def setup_servo():
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(18,2) # hardware pwm only works on GPIO port 18
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(375)
wiringpi.pwmSetRange(1024)
wiringpi.pwmWrite(18,0)
def __init__(self, name, pwm_port, backward_port, forward_port):
self.name = name
self.pwm_port = pwm_port
self.backward_port = backward_port
self.forward_port = forward_port
self.backward_value = 0
self.forward_value = 0
# initialize Raspberry Pi ports for output
wiringpi2.pinMode(self.pwm_port, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(self.backward_port, wiringpi2.GPIO.OUTPUT)
wiringpi2.pinMode(self.forward_port, wiringpi2.GPIO.OUTPUT)
# experimentally found values (use test_pwm.py):
# frequency = 19200 (not hearable)
# divisor = 2
# range = 500
# dead zone <= 53%
self.mapping_u = [0, 1, 100]
self.mapping_pwm = [0, 20, 100]
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS);
# 480 Hz
self.divisor = 40
self.pwm_range = 1000
wiringpi2.pwmSetRange(self.pwm_range)
wiringpi2.pwmSetClock(self.divisor)
# pwmFrequency in Hz = 19.2 MHz / pwmClock / pwmRange
self.logger = logging.getLogger(__name__)
def set_pwm(self):
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(self.gpio_pin, 2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(self.clock)
wiringpi.pwmSetRange(self.range)
wiringpi.pwmWrite(self.gpio_pin, 0)
def main(): print "Starting PWM" wiringpi.wiringPiSetupGpio() wiringpi.pinMode(18,2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(400) wiringpi.pwmSetRange(1024) wiringpi.pwmWrite(18,0) wiringpi.pinMode(13,2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(400) wiringpi.pwmSetRange(1024) wiringpi.pwmWrite(13,0) dtMin, dtMax = 60, 120 dt = 72 while True: try: print dt wiringpi.pwmWrite(18,dt) wiringpi.pwmWrite(13,dt) dt += 10 if dt > dtMax: dt = dtMin time.sleep(1) except: wiringpi.pwmWrite(18,0) wiringpi.pwmWrite(13,0) print "Exiting." break
def setup_servo():
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(18, 2) # hardware pwm only works on GPIO port 18
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(375)
wiringpi.pwmSetRange(1024)
wiringpi.pwmWrite(18, 0)
def __init__(self):
Pi_rev = wiringpi2.piBoardRev() #@TODO: use this?
self.GPIOS = {
'internal_buzzer': 11,
'latch': 7,
'unlock_LED': 15,
'deny_LED': 13,
'buzzer': 12,
'doorStatus1': 19,
'doorStatus2': 21,
}
#set up I/O pins
wiringpi2.wiringPiSetupPhys()
wiringpi2.pinMode(self.GPIOS['unlock_LED'], 1)
wiringpi2.pinMode(self.GPIOS['deny_LED'], 1)
wiringpi2.pinMode(self.GPIOS['latch'], 1)
wiringpi2.pinMode(self.GPIOS['internal_buzzer'], 1)
wiringpi2.pinMode(self.GPIOS['doorStatus1'], 0)
wiringpi2.pinMode(self.GPIOS['doorStatus2'], 0)
GPIO.setup(9, GPIO.IN)
GPIO.setup(10, GPIO.IN)
#GPIO.add_event_detect(9, GPIO.FALLING, callback=self.arm_security, bouncetime=300)
#Set up Hardware PWM - Only works on GPIO 18 (Phys 12)
wiringpi2.pwmSetMode(0) # set PWM to markspace mode
wiringpi2.pinMode(self.GPIOS['buzzer'], 2) # set pin to PWM mode
wiringpi2.pwmSetClock(750) # set HW PWM clock division (frequency)
wiringpi2.pwmWrite(self.GPIOS['buzzer'], 0)
proc = subprocess.Popen(['nfc-list'], stderr=subprocess.PIPE)
result = proc.stderr.read()
self.PN532 = False if 'Timeout' in result else True
if not self.PN532:
self.nfc = NFC.MFRC522()
def __init__(self,
PIN_IN1_L=5,
PIN_IN2_L=6,
PIN_IN1_R=7,
PIN_IN2_R=8,
PIN_VREF_L=12,
PIN_VREF_R=13):
self.PIN_IN1_L = PIN_IN1_L
self.PIN_IN1_R = PIN_IN1_R
self.PIN_IN2_L = PIN_IN2_L
self.PIN_IN2_R = PIN_IN2_R
self.PIN_VREF_L = PIN_VREF_L
self.PIN_VREF_R = PIN_VREF_R
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.PIN_IN1_L, GPIO.OUT)
GPIO.setup(self.PIN_IN2_L, GPIO.OUT)
GPIO.setup(self.PIN_IN1_R, GPIO.OUT)
GPIO.setup(self.PIN_IN2_R, GPIO.OUT)
