def __init__(s, pd):
"""
initializer
"""
# Get object instance of necessary data
s.current = pd.current
s.position = pd.position
# Setup pin positions
hd.setup(s._DFR, hd.OUT)
hd.setup(s._DFL, hd.OUT)
hd.setup(s._DBR, hd.OUT)
hd.setup(s._DBL, hd.OUT)
hd.setup(s._SAFETY, hd.OUT)
s._pwmfr = hd.pwm(s._PFR, 333) # 333 Hz beacuse I did the math
s._pwmfl = hd.pwm(s._PFL, 333)
s._pwmbr = hd.pwm(s._PBR, 333)
s._pwmbl = hd.pwm(s._PBL, 333)
# Calculate quiescent sensor values
s.nominal_f = s.current[_FF]
s.nominal_b = s.current[_BB]
s.error["last_action"] = "init"
def __init__(s, pd):
"""
initializer
"""
# Get object instance of necessary data
s.current = pd.current
s.position = pd.position
# Setup pin positions
hd.setup(s.DFR, hd.OUT)
hd.setup(s.DFL, hd.OUT)
hd.setup(s.DBR, hd.OUT)
hd.setup(s.DBL, hd.OUT)
s.pwmfr = hd.pwm(s.PFR, 490)
s.pwmfl = hd.pwm(s.PFL, 490)
s.pwmbr = hd.pwm(s.PBR, 490)
s.pwmbl = hd.pwm(s.PBL, 490)
# Calculate quiescent sensor values
s.nominal_f = s.current[_FF]
s.nominal_b = s.current[_BB]
s.error["last_action"] = "init"
def __init__(s, pd):
s.current = pd.current #this has to be a reference, not a value
s.brakeposition = pd.sensors.brakes.position #need to know how this works
hd.setup(s.DFR, hd.OUT)
hd.setup(s.DFL, hd.OUT)
hd.setup(s.DBR, hd.OUT)
hd.setup(s.DBL, hd.OUT)
s.nominal_f = s.current["front"]
s.nominal_b = s.current["back"]
s.pwm_fr = hd.pwm(s.PFR, 490)
s.pwm_fl = hd.pwm(s.PFL, 490)
s.pwm_br = hd.pwm(s.PBR, 490)
s.pwm_bl = hd.pwm(s.PBL, 490)
s.status = "UNKNOWN"
s.disengage()
def __init__(self, pin):
self.current_angle = 90
self.pin = pin
GPIO.setmode(GPIO.BOARD)
GPIO.setup(pin, GPIO.OUT)
self.pwm = GPIO.pwm(pin, 50)
self.pwm.start(0)
self.lock = Lock()
self.kill_event = Event()
self.thread = ThreadPublisher(self, self.kill_event)
self.thread.daemon = True
self.start()
def update():
# Make the request
try:
raw_json = urllib2.urlopen(url).read()
except Exception:
print('Exception: ' + traceback.format_exc())
sys.exit()
# Parse the request and extract the icon id
parsed_json = json.loads(raw_json)
try:
icon_code = parsed_json['weather'][0]['icon']
except Exception:
print('Exception: ' + traceback.format_exc())
sys.exit()
# Choose the angle of the arrow based on the first 2 chars of the icon ID
# Last char is irrelevant as it's 'd' or 'n' for day or night
# (See icons at http://openweathermap.org/weather-conditions)
angle = {
'01': 10, # Sun
'02': 30, # Sun behind cloud
'03': 50, # Cloud
'04': 70, # Cloud with grey cloud
'09': 90, # Cloud with grey cloud and rain
'10': 110, # Cloud with sun and rain
'11': 130, # Cloud with grey cloud and thunder
'13': 150, # Cloud with grey cloud and snow
'50': 170 # Wavy lines
}.get(icon_code[0:2])
# Convert the angle to a number 0-100 then send to the servo
pwm = GPIO.pwm(18, 0.5)
pwm.start(5)
duty = float(angle) / 10.0 + 2.5 # Why does this work?
# duty = (angle/180.0) * 100.0 Isn't this more correct??
pwm.ChangeDutyCycle(duty)
# Call update() again in an hour
s.enter(3600, 1, update, ())
s.run()
import RPi.GPIO as gpio import time gpio.setmode(gpio.BOARD) pwm_obj = gpio.pwm(8, 400) #400 is the frequency pwm_obj.start(100) # argument is the duty cycle from 0 to 100
#check for compatibility of servo with the board
#servos are controled using pwm pins
#50 Hz control signal
#posn of servo depends on pulse width of on part of the cycle
#trial and error aproach to find duty(first try 1 for full left , 1.5 for middle or 2 for full right; if doesent work continue)
#for experimenting duty values:
import RPi.GPIO as gpio
gpio.setmode(gpio.BOARD)
pin = 11
gpio.setup(pin, gpio.OUT)
pwm = gpio.pwm(pin, 50) #servo likes 50Hz
duty = int(input("Enter duty value : "))
pwm.start(duty) #trial and error to find the exact duty for perticular angle
#when done
pwm.stop()
gpio.cleanup()
#to make the servo work on basis of angle and not duty,
#make a function for line joining points for full left (0,duty_for_left) and full right (180,Duty_for_right)
#input x= angle and output y= duty
#then code to move servo to an input angle:
def move(angle):
#assuming
return ((angle / float(something)) + 2)
import RPi.GPIO as gpio
gpio.setmode(gpio.BOARD)
import RPi.GPIO as GPIO
import math
#pin setup
GPIO.setmode (GPIO.BCM):
led = 27
GPIO.setup(led,GPIO.OUT)
gate =16
GPIO.setup(gate,GPIO.OUT)
tmotor = 12
GPIO.setup (tmotor, GPIO.OUT)
tmotorpwm= GPIO.PWM(tmotor,50)
tmotorpwm.start(0)
lmotor = 18
GPIO.setup(lmotor,GPIO.OUT)
lmotorpwm=GPIO.pwm(lmotor,50)
lmotorpwm.start(5)
Trig_sr04=23
GPIO.setup(Trig_sr04, GPIO.OUT)
GPIO.output(Trig_sr04, False)
Echo_sr04=24
GPIO.setup(Echo_sr04, GPIO.IN)
#for rotation of turtlebot
pub=rospy.Publisher('/cmd_vel', Twist, queue_size=10)
rate= rospy.Rate(1)
rot = Twist()
vel_msg=()
# setting the raspberry pi resolution and frame rate
camera = PiCamera()
