def stop():
print "EXECUTING STOP"
Arduino.analogWrite(SPEED_B_PIN, 0)
Arduino.analogWrite(SPEED_A_PIN, 0)
Arduino.analogWrite(LED_PIN_R, 200)
Arduino.analogWrite(LED_PIN_G, 0)
Arduino.analogWrite(LED_PIN_B, 0)
def close_pins():
"""
Close all motor pins to quit cleanly upon end or exception
"""
Arduino.analogWrite(speedA, Arduino.LOW)
Arduino.analogWrite(speedB, Arduino.LOW)
Arduino.digitalWrite(dirA, Arduino.LOW)
Arduino.digitalWrite(dirB, Arduino.LOW)
def go(vel):
"""
Start the motors and keep them running until told otherwise
"""
Arduino.digitalWrite(dirA, Arduino.HIGH)
Arduino.digitalWrite(dirB, Arduino.HIGH)
Arduino.analogWrite(speedA, vel)
Arduino.analogWrite(speedB, vel)
def turn_left(angle, vel):
"""
Turns to the left according to angle (delay)
"""
Arduino.digitalWrite(dirA, Arduino.HIGH)
Arduino.digitalWrite(dirB, Arduino.LOW)
Arduino.analogWrite(speedA, vel)
Arduino.analogWrite(speedB, Arduino.LOW)
Arduino.delay(angle)
def arduinoPinwriteoutInd(outpin, PWM_Levelout):
global targetpin
targetpin = outpin
global writeVAR
writeVAR = PWM_Levelout
if USE_FIRMATA:
outpin.write(writeVAR / 255.0)
elif USE_NANPY:
Arduino.analogWrite(targetpin, writeVAR)
def reverse(dist, vel):
"""
Move backwards for dist (time) at vel (motor speed)
"""
Arduino.digitalWrite(dirA, Arduino.LOW)
Arduino.digitalWrite(dirB, Arduino.LOW)
Arduino.analogWrite(speedA, vel)
Arduino.analogWrite(speedB, vel)
Arduino.delay(dist)
def forward(dist, vel):
"""
Move forward for dist (time) at vel (motor speed)
"""
Arduino.digitalWrite(dirA, Arduino.HIGH)
Arduino.digitalWrite(dirB, Arduino.HIGH)
Arduino.analogWrite(speedA, vel)
Arduino.analogWrite(speedB, vel)
Arduino.delay(dist)
def rot_ccw(angle, vel):
"""
Spins to the left according to angle (delay),
then stops the motors
"""
Arduino.digitalWrite(dirA, Arduino.HIGH)
Arduino.digitalWrite(dirB, Arduino.LOW)
Arduino.analogWrite(speedA, vel)
Arduino.analogWrite(speedB, vel)
Arduino.delay(angle)
def go_backward():
print "executing go_backward"
speed = 255
direction = 1
Arduino.digitalWrite(DIR_B_PIN, direction)
Arduino.analogWrite(SPEED_B_PIN, speed)
Arduino.digitalWrite(DIR_A_PIN, direction)
Arduino.analogWrite(SPEED_A_PIN, speed)
Arduino.analogWrite(LED_PIN_R, 155)
Arduino.analogWrite(LED_PIN_G, 155)
Arduino.analogWrite(LED_PIN_B, 155)
def go_right():
print "executing go_right"
speed = 255
direction_a = 1
direction_b = 0
Arduino.digitalWrite(DIR_B_PIN, direction_b)
Arduino.analogWrite(SPEED_B_PIN, speed)
Arduino.digitalWrite(DIR_A_PIN, direction_a)
Arduino.analogWrite(SPEED_A_PIN, speed)
Arduino.analogWrite(LED_PIN_R, 0)
Arduino.analogWrite(LED_PIN_G, 0)
Arduino.analogWrite(LED_PIN_B, 155)
def analogpin(pin_number):
if request.method == 'GET':
Arduino.pinMode(pin_number, Arduino.INPUT)
data = {
'value' : Arduino.analogRead(pin_number)
}
resp = Response(json.dumps(data), status=200, mimetype='application/json')
