def __init__(self, devices=1, intensity=5, scanlimit=7):
'''Constructor
ScanLimit set to 7
Intensity set to 5 out of 0:15
Uses GPIOs 23, 24 25 as DIN, CS, and CLK respectively'''
GP = GPIOProcessor()
global DIN
global CS
global CLK
DIN = GP.getPin34() # Gpio
CS = GP.getPin33() # Gpio
CLK = GP.getPin32() # Gpio
DIN.out()
CS.out()
CLK.out()
global numOfDevices
numOfDevices = devices
for i in range(0,numOfDevices):
self.shutDown(False,i+1)
for i in range(0,numOfDevices):
self.setScanLimit(scanlimit,i+1)
for i in range(0,numOfDevices):
self.setIntensity(intensity,i+1)
self.clearDisplays()
global Characters
Characters = AL()
FULL_STEP_SEQUENCE = [
[1, 1, 0, 0],
[0, 1, 1, 0],
[0, 0, 1, 1],
[1, 0, 0, 1],
]
try:
steps_made = 0
pins = [
GP.getPin31(),
GP.getPin32(),
GP.getPin33(),
GP.getPin34(),
]
for p in pins:
p.out()
right = GP.getPin27()
right.input()
left = GP.getPin26()
left.input()
reset = GP.getPin24()
reset.input()
sequence = FULL_STEP_SEQUENCE
i = 0
direction = 0
from GPIOLibrary import GPIOProcessor
import time
import math
GP = GPIOProcessor()
try:
# Stepper Motor Controls
A1 = GP.getPin34() # Green
A2 = GP.getPin24() # Black
B1 = GP.getPin33() # White
B2 = GP.getPin26() # Yellow
A1.out()
A2.out()
B1.out()
B2.out()
# Delay time
T = 0.001
# Stepper Sequence (Forward ; Reverse)
SS = [[[0,1,0,1],[1,0,0,1],[1,0,1,0],[0,1,1,0]],
[[0,1,0,1],[0,1,1,0],[1,0,1,0],[1,0,0,1]]]
# Forward/Reverse Indicator (0 - Forward, 1 - Reverse)
FR = 0
# Step Angle
SA = 1.8 # 1.8 degrees per step
from GPIOLibrary import GPIOProcessor
import time
import math
GP = GPIOProcessor()
try:
# Stepper Motor Controls
A1 = GP.getPin34() # Green
A2 = GP.getPin24() # Black
B1 = GP.getPin33() # White
B2 = GP.getPin26() # Yellow
A1.out()
A2.out()
B1.out()
B2.out()
# Delay time
T = 0.001
# Stepper Sequence (Forward ; Reverse)
SS = [[[0, 1, 0, 1], [1, 0, 0, 1], [1, 0, 1, 0], [0, 1, 1, 0]],
[[0, 1, 0, 1], [0, 1, 1, 0], [1, 0, 1, 0], [1, 0, 0, 1]]]
# Forward/Reverse Indicator (0 - Forward, 1 - Reverse)
FR = 0
# Step Angle
SA = 1.8 # 1.8 degrees per step
import time
import math
GP = GPIOProcessor()
# GPIO assignment
# TRIG Pin 23
# ECHO Pin 27
# GREEN Pin 24
# YELLOW Pin 25
# RED Pin 26
try:
# Create GPIO variables
trig = GP.getPin34()
echo = GP.getPin27()
green = GP.getPin24()
yellow = GP.getPin25()
red = GP.getPin26()
trig.out()
echo.input()
green.out()
yellow.out()
red.out()
# Duration of Activation (seconds)
D = 10
# Approximate Speed of Sound (cm/s)
import time
import math
GP = GPIOProcessor()
# GPIO assignment
# TRIG Pin 23
# ECHO Pin 27
# GREEN Pin 24
# YELLOW Pin 25
# RED Pin 26
try:
# Create GPIO variables
trig = GP.getPin34()
echo = GP.getPin27()
green = GP.getPin24()
yellow = GP.getPin25()
red = GP.getPin26()
trig.out()
echo.input()
green.out()
yellow.out()
red.out()
# Duration of Activation (seconds)
D = 10
# Approximate Speed of Sound (cm/s)
class UltrasonicHCSR04:
"""
Sensor Class maps DragonBoard 410c GPIO pins for Debian to the HC-SR04 ultra-sonic sensor.
