def initialise():
# Setup
pz.init()
pz.setOutputConfig(0, 2) # set output 0 to Servo
pz.setOutputConfig(1, 1) # set output 1 to PWM
pz.setOutputConfig(2, 1) # set output 2 to PWM
pz.setOutputConfig(3, 1) # set output 3 to PWM
pz.setInputConfig(0, 0) # set input 1 to digital
# Setup Action queues
global qLED
qLED = Queue(maxsize=0)
global qServo
qServo = Queue(maxsize=0)
workerLED = Thread(target=processq, args=(qLED, ))
workerLED.setDaemon(True)
workerLED.start()
workerServo = Thread(target=processq, args=(qServo, ))
workerServo.setDaemon(True)
workerServo.start()
# Initialise dropbox
global dbx
dbx = dropbox.Dropbox(get_dropboxkey())
def __init__(self):
pz.init()
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
# 24, 25 is BCM 18, 22
self.sensor_right = DistanceSensor(echo=18, trigger=22)
# 22, 23 is BCM 15, 16
self.sensor_left = DistanceSensor(echo=15, trigger=16)
def init():
print('======= App init =====')
pz.init()
GPIO.setwarnings(False)
LineSensor.setup()
ServGrap.setup()
UltrasonicSensor.setup()
print('=======App initialized=====')
def __init__(self):
pz.init()
self._pan = 0
self._tilt = 1
pz.setOutputConfig(self._pan, 2)
pz.setOutputConfig(self._tilt, 2)
self.tilt(90)
self.pan(90)
def __init__(self):
pz.init()
# 1= 2 place, 1 = PWM output channel
pz.setOutputConfig(1, 1)
# 2= 3 place, 1 = PWM output channel
pz.setOutputConfig(2, 1)
# Set initial state as off
pz.setOutput(1, 0)
pz.setOutput(2, 0)
# Create a lock to syncronize access to hardware from multiple threads.
self._lock = threading.Lock()
def init():
print("Simple obstacle avoider")
print("Press Ctrl-C to end")
print()
pz.init()
pz.setOutputConfig(5, 3) # set output 5 to WS2812
rev = pz.getRevision()
print(rev[0], rev[1])
hcsr04.init()
def initPZ():
pz.init()
# Set output mode to Servo
pz.setOutputConfig(pan, 2)
pz.setOutputConfig(tilt, 2)
# set output 5 to WS2812
pz.setOutputConfig(pixel, 3)
hcsr04.init()
# Centre all servos
panVal = 90
tiltVal = 90
pz.setOutput(pan, panVal)
pz.setOutput(tilt, tiltVal)
self.epoll = select.epoll()
self.fdmap = {}
def register(self, obj, flags):
fd = obj.fileno()
self.epoll.register(fd, flags)
self.fdmap[fd] = obj
def unregister(self, obj):
fd = obj.fileno()
del self.fdmap[fd]
self.epoll.unregister(fd)
def poll(self):
evt = self.epoll.poll()
for fd, flags in evt:
yield self.fdmap[fd], flags
if __name__ == "__main__":
pollster = EPoll()
pollster.register(Server(("", 54321), pollster), select.EPOLLIN)
pz.init()
pz.setOutputConfig(5, 3) # set output 5 to WS2812
hcsr04.init()
while True:
evt = pollster.poll()
for obj, flags in evt:
readwrite(obj, flags)
def __init__(self):
pz.init()
#! /usr/bin/env python
# GNU GPL V3
# Test code for 4tronix Picon Zero
import piconzero as pz, time
pz.init()
pz.setInputConfig(0, 2) # set input 0 to DS18B20
pz.setInputConfig(2, 2) # set input 2 to DS18B20
try:
while True:
ana0 = pz.readInput(0)
if (ana0>32767):
ana0 -= 65536
ana2 = pz.readInput(2)
if (ana2>32767):
ana2 -= 65536
print ana0*0.0625, ana2*0.0625
time.sleep(1)
except KeyboardInterrupt:
print
finally:
pz.cleanup()
import piconzero as pz import time from gpiozero import Button import sys from inputs import get_key import os import hcsr04 import I2C_LCD_driver #I2C LCD driver from http://www.circuitbasics.com/raspberry-pi-i2c-lcd-set-up-and-programming/ #____________________________________________________________________________________ #hardware setup mylcd = I2C_LCD_driver.lcd() #assign LCD to variable for ease of use pz.init() #initiate hardware pz.setInputConfig(0, 0) #right IR sensor is input 0 and digital pz.setInputConfig(1, 0) #left IR sensor is input 1 and digital pz.setInputConfig(2, 0) #right line sensor is input 2 and digital pz.setInputConfig(3, 0) #left line is input 3 and digital RIGHTIR = pz.readInput(0) #assign right IR to a variable LEFTIR = pz.readInput(1) #assign left IR to a variable RIGHTLINE = pz.readInput(2) #assign right line sensor to a variable LEFTLINE = pz.readInput(3) #assign left line sensor to a variable hcsr04.init() #initiate hardware RANGE = hcsr04.getDistance() #assign HC-SR04 range to variable button = Button(22)
finally:
print "Arret du mode labyrinthe"
ControleRobot(action="arrete")
camera(action=1)
time.sleep(5)
os.system('clear')
tuto()
logger.info('L utilisateur a quitte le mode labyrinthe')
#MAIN
logger.info('L utilisateur est passe en mode manuel')
camera(action=1)
tuto()
speed=65
pz.init() #Initialise l utilisation des fonctions PZ contenue dans la librairie PICONZERO
# Boucle principale
try:
while True:
keyp = readkey()
#Permet de faire avancer le robot tout droit a l aide la manette et les touches.
if keyp == 'z' or ord(keyp) == 16:
pz.reverse(speed)
logger.info('Le robot va tout droit.')
print 'Avance a une vitesse de ' + str(mru()) + 'cm/s.', speed
#Permet de faire reculer le robot a l aide de la manette et les touches.
elif keyp == 's' or ord(keyp) == 17:
pz.forward(speed)
def __init__(self):
pz.init()
# Create a lock to syncronize access to hardware from multiple threads.
self._lock = threading.Lock()
# Use G and H to open and close the Gripper arm
# Press Ctrl-C to stop
#
import piconzero as pz, time # get the servo module
import hcsr04 # get the ultrasonic module
from init import limMin, limMax, positions
from operationModes import *
#======================================================
# Initialization
print("Initialization started")
pz.init() # load servo operation library
# Set output mode to Servo
pz.setOutputConfig(rot, 2)
pz.setOutputConfig(tilt, 2)
pz.setOutputConfig(lift, 2)
pz.setOutputConfig(grip, 2)
# Sets the robot to the initial position.
# Possible issue: rapid movement from the previous operation stop point.
for i in channels:
smoothMotion(i, positions[i])
# End of initialization of operation
#======================================================
def ensure_piconzero_is_initialized(self):
if not self.piconzero_initialized:
pz.init()
self.piconzero_initialized = True