return resp
else:
Arduino.pinMode(pin_number, Arduino.OUTPUT)
Arduino.analogWrite(pin_number, request.json['value'])
resp = Response("", status=200, mimetype='application/json')
return resp
def pwmLcdBacklight(self, newState):
step = 25
if newState < self.unit['lcd'][0]['pwmState']:
step = -step
while self.unit['lcd'][0]['pwmState'] != newState:
self.unit['lcd'][0]['pwmState'] += step
Arduino.analogWrite(self.unit['lcd'][0]['backlightPin'],
self.unit['lcd'][0]['pwmState'])
if (self.unit['lcd'][0]['pwmState'] > 128):
self.unit['lcd'][0]['backlightState'] = True
else:
self.unit['lcd'][0]['backlightState'] = False
def colour_mixing():
"""
Call get_pots() and set
the colour pins accordingly
"""
r, g, b = get_pots()
Arduino.analogWrite(redPin, r)
Arduino.analogWrite(greenPin, g)
Arduino.analogWrite(bluePin, b)
def colour_mixing(): """ Call get_pots() and set the colour pins accordingly """ r, g, b = get_pots() Arduino.analogWrite(redPin, r) Arduino.analogWrite(greenPin, g) Arduino.analogWrite(bluePin, b)
def set_colour(r, g, b): """ simple colour fade for R, G, B. Colours can be set indivdually or mixed automatically by calling the 'get' functions below. """ Arduino.analogWrite(redPin, r) Arduino.analogWrite(greenPin, g) Arduino.analogWrite(bluePin, b)
def move():
movetype = request.json['type']
duration = request.json['duration']
if movetype == 'left':
Arduino.digitalWrite(boardconfig.motor1_cp1, 0)
Arduino.digitalWrite(boardconfig.motor1_cp2, 1)
Arduino.analogWrite(boardconfig.motor1_ep, boardconfig.motor_speed)
elif movetype == 'right':
Arduino.digitalWrite(boardconfig.motor1_cp1, 1)
Arduino.digitalWrite(boardconfig.motor1_cp2, 0)
Arduino.analogWrite(boardconfig.motor1_ep, boardconfig.motor_speed)
elif movetype == 'up':
Arduino.digitalWrite(boardconfig.motor2_cp1, 0)
Arduino.digitalWrite(boardconfig.motor2_cp2, 1)
Arduino.analogWrite(boardconfig.motor2_ep, boardconfig.motor_speed)
elif movetype == 'down':
Arduino.digitalWrite(boardconfig.motor2_cp1, 1)
Arduino.digitalWrite(boardconfig.motor2_cp2, 0)
Arduino.analogWrite(boardconfig.motor2_ep, boardconfig.motor_speed)
else:
return jsonify({ 'error' : 'use type up, down, left or right' }), 400
time.sleep(duration/1000)
Arduino.analogWrite(boardconfig.motor2_ep, 0)
Arduino.analogWrite(boardconfig.motor1_ep, 0)
return jsonify({ 'status' : 'success' }), 200
print"Starting"
print"5 blinks"
a.digitalWrite(BLED,a.LOW)
a.digitalWrite(GLED,a.LOW)
for i in range(0,5):
Arduino.digitalWrite(RLED, Arduino.HIGH)
sleep(0.2)
Arduino.digitalWrite(RLED, Arduino.LOW)
sleep(0.2)
print"Changing brightness of LED"
bright = 128 # Mid brightness
a.analogWrite(RLED, bright)
#a.digitalWrite(LED,a.HIGH) # Turn on LED
for i in range(0,50):
bright = bright + 8
if (bright > 200): # LED already full on at this point
bright = 0 # Minimum power to LED
a.analogWrite(RLED, bright) # Change PWM setting/brightness
