def motoroff():
GPIO.output(drive_0, GPIO.LOW)
GPIO.output(drive_1, GPIO.LOW)
GPIO.output(drive_2, GPIO.LOW)
GPIO.output(drive_3, GPIO.LOW)
SPWM.set_duty_cycle(PWM_0, 0)
SPWM.set_duty_cycle(PWM_1, 0)
def speed(self, val):
self._speed = val
if val == 0 and not self.stop_on_zero:
duty = 0
else:
duty = int(map(val, -1.0, 1.0, self.duty_min, self.duty_max))
PWM.set_duty_cycle(self.pin, duty)
def speed(self, val):
self._speed = val
if val == 0 and not self.stop_on_zero:
duty = 0
else:
duty = int(map(val, -1.0, 1.0, self.duty_min, self.duty_max))
PWM.set_duty_cycle(self.pin, duty)
def sig_handler(signal, frame):
OM.unload("PWM0")
GPIO.cleanup()
PWM.cleanup()
SPWM.cleanup()
UT.disable_1v8_pin()
sys.exit(0)
def api_softpwm(self, pin, command, option, req_method, req_args):
resp = copy.deepcopy(self.CHIP_INFO)
resp["connected"] = True
# Figure out our command
if command == "start" and req_method == 'GET':
# Get the arguments
duty_cycle = req_args.get('duty_cycle', 25.0)
frequency = req_args.get('frequency', 35.0)
polarity = req_args.get('polarity', 0)
# Start the SoftPWM
SPWM.start(pin, duty_cycle, frequency, polarity)
resp[
"message"] = "Setting {0} to duty cycle: {1}, frequency: {2}, and polarity {3}".format(
pin, duty_cycle, frequency, polarity)
elif command == "stop" and req_method == 'GET':
SPWM.stop(pin)
resp["message"] = "Stopping {0}".format(pin)
elif command == "cleanup" and req_method == 'GET':
SPWM.cleanup(pin)
resp["message"] = "Cleaning up {0}".format(pin)
elif command == "duty_cycle" and req_method in ['GET', 'PUT', 'POST']:
SPWM.set_duty_cycle(pin, float(option))
resp["message"] = "Changing duty cycle on {0} to {1}".format(
pin, option)
elif command == "frequency" and req_method in ['GET', 'PUT', 'POST']:
SPWM.set_frequency(pin, float(option))
resp["message"] = "Changing duty cycle on {0} to {1}".format(
pin, option)
return jsonify(resp)
def cycle(self):
self.setup()
dc = self.min_value + abs(math.sin(self.currenta_angle) * self.delta)
self.currenta_angle = (self.currenta_angle +
self.angle_increment) % 360
pwm.set_duty_cycle(self.led, dc)
def setup(): #PWM.start(channel, duty, freq=2000, polarity=0) #duty values are valid 0 (off) to 100 (on) GPIO.setup(pin_forward, GPIO.OUT) GPIO.setup(pin_back, GPIO.OUT) PWM.start(pin_pwm, 0, 800, 0) motorStop()
def test_start_pwm(self):
PWM.start("XIO-P7", 50, 10)
base = GPIO.get_gpio_base() + 7
gfile = '/sys/class/gpio/gpio%d' % base
assert os.path.exists(gfile)
direction = open(gfile + '/direction').read()
assert(direction == 'out\n')
PWM.cleanup()
def __init__(self, pin, freq=500, duty_min=49.0, duty_max=90.0, stop_on_zero=False):
self.pin = pin
self.freq = freq
self.duty_min = duty_min
self.duty_max = duty_max
self.stop_on_zero = stop_on_zero
sleep(0.1)
PWM.start(pin, 0, 500)
def test_start_pwm(self):
PWM.start("XIO-P7", 50, 10)
base = GPIO.get_gpio_base() + 7
gfile = '/sys/class/gpio/gpio%d' % base
assert os.path.exists(gfile)
direction = open(gfile + '/direction').read()
assert(direction == 'out\n')
PWM.cleanup()
def RestApp(host="0.0.0.0", port=1883, debug=False):
try:
app.run(host=host, port=port, debug=debug)
except KeyboardInterrupt:
GPIO.cleanup()
PWM.cleanup()
SPWM.cleanup()
UT.disable_1v8_pin()
sys.exit(0)
def pwm():
rospy.init_node('pwm')
rospy.Subscriber('speeds', Speeds, callback)
while not rospy.is_shutdown():
rospy.spin()
SPWM.cleanup()
UT.unexport_all()
def __init__(self,
pin,
freq=50,
duty_min=5,
duty_max=10,
stop_on_zero=False):
self.pin = pin
self.freq = freq
self.duty_min = duty_min
self.duty_max = duty_max
self.stop_on_zero = stop_on_zero
sleep(0.1)
PWM.start(pin, 0, freq)
def setup(self):
if not self.initialized:
# reset gpio
GPIO.cleanup(self.led)
# init gpio
pwm.start(self.led, 0, self.freq)
self.currenta_angle = 0