wp.wiringPiSetupGpio()
wp.pinMode(self.PIN_VREF_L, wp.GPIO.PWM_OUTPUT)
wp.pinMode(self.PIN_VREF_R, wp.GPIO.PWM_OUTPUT)
wp.pwmSetMode(wp.PWM_MODE_MS)
wp.pwmSetRange(Drive.MaxdutyRange)
wp.pwmSetClock(400) #適当
def __init__(self):
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(SERVO_PIN,2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(375)
angle = 90
dutyCycle = int(angle/180.0*(0.14*1024)) + 6
wiringpi.pwmWrite(SERVO_PIN,dutyCycle)
def __init__(self, freq = 100.0):
self.freq = freq
output_pins.append(12)
wp.pinMode(12, PWM)
wp.pwmSetRange(4000) #range can go up to 4096, 4000 is good because it's large and a multiple of 100
clock = 19.2e6 / (4000.0 * freq) #set the divisor so the frequency comes out right
wp.pwmSetClock(int(clock)) #this function needs an int
wp.pwmSetMode(0) # necessary or else it's in a weird mode where nothing works
wp.pwmWrite(12, 0) # stop for safety
def __init__(self):
wiringpi2.wiringPiSetupGpio()
self.SPEAKER = 18
self.MODE_PWM = 2
wiringpi2.pinMode(self.SPEAKER, self.MODE_PWM)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmWrite(self.SPEAKER, 0)
def __init__(self):
wiringpi2.wiringPiSetupGpio()
self.SPEAKER = 18
self.MODE_PWM = 2
wiringpi2.pinMode(self.SPEAKER, self.MODE_PWM)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmWrite(self.SPEAKER, 0)
def __init__(self, base0 = 27, base90 = 73):
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(18,2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(400)
wiringpi.pwmSetRange(1024)
wiringpi.pwmWrite(18, 0)
self.base0 = base0
self.base90 = base90
self.setAngle(90)
def __init__(self,in1,in2,in3):
self.in1 = in1
self.in2 = in2
self.in3 = in3
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.in1,GPIO.OUT)
GPIO.setup(self.in2,GPIO.OUT)
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(self.in3, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetClock(375)
wiringpi.pwmWrite(self.in3,0)
def softPwm(): print "SoftPwm Mode" wiringpi2.wiringPiSetup() wiringpi2.pinMode(PIN_TO_PWM,SET_PWM) wiringpi2.pwmSetMode(PWM_MODE_MS) #wiringpi2.softPwmCreate(PIN_TO_PWM,0,100) # Setup PWM using Pin, Initial Value and Range parameters #wiringpi2.softServoSettup() #softServoWrite() wiringpi2.pwmWrite(PIN_TO_PWM, 900) wiringpi2.delay(150) print "PWM is in NEUTRAL"
def init(): GPIO.setmode(GPIO.BCM) wiringpi.wiringPiSetupGpio() wiringpi.pinMode(LEFT_MOTOR_PWM, 2) wiringpi.pinMode(RIGHT_MOTOR_PWM, 2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(CLK_DIVISOR) wiringpi.pwmSetRange(MAX_SPEED) wiringpi.pwmWrite(LEFT_MOTOR_PWM, 0) wiringpi.pwmWrite(RIGHT_MOTOR_PWM, 0) GPIO.setup(LEFT_MOTOR_A, GPIO.OUT) GPIO.setup(LEFT_MOTOR_B, GPIO.OUT) GPIO.setup(RIGHT_MOTOR_A, GPIO.OUT) GPIO.setup(RIGHT_MOTOR_B, GPIO.OUT)
def __init__(self, pin):
self.dtMin, self.dtMax, self.dtMed = 35, 120, 65
self.dt = self.dtMed
self.pin = pin
self.direction = ''
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(self.pin, 2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(400)
wiringpi.pwmSetRange(1024)
try:
wiringpi.pwmWrite(self.pin, 40)
except Exception as e:
print str(e)
def setupIO():
# Initialisation des entrées sorties sur le GrovePi #
grovepi.pinMode(relay_pin,"OUTPUT")
grovepi.pinMode(RGB_pin,"OUTPUT")
grovepi.pinMode(PIR_pin, "INPUT")
grovepi.chainableRgbLed_init(RGB_pin,8)
# On génère un PWM hardware de fréquence 50Hz #
# La largeur de l'impulsion est entre 0,8 et 2ms #
wiringPi.wiringPiSetupGpio()
wiringPi.pinMode(PWM_GPIO, 2)
wiringPi.pwmSetMode(0)
wiringPi.pwmSetClock(384)
wiringPi.pwmSetRange(1024)
wiringPi.pwmWrite(PWM_GPIO,75)
def listener():
rospy.init_node('listener', anonymous=True)
rospy.Subscriber("chatter", String, callback)
