
self.l.state=0 # stop further dimming
if(LED_DEBUG):
print("LED stop at "+str(time.time())+" "+str(self.l.c_r)+"/"+str(self.l.c_g)+"/"+str(self.l.c_b))
self.l.c_r=max(min(255,self.l.c_r),0) # avoid that we set a value bigger then 255 or smaller then 0
self.l.c_g=max(min(255,self.l.c_g),0)
self.l.c_b=max(min(255,self.l.c_b),0)
# neo pixel
if(self.config.with_neo and self.neo_support):
for i in range(0,self.neo_LED_COUNT):
strip.setPixelColor(i,Color(self.l.c_r,self.l.c_g,self.l.c_b)) # set value
strip.show()
# neo pixel
# pwm controll on pin 12
elif(self.config.with_pwm and self.pwm_support):
wiringpi.pwmWrite(12, self.l.c_r*4)
# pwm controll on pin 12
# i2c controll
elif(self.config.with_i2c and self.i2c_support):
if(1):#try:
address = 4
pin_r = 9
pin_g = 6
pin_b = 5
bus.transaction(i2c.writing_bytes(address, 0xCE, pin_r,0x02, self.l.c_r, self.l.c_g, self.l.c_b))
#bus.transaction(i2c.writing_bytes(address, 0xCE, pin_g,0x01, self.l.c_g))
#bus.transaction(i2c.writing_bytes(address, 0xCE, pin_b,0x01, self.l.c_b))
else:#xcept:
print("LIGHT i2c bus transaction crashed")
# i2c controll
# we can wait here a little while because we know that nothing will happen for us earlier than that anyway
time.sleep(0.8*self.l.ms_step/1000)
else:
time.sleep(0.01) # sleep to avoid 100% cpu
# while
p.rint("LIGHT, thread stopped","l")
def __init__(self, pid):
super(GPIOInputPin, self).__init__(pid)
wiringpi.wiringPiSetupPhys()
wiringpi.pinMode(pid, 0)
def gpiosetup(): wiringpi2.wiringPiSetupPhys() wiringpi2.pinMode(TRIGGER,OUT) wiringpi2.pinMode(ECHO,IN) wiringpi2.digitalWrite(TRIGGER,OFF) time.sleep(0.5)
def setup():
wiringpi.wiringPiSetupPhys()
for pin in pins:
wiringpi.pinMode(pin, OUTPUT)
def GPIOsetup(self):
wiringpi2.wiringPiSetupPhys()
wiringpi2.pinMode(PWM_PIN, PWM)
wiringpi2.pwmWrite(PWM_PIN, ON_TIME)
for gpio in self.pins:
wiringpi2.pinMode(gpio, OUT)
def motor_go(TYPE, angle=90):
ON = 1
OFF = 0
IN = 0
OUT = 1
M1 = 38
M2 = 40
PWMA = 37
M3 = 31
M4 = 33
PWMB = 32
wiringpi2.wiringPiSetupPhys()
wiringpi2.pinMode(M1, OUT)
wiringpi2.pinMode(M2, OUT)
wiringpi2.pinMode(M3, OUT)
wiringpi2.pinMode(M4, OUT)
wiringpi2.pinMode(PWMA, OUT)
wiringpi2.pinMode(PWMB, OUT)
def stop():
wiringpi2.digitalWrite(M1, OFF)
wiringpi2.digitalWrite(M2, OFF)
wiringpi2.digitalWrite(M3, OFF)
wiringpi2.digitalWrite(M4, OFF)
def front():
wiringpi2.digitalWrite(M1, ON)
wiringpi2.digitalWrite(M2, OFF)
wiringpi2.digitalWrite(M3, ON)
wiringpi2.digitalWrite(M4, OFF)
def back():
wiringpi2.digitalWrite(M1, OFF)
wiringpi2.digitalWrite(M2, ON)
wiringpi2.digitalWrite(M3, OFF)
wiringpi2.digitalWrite(M4, ON)
def left():
wiringpi2.digitalWrite(M1, ON)
wiringpi2.digitalWrite(M2, OFF)
wiringpi2.digitalWrite(M3, OFF)
wiringpi2.digitalWrite(M4, ON)
def right():
wiringpi2.digitalWrite(M1, OFF)
wiringpi2.digitalWrite(M2, ON)
wiringpi2.digitalWrite(M3, ON)
wiringpi2.digitalWrite(M4, OFF)
wiringpi2.digitalWrite(PWMA, ON)
wiringpi2.digitalWrite(PWMB, ON)
if TYPE == "front":
front()
time.sleep(settings.cell_lenght / settings.robot_speed)
elif TYPE == "back":
back()
time.sleep(settings.cell_lenght / settings.robot_speed)
elif TYPE == "left":
left()
time.sleep(angle * settings.time_full_left)
elif TYPE == "right":
right()
time.sleep(angle * settings.time_full_right)
else:
pass
stop()
wiringpi2.digitalWrite(PWMA, OFF)
wiringpi2.digitalWrite(PWMB, OFF)
def GPIOsetup(self, pinbase=0, ADDR=IO_ADDR):
wiringpi2.wiringPiSetupPhys()
if (pinbase != 0):
wiringpi2.mcp23017Setup(pinbase, ADDR)
for gpio in self.pins:
wiringpi2.pinMode(gpio, OUT)
def GPIOsetup(self):
wiringpi2.wiringPiSetupPhys()
wiringpi2.softPwmCreate(PWM_PIN_ENA,ON_TIME1,RANGE)
wiringpi2.softPwmCreate(PWM_PIN_ENB,ON_TIME2,RANGE)
for gpio in self.pins:
wiringpi2.pinMode(gpio,OUT)
print "Failed to set motors!"
i2cFD.flush()
def turnRight():
setMotors(150, -150)
time.sleep(0.1)
stop()
time.sleep(0.1)
LeftTrack = 0
RightTrack = 0
# Configure wiring pi
wiringpi.wiringPiSetupPhys()
io = wiringpi.GPIO(wiringpi.GPIO.WPI_MODE_GPIO)
# Open the i2C connection
i2cConnect = wiringpi.wiringPiI2CSetup(I2CAddress)
i2cFD = os.fdopen(i2cConnect, "rw", 0)
# Configure the GPIO
io.pinMode(SR04Trigger, io.OUTPUT)
io.pinMode(SR04Echo, io.INPUT)
io.digitalWrite(SR04Trigger, False)
def getDistance():
start = 0
def setup():
wiringpi.wiringPiSetupPhys()
for pin in pinlist:
wiringpi.pinMode(pin, OUTPUT)
resetdisplay()