self.delta = self.max_value - self.min_value
self.angle_increment = (self.update_delay *
180) / (self.sweep_time * 60)
self.initialized = True
def on_message(client, userdata, msg_raw):
msg = msg_raw.payload.rstrip('\t\r\n\0').split(
'||') #Split rate data and speech data
#print(msg_raw.topic+" "+msg[0]+" "+msg[1]) #Debug
#Converting data into integers from -100 to 100
if msg[0] == "disconnect": # Debug
client.disconnect()
elif msg_raw.topic == "romibo/emotion":
file = open("emotion.txt", "w")
file.write(msg[0])
file.close()
print("emotion received")
elif msg_raw.topic == "romibo/action":
x = int(float(msg[0]) * 100)
y = int(float(msg[1]) * 100)
L_mag = int(L_mag_calculation(x, y))
R_mag = int(R_mag_calculation(x, y))
print("L: " + str(L_mag) + "||R:" + str(R_mag))
#left motor
if L_mag > 0:
#set to forward
GPIO.output(en_l_fw, 1)
GPIO.output(en_l_bw, 0)
elif L_mag <= 0:
#set to backward
GPIO.output(en_l_fw, 0)
GPIO.output(en_l_bw, 1)
#set velocity via duty cycle
SPWM.set_duty_cycle(left, abs(L_mag))
#right motor
if R_mag > 0:
#set to forward
GPIO.output(en_r_fw, 1)
GPIO.output(en_r_bw, 0)
elif R_mag <= 0:
#set to backward
GPIO.output(en_r_fw, 0)
GPIO.output(en_r_bw, 1)
#set velocity via duty cycle
SPWM.set_duty_cycle(right, abs(R_mag))
def setup(self):
if not self.initialized:
# reset gpio
GPIO.cleanup(self.red)
GPIO.cleanup(self.yellow)
# init gpio
pwm.start(self.red, 0, self.freq)
pwm.start(self.yellow, 0, self.freq)
self.initialized = True
# init variables
self.red_sweeping = False
self.red_sweep_increment = 0
self.red_duty = 0
self.red_target = 0
self.yellow_ud_percent = 0
self.yellow_cooldown = 0
def cycle(self):
self.setup()
## handle red
if self.red_sweeping:
if self.red_duty < self.red_target:
self.red_duty += self.red_sweep_increment
if self.red_duty >= self.red_target:
self.red_sweeping = False
else:
self.red_duty -= self.red_sweep_increment
if self.red_duty <= self.red_target:
self.red_sweeping = False
self.red_duty = max(min(self.red_duty, 100), 0)
pwm.set_duty_cycle(self.red, self.red_duty)
elif numpy.random.randint(0, 100) < self.red_ud_percent:
self.red_sweeping = True
self.red_target = max(
min(numpy.random.normal(self.red_mean, self.red_sigma), 100),
0)
self.red_sweep_increment = abs(self.red_duty -
self.red_target) / max(
self.red_sweep_sigma,
numpy.random.normal(
self.red_sweep_mean,
self.red_sweep_sigma))
## handle yellow
if self.yellow_cooldown <= 0: # yellow off
if numpy.random.randint(0, 100) < self.yellow_ud_percent:
self.yellow_cooldown = numpy.random.normal(
self.yellow_on_mean, self.yellow_on_sigma)
self.yellow_ud_percent = 0
else:
self.yellow_ud_percent += self.yellow_percent_increment
else:
self.yellow_cooldown -= self.fire_update_delay
if self.yellow_cooldown <= 0:
pwm.set_duty_cycle(self.yellow, 0)
else:
pwm.set_duty_cycle(
self.yellow,
max(
min((abs(self.yellow_mean - numpy.random.normal(
self.yellow_mean, self.yellow_sigma)) *
self.yellow_mult), 100), 0))
def test_pwm_duty_cycle_invalid_value_negative(self):
PWM.start("XIO-P7", 0)
with pytest.raises(ValueError):
PWM.set_duty_cycle("XIO-P7", -1)
PWM.cleanup()
def test_pwm_duty_cycle_non_setup_key(self):
with pytest.raises(RuntimeError):
PWM.set_duty_cycle("XIO-P7", 100)
PWM.cleanup()
def test_pwm_duty_cycle_invalid_key(self):
with pytest.raises(ValueError):
PWM.set_duty_cycle("P9_15", 100)
PWM.cleanup()
def test_pwm_start_invalid_polarity_type(self):
with pytest.raises(TypeError):
PWM.start("XIO-P7", 0, 100, "1")
def teardown_module(module):
PWM.cleanup()
def test_pwm_frequency_invalid_value_string(self):
PWM.start("XIO-P7", 0)
with pytest.raises(TypeError):
PWM.set_frequency("XIO-P7", "11")
PWM.cleanup()
def test_pwm_start_invalid_pwm_key(self):
with pytest.raises(ValueError):
PWM.start("P8_25", -1)
def test_pwm_duty_cycle_invalid_key(self):
