def measure(trigger, echo):
bbio.digitalWrite(trigger, bbio.HIGH)
time.sleep(DECPULSETRIGGER)
bbio.digitalWrite(trigger, bbio.LOW)
# Wait for echo to go high (or timeout)
intcountdown = INTTIMEOUT
while (bbio.digitalRead(echo) == 0 and intcountdown > 0):
intcountdown = intcountdown - 1
# If echo is high
if intcountdown > 0:
# Start timer and init timeout countdown
echostart = time.time()
intcountdown = INTTIMEOUT
# Wait for echo to go low (or timeout)
while (bbio.digitalRead(echo) == 1 and intcountdown > 0):
intcountdown = intcountdown - 1
# Stop timer
echoend = time.time()
# Echo duration
echoduration = echoend - echostart
intdistance = (echoduration * 1000000) / 58.0
return intdistance
def initial_start(start_stop_button):
"""
Before launching the main function, shows that the script is ready.
"""
def blink_leds():
"""
Makes the leds blink to show that everything is on.
"""
while True:
time.sleep(0.25)
io.toggle(cst.STATUS_LED)
io.toggle(cst.START_LED)
start_process = False
print 'Start blinking'
blinking = Process(target=blink_leds)
blinking.start()
while not start_process:
if start_stop_button.is_activated():
start_process = True
print 'Stop blinking'
blinking.terminate()
io.digitalWrite(cst.STATUS_LED, io.LOW)
io.digitalWrite(cst.START_LED, io.LOW)
time.sleep(1)
def measure(trigger, echo):
bbio.digitalWrite(trigger, bbio.HIGH)
time.sleep(DECPULSETRIGGER)
bbio.digitalWrite(trigger, bbio.LOW)
# Wait for echo to go high (or timeout)
intcountdown = INTTIMEOUT
while (bbio.digitalRead(echo) == 0 and intcountdown > 0):
intcountdown = intcountdown - 1
# If echo is high
if intcountdown > 0:
# Start timer and init timeout countdown
echostart = time.time()
intcountdown = INTTIMEOUT
# Wait for echo to go low (or timeout)
while (bbio.digitalRead(echo) == 1 and intcountdown > 0):
intcountdown = intcountdown - 1
# Stop timer
echoend = time.time()
# Echo duration
echoduration = echoend - echostart
intdistance = (echoduration*1000000) / 58.0
return intdistance
def motor_ex():
DMCC.setPIDConstants(0, 2, 1, -3000, -32768, 0)
while 1:
try:
bbio.digitalWrite(tp, bbio.HIGH)
DMCC.setTargetVel(0, 2, 150)
bbio.digitalWrite(tp, bbio.LOW)
except KeyboardInterrupt:
DMCC.setTargetVel(0, 2, 0)
exit()
def _writeByte(self, byte):
""" Writes out the lowest byte of the given integer value. """
if self.rw: bbio.digitalWrite(self.rw, bbio.LOW)
bbio.digitalWrite(self.enable, bbio.LOW)
if self.mode_bits == 8:
for bit in range(8):
bbio.digitalWrite(self.data_pins[bit], (byte>>bit) & 0x1)
bbio.digitalWrite(self.enable, bbio.HIGH)
bbio.digitalWrite(self.enable, bbio.LOW)
else:
self._write4bits(byte>>4)
self._write4bits(byte)
def _writeByte(self, byte):
""" Writes out the lowest byte of the given integer value. """
if self.rw: bbio.digitalWrite(self.rw, bbio.LOW)
bbio.digitalWrite(self.enable, bbio.LOW)
if self.mode_bits == 8:
for bit in range(8):
bbio.digitalWrite(self.data_pins[bit], (byte >> bit) & 0x1)
bbio.digitalWrite(self.enable, bbio.HIGH)
bbio.digitalWrite(self.enable, bbio.LOW)
else:
self._write4bits(byte >> 4)
self._write4bits(byte)
def _write4bits(self, bits):
