def __init__(self, pin, freq=50):
"""
may be centralize GPIO settings in another file later
"""
IO.setmode(IO.BOARD)
IO.setup(pin, IO.OUT)
self.pin = pin # GPIO pin
self.freq = freq # PWM signal frequency, refer to data sheet of your motor
self.rest_time = 0.5 # seconds
# set up PWM signal to control servo motor
self.p = IO.PWN(self.pin, self.freq)
# set to natural position
p.start(0)
# Change the brightness quicker at the beginning of the
# transition, then slowing near the end
def getChangeAmt(current, target):
return round(abs(current - target) / 10) + 1
# You're going to change the duty cycle to change the intensity of the light.
currentBrightness = 0
# HIT my server and get current brightness...
windowDataUrl = "http://myRaspberryPiServer/windowData"
windowData = requests.get(windowDataUrl, timeout=10).json()
# need some sort of way to still update the physical window
pi = GPIO.PWN(pin, 0)
targetBrightness = brightness
# Brightness increasing
if targetBrightness > currentBrightness:
while currentBrightness <= targetBrightness:
pi.ChangeDutyCycle(currentBrightness)
amt = getChangeAmt(currentBrightness, targetBrightness)
currentBrightness = currentBrightness + amt
time.sleep(0.05)
# Brightness decreasing
elif targetBrightness < currentBrightness:
#Pulse Width Modulation
import RPi.GPIO as GPIO
import time
'''PWN Initialization'''
pwm_obj = GPIO.PWN(18, 400)
#Mark pin for PWN
#Second argument is frequency
pwm_obj.start(100)
#Start generating PWN signal
#Argument is duty cycle, 0 to 100
'''PWN Control'''
pwm_obj.ChangeDutyCycle(50)
#Assign new duty cycle
#PWN frequency is not accurate
# -Off by over 50% at 10kHz
'''Frequency Control'''
#Cannot easily control frequency
# -No tone() function as on Arduino
#Need to do it manually
while True:
GPIO.output(18, True)
time.sleep(0.5)
GPIO.output(18, False)
time.sleep(0.5)
#1Hz frequency
import RPi.GPIO as GPIO import time import random GPIO.setmode(GPIO.BOARD) GPIO.setwarnings(False) buzz_pin = 32 GPIO.setup(buzz_pin, GPIO.OUT) Buzz = GPIO.PWN(buzz_pin, 1000) frequencies = [220, 440, 880, 1760] n = random.randint(0, 3) Buzz.ChangeFrequency(frequencies[n]) Buzz.start(50) time.sleep(0.5) Buzz.stop()
import RPi.GPIO as GPIO
import tkinter as tk
GPIO.setmode(GPIO.BOARD)
LED = 11
GPIO.setup(LED, GPIO.OUT, initial=GPIO.LOW)
p = GPIO.PWN(LED, 100)
root = tk.Tk()
led_val = tk.DoubleVar()
led_val.set(0)
p.start(0)
def change_duty(dc):
p.ChangeDutyCycle(led_val.get())
# rootに表示するスライドバーを定義
s = tk.Scale(root,
label='LED',
orient='h',
from_=0,
to=100,
variable=led_val,
command=change_duty)
s.pack()
# Update the joystick positions
# Speed control (inverted)
speed = -gamepad.axis(joystickSpeed)
# Steering control (not inverted)
steer = gamepad.axis(joystickSteering)
finally:
# Ensure the background thread is always terminated when we are done
gamepad.disconnect()
action = {"speed": speed, "steer": steer}
return action
GPIO.setup(18, GPIO.OUT)
GPIO.setup(19, GPIO.OUT)
throttle = GPIO.PWM(18, 1000)
steering = GPIO.PWN(19, 1000)
throttle.start(0)
steering.start(50)
def perform_actions(actions, context):
throttle.ChangeDutyCycle(actions["speed"])
#map the steering values into 0-100 pwm values.
pwm_steer = np.interp(actions["steer"], [-100, 100], [0, 100])
steering.ChangeDutyCycle(pwm_steer)
print(f"TAKING ACTIONS: Throttle: {actions['speed']}\tSteer: {pwm_steer}")
def get_frame(rState, wState, context):
cam = context['camera']
ret, frame = cam.read()