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(pin,2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(400)
wiringpi.pwmSetRange(1024)
wiringpi.pwmWrite(pin,0)
wiringpi.pinMode(pin_dir[0],1)
wiringpi.pinMode(pin_dir[1],1)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
def io_init():
global io_initialized
if io_initialized:
return
wiringpi2.wiringPiSetupGpio()
wiringpi2.pinMode(12, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(13, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmSetRange(MAX_SPEED)
wiringpi2.pwmSetClock(2)
wiringpi2.pinMode(5, wiringpi2.GPIO.OUTPUT)
wiringpi2.pinMode(6, wiringpi2.GPIO.OUTPUT)
io_initialized = True
def __init__(self):
self.pin_step = 1 # GPIO1, BCM pin 18 (labeled on pi plate 18)
self.pin_dir = 6 # GPIO6, BCM pin 25 (labeled on pi plate 25)
# the base clock is 19.2MHz and this is a divider
self.pwm_base = 19.2 * 1000000
self.pwm_divider = 16 # 1.2 MHz
wiringpi2.pinMode(self.pin_dir, wiringpi2.GPIO.OUTPUT)
wiringpi2.pinMode(self.pin_step, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pwmSetMode(
wiringpi2.GPIO.PWM_MODE_MS
) # mark/space i.e. run of 1s followed by run of 0s
self.target = 0
self.current = 0
self.last_accum = time.time()
self.volume = 0
def io_init():
global io_initialized
if io_initialized:
return
wiringpi2.wiringPiSetupGpio()
wiringpi2.pinMode(12, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(13, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmSetRange(MAX_SPEED)
wiringpi2.pwmSetClock(2)
wiringpi2.pinMode(5, wiringpi2.GPIO.OUTPUT)
wiringpi2.pinMode(6, wiringpi2.GPIO.OUTPUT)
io_initialized = True
def __init__(self):
wiringpi2.wiringPiSetupGpio()
self.SPEAKER = 18
self.MODE_PWM = 2
self.divisor = (19.2*(10**3))/440
wiringpi2.pinMode(self.SPEAKER, self.MODE_PWM)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
screen = curses.initscr()
curses.start_color()
self.window = curses.newwin(10, 80, 5, 5)
curses.init_pair(1, curses.COLOR_RED, curses.COLOR_BLACK)
curses.init_pair(2, curses.COLOR_GREEN, curses.COLOR_BLACK)
def __init__(self):
wiringpi2.wiringPiSetupGpio()
self.SPEAKER = 18
self.MODE_PWM = 2
self.divisor = (19.2 * (10**3)) / 440
wiringpi2.pinMode(self.SPEAKER, self.MODE_PWM)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
screen = curses.initscr()
curses.start_color()
self.window = curses.newwin(10, 80, 5, 5)
curses.init_pair(1, curses.COLOR_RED, curses.COLOR_BLACK)
curses.init_pair(2, curses.COLOR_GREEN, curses.COLOR_BLACK)
def io_init():
global io_initialized
if io_initialized:
return
wiringpi2.wiringPiSetupGpio()
wiringpi2.pinMode(MODE, wiringpi2.GPIO.OUTPUT)
wiringpi2.digitalWrite(MODE, LOW)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmSetRange(PWM_RANGE_HIGH)
wiringpi2.pwmSetClock(2)
wiringpi2.pinMode(AIN1, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(BIN1, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(AIN2, wiringpi2.GPIO.OUTPUT)
wiringpi2.pinMode(BIN2, wiringpi2.GPIO.OUTPUT)
wiringpi2.softPwmCreate(AIN2, PWM_RANGE_LOW, PWM_RANGE_HIGH)
wiringpi2.softPwmCreate(BIN2, PWM_RANGE_LOW, PWM_RANGE_HIGH)
io_initialized = True
def dimming():
if not setupOK(): setupBoard()
wpi.pinMode(1,wpi.GPIO.PWM_OUTPUT)
wpi.pwmSetMode(wpi.GPIO.PWM_MODE_BAL)
delta = 2
pwm = 1
count = 0
while count < 4:
wpi.pwmWrite(1, pwm)
pwm = pwm+delta
if (pwm > 1024):
pwm = 1024
delta = -2
count +=1
if (pwm < 1):
pwm = 1
delta = 2
time.sleep(0.005)
wpi.pinMode(1, wpi.GPIO.OUTPUT)
def Init():
global on
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(13, 2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(400)
wiringpi.pwmSetRange(1024)
wiringpi.pinMode(18, 2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(400)
wiringpi.pwmSetRange(1024)
SetSP(1, 0.0)
SetSP(2, 0.0)
on = True
procComms.PrintLog('Initialized servo control.')