Approximate Speed of Sound through Air at 20 degrees centigrade
343 metres per second.
For "Shallow Water Sensor"
Approximate Speed of Sound through Water at 15 degrees centigrade
1464 metres per second.
"""
def __init__(self):
self.speed = 343 # metres per second (m/s) through Air
# self.speed = 1464 # metres per second (m/s) through Water
self.depth = 0
"""
Trig (blue wire) : Pin 33 -> OpAmp Node 2 -> Ultra-sonic sensor Trig
Echo (red wire) : Ultra-sonic sensor Echo -> Pin 30
"""
self.gp = GPIOProcessor()
self.trig = self.gp.getPin33()
self.echo = self.gp.getPin34()
self.trig.out()
self.echo.input()
def get_depth(self):
return self.depth
def set_depth(self, new_depth):
self.depth = new_depth
def check_depth(self):
"""
Activate the sensor to send sound ping (Trig) and receive the echo (Echo) underwater,
measuring the time interval and calculating and storing the value in depth.
"""
try:
print "Activating Shallow Water Sensor ..."
self.trig.low()
# time.sleep(0.000002) # at least 2 micro-seconds
time.sleep(0.5) # At least 2 micro-seconds. 0.5 tested and working.
self.trig.high()
time.sleep(0.0001) # At least 5 micro-seconds. 100 tested and working.
self.trig.low()
print "Pulse sent."
# defining variables
pulse_start = time.time()
pulse_end = time.time()
# Wait for pulse to be sent, then
# save start time.
# Note : Adding counter to break while loop due to weird glitch.
counter = 10000
while self.echo.getValue() == 0 and counter > 0:
pulse_start = time.time()
counter -= 1
# print "counter :", counter
if self.echo.getValue() == 1:
print "Received echo."
while self.echo.getValue() == 1:
pulse_end = time.time()
if counter == 0:
print "No echo received for long period. Return to Manager and start again."
self.set_depth(0)
return False
# Calculate total pulse duration
# print "pulse_end time :", pulse_end
# print "pulse_start time : ", pulse_start
pulse_duration = pulse_end - pulse_start
# print "pulse_duration time :", pulse_duration
# Use pulse duration to calculate distance
# Remember that the pulse has to go there and come back
distance = round((pulse_duration * self.speed) / 2, 2)
# print "distance :", distance
self.set_depth(distance)
return True
except KeyboardInterrupt():
print "Keyboard interrupt received. Cleaning up ..."
self.gp.cleanup()
return False
from GPIOLibrary import GPIOProcessor
import time
GP = GPIOProcessor()
try:
# Set up GPIO
vcc = GP.getPin34()
vcc.out()
while True:
print 'Turn on? [y/n]'
r = raw_input()
if r == 'y':
vcc.high()
# Sensor is on
print 'Sensor is on.'