""" Writes out the lowest 4 bits of the given value. """
if self.rw: bbio.digitalWrite(self.rw, bbio.LOW)
for bit in range(4):
bbio.digitalWrite(self.data_pins[bit], (bits >> bit) & 0x1)
bbio.digitalWrite(self.enable, bbio.HIGH)
bbio.digitalWrite(self.enable, bbio.LOW)
def move_thread(kill, pin, steps=-1, default_ramp_step = 2000, min_sleep = 100-15, stop_condition = None):
""" run this biatch """
STOP_CONDITION_INTERVAL = 50
stop_condition = stop_condition or (lambda: False); #Default: No stop conditions
bbio.pinMode(pin, bbio.OUTPUT)
step = 0
ramp_step = float(default_ramp_step if steps == -1 else min(default_ramp_step, steps))
ramp_sleep = 100.0
#ramp_sleep_decrement = ramp_sleep / (ramp_step*ramp_step)
half_ramp_step = ramp_step/2
dec = 0
while (step < ramp_step) and not kill.isSet() and \
(step%STOP_CONDITION_INTERVAL != 0 or not stop_condition()):
bbio.digitalWrite(pin,bbio.LOW)
bbio.digitalWrite(pin,bbio.HIGH)
step +=1
x = (step/ramp_step)
dec = x*x
if step > half_ramp_step:
dec = -(x-1)*(x-1) + 0.5
bbio.delayMicroseconds( min_sleep + ramp_sleep - 2*dec*ramp_sleep)
while (step < steps or steps == -1) and not kill.isSet() and \
(step%STOP_CONDITION_INTERVAL != 0 or not stop_condition()):
bbio.digitalWrite(pin,bbio.LOW)
bbio.digitalWrite(pin,bbio.HIGH)
step +=1
bbio.delayMicroseconds(min_sleep)
def begin(self, cols, rows):
""" Initializes the LCD driver and sets it to the given number of rows
and columns. """
assert cols == 8 or cols == 16 or cols == 20, \
"LiquidCrystal only supports 8, 16 and 20 row displays"
assert rows == 1 or rows == 2 or rows == 4, \
"LiquidCrystal only supports 1, 2 and 4 column displays"
self.cols = cols
self.rows = rows
for pin in (self.rs, self.enable) + self.data_pins:
bbio.pinMode(pin, bbio.OUTPUT)
if self.rw: bbio.pinMode(self.rw, bbio.OUTPUT)
bbio.digitalWrite(self.enable, bbio.LOW) # idle state
# This is the initialization procedure as defined in the HD44780 datasheet:
if self.mode_bits == 8:
self.writeCommand(self.COMMAND_FUNCTIONSET | self.FUNCTIONSET_8BIT)
else:
self._write4bits((self.COMMAND_FUNCTIONSET
| self.FUNCTIONSET_8BIT) >> 4)
bbio.delay(5)
if self.mode_bits == 8:
self.writeCommand(self.COMMAND_FUNCTIONSET | self.FUNCTIONSET_8BIT)
else:
self._write4bits((self.COMMAND_FUNCTIONSET
| self.FUNCTIONSET_8BIT) >> 4)
bbio.delay(5)
if self.mode_bits == 8:
self.writeCommand(self.COMMAND_FUNCTIONSET | self.FUNCTIONSET_8BIT)
else:
self._write4bits((self.COMMAND_FUNCTIONSET
| self.FUNCTIONSET_8BIT) >> 4)
function_set = 0
if self.mode_bits == 8: function_set = self.FUNCTIONSET_8BIT
else:
# Must put in 4 bit mode before we can set the rows and cols
self._write4bits(self.COMMAND_FUNCTIONSET >> 4)
if self.rows > 1: function_set |= self.FUNCTIONSET_2LINE
self.writeCommand(self.COMMAND_FUNCTIONSET | function_set)
self.setDisplay(self.OFF)
self.clear()
self._entry_mode = self.ENTRYMODE_SHIFTRIGHT
self.writeCommand(self.COMMAND_ENTRYMODE | self._entry_mode)
self.setDisplay(self.ON)
def _write4bits(self, bits):
""" Writes out the lowest 4 bits of the given value. """
if self.rw: bbio.digitalWrite(self.rw, bbio.LOW)