sleep(0.05)
a.digitalWrite(RLED,a.LOW) # Turn off LED
print"Finished"
root = Tk()
push = Button(root, text='Set Background Color', command=setBgColor)
push.config(height=3, font=('times', 20, 'bold'))
plt.legend(loc='upper left')
# pyplot.show_bokeh(plt.gcf(), filename="mpltest.html")
# plotting.session().dumpjson(file="mpltest.json")
mpld3.show()
# plt.show()
print"Starting"
print"5 blinks"
for i in range(0,2):
Arduino.digitalWrite(LED, Arduino.HIGH)
sleep(0.5)
Arduino.digitalWrite(LED, Arduino.LOW)
sleep(0.5)
print"Changing brightness of LED"
bright = 128 # Mid brightness
Arduino.analogWrite(LED, bright)
Arduino.digitalWrite(LED,Arduino.HIGH) # Turn on LED
for i in range(0,200):
bright = bright + 8
if (bright > 200): # LED already full on at this point
bright = 0 # Minimum power to LED
Arduino.analogWrite(LED, bright) # Change PWM setting/brightness
sleep(0.05)
Arduino.digitalWrite(LED,Arduino.LOW) # Turn off LED
print"Finished"
print "now showing the temperature...."
#stream = py.Stream(plotly_user_config['plotly_streaming_tokens'][0])
#stream.open()
cnt = 0
def led_test(r, g, b):
r_val, g_val, b_val = int(r), int(g), int(b)
Arduino.analogWrite(LED_PIN_R, r_val)
Arduino.analogWrite(LED_PIN_G, g_val)
Arduino.analogWrite(LED_PIN_B, b_val)
return "r:%s, g:%s, b:%s" %(r_val, g_val, b_val)
def stop(self, **data):
print data
Arduino.analogWrite(self.ep, 0)
def rw(self, **data):
print data
Arduino.digitalWrite(self.cp1, 1)
Arduino.digitalWrite(self.cp2, 0)
Arduino.analogWrite(self.ep, data['speed'])
def flash_yellows(STOP):
while True:
Arduino.analogWrite(LED_PIN_R, 155)
Arduino.analogWrite(LED_PIN_G, 155)
Arduino.analogWrite(LED_PIN_B, 0)
sleep(0.5)
def stop():
"""
Simply stops your robot
"""
Arduino.analogWrite(speedA, Arduino.LOW)
Arduino.analogWrite(speedB, Arduino.LOW)
def move():
movetype = request.json['type']
duration = request.json['duration']
if movetype == 'left':
Arduino.digitalWrite(boardconfig.motor1_cp1, 0)
Arduino.digitalWrite(boardconfig.motor1_cp2, 1)
Arduino.analogWrite(boardconfig.motor1_ep, boardconfig.motor_speed)
elif movetype == 'right':
Arduino.digitalWrite(boardconfig.motor1_cp1, 1)
Arduino.digitalWrite(boardconfig.motor1_cp2, 0)
Arduino.analogWrite(boardconfig.motor1_ep, boardconfig.motor_speed)
elif movetype == 'up':
Arduino.digitalWrite(boardconfig.motor2_cp1, 0)
Arduino.digitalWrite(boardconfig.motor2_cp2, 1)
Arduino.analogWrite(boardconfig.motor2_ep, boardconfig.motor_speed)
elif movetype == 'down':
Arduino.digitalWrite(boardconfig.motor2_cp1, 1)
Arduino.digitalWrite(boardconfig.motor2_cp2, 0)
Arduino.analogWrite(boardconfig.motor2_ep, boardconfig.motor_speed)
else:
return jsonify({'error': 'use type up, down, left or right'}), 400
time.sleep(duration / 1000)
Arduino.analogWrite(boardconfig.motor2_ep, 0)
Arduino.analogWrite(boardconfig.motor1_ep, 0)
return jsonify({'status': 'success'}), 200