print 'Exit? [y]'
r = raw_input()
if r == 'y':
vcc.low()
else:
break
finally:
GP.cleanup()
# Stepper motor switching sequence
seq = [[1, 0, 0, 0], [1, 1, 0, 0], [0, 1, 0, 0], [0, 1, 1, 0], [0, 0, 1, 0],
[0, 0, 1, 1], [0, 0, 0, 1], [1, 0, 0, 1]]
stepAngle = 5.625
delay = 0.0003
#delay = 1
GP = GPIOProcessor()
try:
# Use pins 231, 33, 30, and 34 to control motor
out0 = GP.getPin29() # Blue
out1 = GP.getPin33() # Pink
out2 = GP.getPin30() # Yellow
out3 = GP.getPin34() # Orange
outl = [out0, out1, out2, out3]
outl.reverse()
# Set the pin direction to out
for k in range(4):
outl[k].out()
# Rotation in degrees
degrees = 90
steps_per_deg = 4076.0 / 360.0
steps = math.floor(steps_per_deg * degrees)
for k in range(steps):
# print("Step: {0:2d}".format(k))
from GPIOLibrary import GPIOProcessor
import time
GP = GPIOProcessor()
try:
# Set up GPIO
vcc = GP.getPin34()
vcc.out()
while True:
print 'Turn on? [y/n]'
r = raw_input()
if r == 'y':
vcc.high()
# Sensor is on
print 'Sensor is on.'
print 'Exit? [y]'
r = raw_input()
if r == 'y':
vcc.low()
else:
break
finally:
GP.cleanup()
from GPIOLibrary import GPIOProcessor
import time
GP = GPIOProcessor()
try:
Pin34 = GP.getPin34()
Pin34.out()
for k in range(0, 10):
Pin34.high()
time.sleep(0.5)
Pin34.low()
time.sleep(0.5)
finally:
GP.cleanup()
from GPIOLibrary import GPIOProcessor
import time
GP = GPIOProcessor()
try:
receiverPin = GP.getPin33()
senderPin = GP.getPin34()
receiverPin.out()
senderPin.input()
for i in range(0, 10):
Pin34.high()
time.sleep(0.5)
Pin34.low()
time.sleep(0.5)
finally:
GP.cleanup()
import time GP = GPIOProcessor() # GPIO Assignments #Din = 27 #A1 = 34 Green #A2 = 33 White #A3 = 24 Black #A4 = 26 Yellow #PIR = 29 #Ind = 30 Din = GP.getPin27() Din.input() A1 = GP.getPin34() A1.out() A2 = GP.getPin33() A2.out() A3 = GP.getPin24() A3.out() A4 = GP.getPin26() A4.out() PIR = GP.getPin29() PIR.out() PIR.low() Ind = GP.getPin30() Ind.out() Ind.low() # Remote Average Pulse
# Stepper motor switching sequence
seq = [[1,0,0,0], [1,1,0,0], [0,1,0,0], [0,1,1,0],
[0,0,1,0], [0,0,1,1], [0,0,0,1], [1,0,0,1]]
stepAngle = 5.625
delay = 0.0003
#delay = 1
GP = GPIOProcessor()
try:
# Use pins 231, 33, 30, and 34 to control motor
out0 = GP.getPin29() # Blue
out1 = GP.getPin33() # Pink
out2 = GP.getPin30() # Yellow
out3 = GP.getPin34() # Orange
outl = [out0, out1, out2, out3]
outl.reverse()
# Set the pin direction to out
for k in range(4):
outl[k].out()
# Rotation in degrees
degrees = 90
steps_per_deg =4076.0/360.0
steps = math.floor(steps_per_deg * degrees)
for k in range(steps):
# print("Step: {0:2d}".format(k))
from GPIOLibrary import GPIOProcessor
import time
GP = GPIOProcessor()
try:
Pin34 = GP.getPin34()
Pin34.out()
for i in range(0,10):
Pin34.high()
time.sleep(0.5)
Pin34.low()
time.sleep(0.5)
finally:
GP.cleanup()
import time GP = GPIOProcessor() # GPIO Assignments #Din = 27 #A1 = 34 Green #A2 = 33 White #A3 = 24 Black #A4 = 26 Yellow #PIR = 29 #Ind = 30 Din = GP.getPin27() Din.input() A1 = GP.getPin34() A1.out() A2 = GP.getPin33() A2.out() A3 = GP.getPin24() A3.out() A4 = GP.getPin26() A4.out() PIR = GP.getPin29() PIR.out() PIR.low() Ind = GP.getPin30() Ind.out() Ind.low() # Remote Average Pulse