async def create(cls, loop):
pi = apigpio.Pi(loop)
print('connecting..')
await pi.connect((PIGPIO['HOST'], PIGPIO['PORT']))
print('pigpio connected')
right_enc = await Encoder.create(pi, ENCODERS['RIGHT'])
left_enc = await Encoder.create(pi, ENCODERS['LEFT'])
return cls(left_enc, right_enc)
async def init(cls, loop):
pi = apigpio.Pi(loop)
print('connecting..')
await pi.connect((PIGPIO['HOST'], PIGPIO['PORT']))
print('connected')
right_motor = await Motor.create(pi, MOTORS['RIGHT'])
left_motor = await Motor.create(pi, MOTORS['LEFT'])
return cls(left_motor, right_motor)
async def initialize(self):
"""Initialise platform."""
# create pi object and connect
self.pi = apigpio.Pi(self.machine.clock.loop)
await self.pi.connect((self.config['ip'], self.config['port']))
self._switches = await self.pi.read_bank_1()
self._cmd_queue = asyncio.Queue()
self._cmd_task = self.machine.clock.loop.create_task(self._run())
self._cmd_task.add_done_callback(Util.raise_exceptions)
async def start_background_tasks(app):
app['pi'] = apigpio.Pi(app.loop)
address = (app['config']['pigpiod_host'], app['config']['pigpiod_port'])
await app['pi'].connect(address)
await app['pi'].set_mode(BUTTON_GPIO, apigpio.INPUT)
app['cb'] = await app['pi'].add_callback(BUTTON_GPIO,
edge=apigpio.RISING_EDGE,
func=functools.partial(
on_input, app))
app['epd'] = await EPD.create(auto=True)
app['clock'] = app.loop.create_task(display_clock(app))
def __init__(self, loop):
self.pi = apigpio.Pi(loop)
self.turn_cw_pin = 23
self.turn_ccw_pin = 18
self.sense_turn_cw_pin = 13
self.sense_turn_ccw_pin = 19
self.sense_ready_pin = 26
self.turn_cw_event = asyncio.Event(loop=loop)
self.turn_ccw_event = asyncio.Event(loop=loop)
self.ready_event = asyncio.Event(loop=loop)
self.not_ready_event = asyncio.Event(loop=loop)
self.num_cw_turn_events = 0
self.last_cw = 0
self.last_ccw = 0
def initialize(self):
"""Initialise platform."""
# load config
self.config = self.machine.config_validator.validate_config("raspberry_pi", self.machine.config['raspberry_pi'])
# create pi object and connect
self.pi = apigpio.Pi(self.machine.clock.loop)
yield from self.pi.connect((self.config['ip'], self.config['port']))
self._switches = yield from self.pi.read_bank_1()
self._cmd_queue = asyncio.Queue(loop=self.machine.clock.loop)
self._cmd_task = self.machine.clock.loop.create_task(self._run())
self._cmd_task.add_done_callback(self._done)
import asyncio
import apigpio
LED_GPIO = 21
@asyncio.coroutine
def start_blink(pi, address):
yield from pi.connect(address)
yield from pi.set_mode(LED_GPIO, apigpio.OUTPUT)
while True:
yield from pi.write(LED_GPIO, 0)
yield from asyncio.sleep(1)
yield from pi.write(LED_GPIO, 1)
yield from asyncio.sleep(1)
if __name__ == '__main__':
loop = asyncio.get_event_loop()
pi = apigpio.Pi(loop)
address = ('192.168.1.3', 8888)
loop.run_until_complete(start_blink(pi, address))