def __init__(self, node_name="servo_control"):
rospy.init_node(node_name)
sub = rospy.Subscriber("deg_control", Int16, self.callback)
signal.signal(signal.SIGINT, self.exit_handler)
self.gp_out = 18
wiringpi2.wiringPiSetupGpio()
wiringpi2.pinMode(self.gp_out, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmSetClock(375)
self.RIGHT = 56
self.CENTER = 76
self.LEFT = 96
self.current_deg = self.CENTER
wiringpi2.pwmWrite(self.gp_out, self.current_deg)
wiringpi2.delay(500)
def __init__(self, node_name="telemouse_avoidance"):
rospy.init_node(node_name)
sub = rospy.Subscriber("disconfort", Int16, self.callback)
pygame.mixer.init()
self.hit_sound = pygame.mixer.Sound("n_418d125.wav")
signal.signal(signal.SIGINT, self.exit_handler)
self.gp_out = 18
wiringpi2.wiringPiSetupGpio()
wiringpi2.pinMode(self.gp_out, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmSetClock(375)
self.RIGHT = 56
self.CENTER = 76
self.LEFT = 96
self.rest_counter = 0
def main():
# use BCM GPIO numbers
wp.wiringPiSetupPhys()
# enable PWM0
wp.pinMode(12,2)
# switch from default mode to mark:space mode
wp.pwmSetMode(PWM_MODE_MS)
wp.pwmSetClock(200)
wp.pwmWrite(12, 0)
while True:
try:
wp.pwmWrite(12, 2)
time.sleep(3)
# turn then wait
wp.pwmWrite(12,128)
time.sleep(3)
# turn then wait
wp.pwmWrite(12, 256)
time.sleep(3)
def startup_event(self, db, cfg):
# config pwm
wiringpi2.pinMode(self.PWM_PIN, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmSetRange(self.PWM_RANGE)
# 19.2 / 32 = 600KHz - Also starts the PWM
wiringpi2.pwmSetClock(self.PWM_CLK_DIV)
self.logd("Finding minimum fan speed...")
if not self._find_minspeed():
return False
self.logd("Minimum fan speed: {}%".format(self._minspeed))
self.set_highest_profile()
# self.set_profile(40)
if not self.add_requests(
[["cpu_temp_profile", dict(profile="int")],
["cpu_fan_user", dict(speed="int")], ["cpu_fan_auto",
dict()]]):
return False
return True
def softPwm(): print "SoftPwm Mode" wiringpi2.wiringPiSetup() wiringpi2.pinMode(PIN_TO_PWM,SET_PWM) wiringpi2.pwmSetMode(PWM_MODE_MS) #wiringpi2.softPwmCreate(PIN_TO_PWM,0,100) # Setup PWM using Pin, Initial Value and Range parameters #wiringpi2.softServoSettup() #softServoWrite() while True: for i in range(900, 1000): wiringpi2.pwmWrite(PIN_TO_PWM, i) wiringpi2.delay(150) print "Write to PWM: ", i for k in reversed(range(800, 1000)): wiringpi2.pwmWrite(PIN_TO_PWM, k) wiringpi2.delay(150) print "Write to PWM: ", k for i in range(800, 900): wiringpi2.pwmWrite(PIN_TO_PWM, i) wiringpi2.delay(150) print "Write to PWM: ", i
def unlock(): print "Unlock Key" param = sys.argv setdegree = int(90) print setdegree wiringpi2.wiringPiSetupGpio() wiringpi2.pinMode(servopin,2) wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS) wiringpi2.pwmSetClock(375) wiringpi2.pwmWrite(servopin,133) for i in range(133,73-1,1): print i wiringpi2.pwmWrite(servopin, i) wiringpi2.delay(500) wiringpi2.pwmWrite(servopin,26) wiringpi2.delay(500) wiringpi2.pwmWrite(servopin,74)