for bit in range(4):
bbio.digitalWrite(self.data_pins[bit], (bits>>bit) & 0x1)
bbio.digitalWrite(self.enable, bbio.HIGH)
bbio.digitalWrite(self.enable, bbio.LOW)
def begin(self, cols, rows):
""" Initializes the LCD driver and sets it to the given number of rows
and columns. """
assert cols == 8 or cols == 16 or cols == 20, \
"LiquidCrystal only supports 8, 16 and 20 row displays"
assert rows == 1 or rows == 2 or rows == 4, \
"LiquidCrystal only supports 1, 2 and 4 column displays"
self.cols = cols
self.rows = rows
for pin in (self.rs, self.enable) + self.data_pins:
bbio.pinMode(pin, bbio.OUTPUT)
if self.rw: bbio.pinMode(self.rw, bbio.OUTPUT)
bbio.digitalWrite(self.enable, bbio.LOW) # idle state
# This is the initialization procedure as defined in the HD44780 datasheet:
if self.mode_bits == 8:
self.writeCommand(self.COMMAND_FUNCTIONSET | self.FUNCTIONSET_8BIT)
else:
self._write4bits((self.COMMAND_FUNCTIONSET | self.FUNCTIONSET_8BIT) >> 4)
bbio.delay(5)
if self.mode_bits == 8:
self.writeCommand(self.COMMAND_FUNCTIONSET | self.FUNCTIONSET_8BIT)
else:
self._write4bits((self.COMMAND_FUNCTIONSET | self.FUNCTIONSET_8BIT) >> 4)
bbio.delay(5)
if self.mode_bits == 8:
self.writeCommand(self.COMMAND_FUNCTIONSET | self.FUNCTIONSET_8BIT)
else:
self._write4bits((self.COMMAND_FUNCTIONSET | self.FUNCTIONSET_8BIT) >> 4)
function_set = 0
if self.mode_bits == 8:
function_set = self.FUNCTIONSET_8BIT
else:
# Must put in 4 bit mode before we can set the rows and cols
self._write4bits(self.COMMAND_FUNCTIONSET >> 4)
if self.rows > 1: function_set |= self.FUNCTIONSET_2LINE
self.writeCommand(self.COMMAND_FUNCTIONSET | function_set)
self.setDisplay(self.OFF)
self.clear()
self._entry_mode = self.ENTRYMODE_SHIFTRIGHT
self.writeCommand(self.COMMAND_ENTRYMODE | self._entry_mode)
self.setDisplay(self.ON)
def motor_club():
dmccs = pyDMCC.autodetect()
motor = dmccs[0].motors[1]
constants = (-15000, -30000, 0)
motor.velocity_pid = constants
velocity = 0
while 1:
try:
bbio.digitalWrite(tp, bbio.HIGH)
if velocity == 0:
velocity = 450
else:
velocity -= 50
motor.velocity = velocity
time.sleep(.3)
bbio.digitalWrite(tp, bbio.LOW)
except KeyboardInterrupt:
motor.velocity = 0
exit()
def setup():
print "setup..."
for trigger, echo in ULTRAS:
bbio.pinMode(echo, bbio.INPUT)
bbio.pinMode(trigger, bbio.OUTPUT)
bbio.digitalWrite(trigger, bbio.LOW)
def writeData(self, data): """ Writes the given byte to the display in data mode. """ bbio.digitalWrite(self.rs, bbio.HIGH) self._writeByte(data)
def writeCommand(self, command): """ Writes the given byte to the display in command mode. """ bbio.digitalWrite(self.rs, bbio.LOW) self._writeByte(command)
def writeCommand(self, command):
""" Writes the given byte to the display in command mode. """
bbio.digitalWrite(self.rs, bbio.LOW)
self._writeByte(command)
def setup():
print "setup..."
for trigger, echo in ULTRAS:
bbio.pinMode(echo, bbio.INPUT)
bbio.pinMode(trigger, bbio.OUTPUT)
bbio.digitalWrite(trigger, bbio.LOW)
def writeData(self, data):
""" Writes the given byte to the display in data mode. """
bbio.digitalWrite(self.rs, bbio.HIGH)
self._writeByte(data)
