async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
fd = c.ctlr_fd
buf = await eeprom_query(fd, 0xA0, 4)
print(buf)
await eeprom_store(fd, 0xA0, b'0000')
buf = await eeprom_query(fd, 0xA0, 4)
print(buf)
assert buf == b'0000'
await eeprom_store(fd, 0xA0, b'1234')
buf = await eeprom_query(fd, 0xA1, 3)
print(buf)
assert buf == b'234'
buf = await eeprom_query(fd, 0xA2, 2)
print(buf)
assert buf == b'34'
buf = await eeprom_query(fd, 0xA3, 1)
print(buf)
assert buf == b'4'
buf = await eeprom_query(fd, 0xA0, 4)
print(buf)
assert buf == b'1234'
buf = await eeprom_query(fd, 0x0F, 5)
print(buf)
await eeprom_store(fd, 0x0F, b'12345')
buf = await eeprom_query(fd, 0x10, 4)
print(buf)
assert buf == b'2345'
buf = await eeprom_query(fd, 0x11, 3)
print(buf)
assert buf == b'345'
buf = await eeprom_query(fd, 0x12, 2)
print(buf)
assert buf == b'45'
buf = await eeprom_query(fd, 0x13, 1)
print(buf)
assert buf == b'5'
buf = await eeprom_query(fd, 0x0F, 5)
print(buf)
assert buf == b'12345'
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
iface = await c.acquire('VersionInfo')
name = await iface.name()
version = await iface.version()
await c.release(iface)
await c.close()
print(name, version)
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
accel = await c.acquire('Accelerometer')
for i in range(1000):
fmt(await accel.read())
await asyncio.sleep(0.05)
await c.release(accel)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
ahrs = await c.acquire('AHRS')
for i in range(10000):
fmt(await ahrs.read())
await asyncio.sleep(0.05)
await c.release(ahrs)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
p = await c.acquire('Photoresistor')
for i in range(1000):
millivolts, resistance = await p.read()
print(f'{millivolts:.2f} {resistance:.0f}')
await asyncio.sleep(0.1)
await c.release(p)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
await asyncio.sleep(2)
leds = await c.acquire('LEDs')
while True:
mode_map = await leds.mode_map()
print(mode_map)
for mode, _ in mode_map.items():
print('Setting to mode', mode)
await leds.set_mode(mode)
await asyncio.sleep(7)
print('Clearing the mode...')
await leds.set_mode(None)
led_map = await leds.led_map()
print(led_map)
print('Turning all blue')
await leds.set_many_leds([(index, (0, 0, 255)) for index in led_map])
await asyncio.sleep(1)
print('Clearning LEDs')
await leds.set_many_leds([(index, (0, 0, 0)) for index in led_map])
await asyncio.sleep(1)
print('Setting just a few manually...')
await leds.set_led(1, (255, 145, 0))
await asyncio.sleep(1)
await leds.set_led(3, (0, 255, 0))
await asyncio.sleep(1)
await leds.set_led(5, (0, 0, 255))
await asyncio.sleep(1)
print('Playing with brightness!')
for b in range(5, 255, 5):
await leds.set_brightness(b)
await asyncio.sleep(0.1)
await c.release(leds)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
iface = await c.acquire('Credentials')
labs_auth_code = await iface.get_labs_auth_code()
print('Labs Auth Code:', labs_auth_code)
await iface.set_labs_auth_code('something')
labs_auth_code = await iface.get_labs_auth_code()
print('Labs Auth Code:', labs_auth_code)
await c.release(iface)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
camera = await c.acquire('Camera')
prev_time = time.time()
for i in range(10):
buf, shape = await camera.capture()
frame = np.frombuffer(buf, dtype=np.uint8).reshape(shape)
time_now = time.time()
print(time_now - prev_time, frame.shape)
prev_time = time_now
await c.release(camera)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
power = await c.acquire('Power')
#for i in range(1000):
while True:
st = await power.state()
mv = await power.millivolts()
mi = await power.estimate_remaining()
sd = await power.should_shut_down()
cu = await power.charging_info()
print(st, mv, mi, sd, cu)
await asyncio.sleep(0.1)
await c.release(power)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
gyro = await c.acquire('Gyroscope')
gyro_accum = await c.acquire('Gyroscope_accum')
for i in range(500):
fmt(await gyro.read())
fmt(await gyro_accum.read())
print()
if i % 50 == 0:
await gyro_accum.reset()
await asyncio.sleep(0.1)
await c.release(gyro)
await c.release(gyro_accum)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
b = await c.acquire('PushButtons')
print('There are', await b.num_buttons(), 'buttons.')
bi, action = await b.wait_for_action('released')
print("Button", bi, "was", action)
while True:
event = await b.wait_for_event()
pprint(event)
await c.release(b)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
print('Acquiring PID_steering and CarMotors...')
pid = await c.acquire('PID_steering')
motors = await c.acquire('CarMotors')
p, i, d = 1.0, 0.1, 0.1
await pid.set_pid(p, i, d)
await pid.set_point(0.0)
print('Enabling PID loop...')
await pid.enable()
await asyncio.sleep(5)
print('Turning on CarMotors and setting throttle...')
await motors.on()
await motors.set_throttle(25)
await asyncio.sleep(10)
print('Disabling PID loop...')
await pid.disable()
await asyncio.sleep(5)
print('Turning off CarMotors...')
await motors.off()
await asyncio.sleep(5)
print('Releasing PID_steering and CarMotors...')
await c.release(pid)
await c.release(motors)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
iface = await c.acquire('VersionInfo')
n = 0
start = time.time()
while True:
_ = await iface.version()
n += 1
now = time.time()
if (now - start) >= 1.0:
print(n)
start = now
n = 0
await c.release(iface)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
motors = await c.acquire('CarMotors')
await motors.on()
#safe = await motors.get_safe_throttle()
#print(safe)
#await motors.set_safe_throttle(safe[0] + 1, safe[1] + 1)
safe = await motors.get_safe_throttle()
print(safe)
await asyncio.sleep(1)
t = safe[1]
for i in range(2):
for v in range(-45, 45):
#print(v)
await motors.set_steering(v)
await motors.set_throttle(t)
await asyncio.sleep(0.02)
for v in range(45, -45, -1):
#print(v)
await motors.set_steering(v)
await motors.set_throttle(t)
await asyncio.sleep(0.02)
await motors.off()
await asyncio.sleep(3)
await c.release(motors)
await c.close()