# GNU General Public License for more details. # # http://www.gnu.org/licenses/gpl.html # import wiringpi2 wiringpi2.wiringPiSetupGpio() # O PWM via hardware funciona somente na GPIO 18 # (Existe outra posibilidade usando o pino 12 do P1) SPEAKER = 18 MODE_PWM = 2 wiringpi2.pinMode(SPEAKER, MODE_PWM) wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS) # Os tons/notas são criados ao pulsar ao alto-falante usando PWM # para criar frequências. Cada nota tem uma frequência criada pela # variação do período de vibração (period of vibration), medido em µs. # Temos que calcular a largura do pulso (pulse-width) para ser metade # do período. Basicamente temos que pulsar o alto-falante em HIGH até # a largura do pulso (pulse-width) e então LOW, da mesma forma. Esses # pulsos vão criar uma vibração equivalente a frequência desejada. # Então temos, na ordem: # 1) Frequência # freq = A3 = Lá na 3ª oitava # freq = 440hz
#!/usr/bin/python
import wiringpi2 as gpio
import time
#init the GPIO
#prepare PWM pins
gpio.wiringPiSetupGpio()
gpio.pinMode(12, gpio.GPIO.PWM_OUTPUT)
gpio.pinMode(13, gpio.GPIO.PWM_OUTPUT)
#prepare PWM channels
gpio.pwmSetMode(gpio.GPIO.PWM_MODE_MS)
gpio.pwmSetRange(480)
gpio.pwmSetClock(2)
#prepare direction pins
gpio.pinMode(5, gpio.GPIO.OUTPUT)
gpio.pinMode(6, gpio.GPIO.OUTPUT)
#movements
def straight_fw(speed):
gpio.digitalWrite(5, 1)
gpio.digitalWrite(6, 1)
gpio.pwmWrite(12, speed)
gpio.pwmWrite(13, speed)
def straight_bw(speed):
gpio.digitalWrite(5, 0)
gpio.digitalWrite(6, 0)
gpio.pwmWrite(12, speed)
gpio.pwmWrite(13, speed)
import wiringpi2 as wiringpi import time wiringpi.pwmSetMode(0) # PWM_MODE_MS = 0 wiringpi.wiringPiSetupGpio() wiringpi.pinMode(18, 2) # pwm only works on GPIO port 18 wiringpi.pwmSetClock(6) # this parameters correspond to 25kHz wiringpi.pwmSetRange(128) wiringpi.pwmWrite(18, 0) # minimum RPM time.sleep(1) wiringpi.pwmWrite(18, 128) # maximum RPM time.sleep(1) wiringpi.pwmWrite(18, 0)
def setPwmMode(self, pwmMode):
self.pwmMode = pwmMode
wiringpi.pwmSetMode(pwmMode)
def end(self):
wiringpi2.pinMode(self.SPEAKER, 0)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_BAL)
midiOutput = pygame.midi.Output(port)
midiOutput.set_instrument(instrument)
def getServoDutyForWebIOPi(val):
val_min = 0.0
val_max = 1.0
servo_min = 48
servo_max = 90
duty = int((servo_max-servo_min)*(val-val_min)/(val_max-val_min) + servo_min)
return duty
wiringpi.wiringPiSetupGpio() # GPIO名で番号指定
wiringpi.pinMode(CAMERA_SERVO, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS) # 周波数固定
wiringpi.pwmSetClock(375) # 50 Hz
wiringpi.pwmWrite(CAMERA_SERVO, getServoDutyForWebIOPi(0.5))
# デバッグ出力を有効に
webiopi.setDebug()
# GPIOライブラリの取得
GPIO = webiopi.GPIO
# WebIOPiの起動時に呼ばれる関数
def setup():
webiopi.debug("Script with macros - Setup")
# GPIOのセットアップ
GPIO.setFunction(PWM1, GPIO.PWM)
import wiringpi2
pin_step = 1 # GPIO1, BCM pin 18 (labeled on pi plate 18)
pin_dir = 6 # GPIO6, BCM pin 25 (labeled on pi plate 25)