with pytest.raises(ValueError):
PWM.set_duty_cycle("P9_15", 100)
PWM.cleanup()
def test_pwm_duty_cycle_invalid_value_string(self):
PWM.start("XIO-P7", 0)
with pytest.raises(TypeError):
PWM.set_duty_cycle("XIO-P7", "a")
PWM.cleanup()
import datetime
if __name__ == "__main__":
# SETUP VARIABLES
PWMGPIO = "XIO-P7"
#PWMGPIO = "LCD-D4"
COUNT = 150
SLEEPTIME = 0.01
time.sleep(1)
# SETUP PWM
try:
print("PWM START")
#PWM.toggle_debug()
PWM.start(PWMGPIO, 50, 45, 1)
# UNCOMMENT FOR CRASH
print("PWM SET FREQUENCY")
PWM.set_frequency(PWMGPIO, 10)
# UNCOMMENT FOR CRASH
print("PWM SET DUTY CYCLE")
PWM.set_duty_cycle(PWMGPIO, 25)
#time.sleep(COUNT*SLEEPTIME + 1)
raw_input("PRESS ENTER WHEN DONE")
except:
raise
finally:
def test_pwm_duty_cycle_non_setup_key(self):
with pytest.raises(RuntimeError):
PWM.set_duty_cycle("XIO-P7", 100)
PWM.cleanup()
def test_pwm_start_invalid_frequency_string(self):
with pytest.raises(TypeError):
PWM.start("XIO-P7", 0, "1")
def test_pwm_start_invalid_duty_cycle_string(self):
with pytest.raises(TypeError):
PWM.start("XIO-P7", "1")
def test_pwm_start_valid_duty_cycle_max(self):
# testing an exception isn't thrown
PWM.start("XIO-P7", 100)
PWM.cleanup()
def test_pwm_duty_cycle_invalid_value_string(self):
PWM.start("XIO-P7", 0)
with pytest.raises(TypeError):
PWM.set_duty_cycle("XIO-P7", "a")
PWM.cleanup()
def test_start_pwm(self):
PWM.start("XIO-P7", 50, 10)
assert os.path.exists('/sys/class/gpio/gpio415')
direction = open('/sys/class/gpio/gpio415/direction').read()
assert direction == 'out\n'
PWM.cleanup()
def test_pwm_frequency_invalid_value_negative(self):
PWM.start("XIO-P7", 0)
with pytest.raises(ValueError):
PWM.set_frequency("XIO-P7", -1)
PWM.cleanup()
def test_pwm_start_invalid_positive_polarity(self):
with pytest.raises(ValueError):
PWM.start("XIO-P7", 0, 100, 2)
def test_pwm_start_invalid_positive_polarity(self):
with pytest.raises(ValueError):
PWM.start("XIO-P7", 0, 100, 2)
def setup_method(self, test_method):
PWM.cleanup()
def test_pwm_start_invalid_duty_cycle_negative(self):
with pytest.raises(ValueError):
PWM.start("XIO-P7", -1)
def test_pwm_start_invalid_pwm_key(self):
with pytest.raises(ValueError):
PWM.start("P8_25", -1)
def test_pwm_start_invalid_duty_cycle_high(self):
with pytest.raises(ValueError):
PWM.start("XIO-P7", 101)
def test_pwm_start_invalid_duty_cycle_negative(self):
with pytest.raises(ValueError):
PWM.start("XIO-P7", -1)
def test_pwm_start_invalid_frequency_negative(self):
with pytest.raises(ValueError):
PWM.start("XIO-P7", 0, -1)
def test_pwm_start_valid_duty_cycle_max(self):
# testing an exception isn't thrown
PWM.start("XIO-P7", 100)
PWM.cleanup()
def test_pwm_start_negative_polarity(self):
with pytest.raises(ValueError):
PWM.start("XIO-P7", 0, 100, -1)
def test_pwm_start_invalid_duty_cycle_high(self):
with pytest.raises(ValueError):
PWM.start("XIO-P7", 101)
def test_pwm_start_invalid_polarity_type(self):
with pytest.raises(TypeError):
PWM.start("XIO-P7", 0, 100, "1")
def test_pwm_start_invalid_duty_cycle_string(self):
with pytest.raises(TypeError):
PWM.start("XIO-P7", "1")
def teardown_module(module):
PWM.cleanup()
def test_pwm_start_invalid_frequency_negative(self):
with pytest.raises(ValueError):
PWM.start("XIO-P7", 0, -1)
def test_pwm_duty_cycle_invalid_value_negative(self):
PWM.start("XIO-P7", 0)
with pytest.raises(ValueError):
PWM.set_duty_cycle("XIO-P7", -1)
PWM.cleanup()
def test_pwm_start_invalid_frequency_string(self):
with pytest.raises(TypeError):
PWM.start("XIO-P7", 0, "1")
def test_pwm_frequency_invalid_value_negative(self):
PWM.start("XIO-P7", 0)
with pytest.raises(ValueError):
PWM.set_frequency("XIO-P7", -1)
PWM.cleanup()
def test_pwm_start_negative_polarity(self):
with pytest.raises(ValueError):
PWM.start("XIO-P7", 0, 100, -1)