pin_statusled = 3 # GPI3, BCM pin 22
wiringpi2.wiringPiSetup()
wiringpi2.pinMode(pin_dir, wiringpi2.GPIO.OUTPUT)
wiringpi2.pinMode(pin_step, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(pin_statusled, wiringpi2.GPIO.OUTPUT)
i2c = wiringpi2.I2C()
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS) # mark/space i.e. run of 1s followed by run of 0s
# the base clock is 19.2MHz and this is a divider
pwm_base = 19.2*1000000
pwm_divider = 16 # 1.2 MHz
wiringpi2.pwmSetClock(pwm_divider)
# the range is 0-1024 which is another divider. so with a 1.2MHz clock we can go as low as 1172Hz
def set_motor(hz, direction):
wiringpi2.digitalWrite(pin_dir, direction)
if hz == 0:
wiringpi2.pwmWrite(pin_step, 0)
return
# if hz is 2000 (60 RPM) we want
# x = 1200000/2000 = 600
r = int((pwm_base/pwm_divider)/hz)
import wiringpi2 as GPIO
import time
r = 200;
div = 100;
outPin = 1;
GPIO.wiringPiSetup()
GPIO.pinMode(outPin,2)
GPIO.pwmSetMode(0)
GPIO.pwmSetClock(div)
GPIO.pwmSetRange(r)
for duty in range(r,0,-1):
GPIO.pwmWrite(1,duty)
if not duty%20:
print str(int(float(duty)/float(r)*100)) + "%"
time.sleep(0.01)
for duty in range(0,r+1):
GPIO.pwmWrite(1,duty)
if not duty%20:
print str(int(float(duty)/float(r)*100)) + "%"
time.sleep(0.01)
lookspeed = 100 pan = 72 tilt = 72 minPan = 28 maxPan = 120 minTilt = 25 maxTilt = 105 tiltPin = 18 panPin = 13 wiringpi.wiringPiSetupGpio() # setup servo pwm pins # 18 = tilt, 13 = pan wiringpi.pinMode(tiltPin,2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(400) wiringpi.pwmSetRange(1024) wiringpi.pwmWrite(tiltPin,0) wiringpi.pinMode(panPin,2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(400) wiringpi.pwmSetRange(1024) wiringpi.pwmWrite(panPin,0) print "testtest" #wiringpi.pwmWrite(tiltPin,100) #sleep(1) #wiringpi.pwmWrite(tiltPin,30)
f.write(str(time.ctime()) + "\n")
check = 0
#
speedPrev = 0
newTrack = 0
goalComponentPrev = 0
listPosition = [LatLon(0, 0)]
#
GPIO.setmode(GPIO.BCM)
GPIO.setup(LED_RED, GPIO.OUT)
GPIO.setup(LED_GREEN, GPIO.OUT)
GPIO.setup(LED_BLUE, GPIO.OUT)
pi.wiringPiSetupGpio()
pi.pinMode(SAIL_SERVO_PIN, 2)
pi.pinMode(RUDDER_SERVO_PIN, 2)
pi.pwmSetMode(0)
pi.pwmSetRange(1024)
pi.pwmSetClock(375)
#
sailValue = (SAIL_FULLCLOSE + SAIL_FULLOPEN) / 2
if (SAIL_FULLCLOSE < 35 or SAIL_FULLOPEN > 55
or SAIL_FULLCLOSE > SAIL_FULLOPEN):
exit()
sailCntl = SailController(sailValue)
#
time.sleep(30)
#
rudderValue = RUDDER_CENTER
if (rudderValue < 40 or rudderValue > 76 or RUDDER_FULLRIGHT < 40
GPIO.setmode(GPIO.BCM)
# ピンの名前を変数として定義
SPICLK = 11
SPIMOSI = 10
SPIMISO = 9
SPICS = 8
# SPI通信用の入出力を定義
GPIO.setup(SPICLK, GPIO.OUT)
GPIO.setup(SPIMOSI, GPIO.OUT)
GPIO.setup(SPIMISO, GPIO.IN)
GPIO.setup(SPICS, GPIO.OUT)
wiringpi.wiringPiSetupGpio() # GPIO名で番号を指定する
wiringpi.pinMode(18, wiringpi.GPIO.PWM_OUTPUT) # PWM出力を指定
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS) # 周波数を固定するための設定
wiringpi.pwmSetClock(375) # 50 Hz。ここには 18750/(周波数) の計算値に近い整数を入れる
# PWMのピン番号18とデフォルトのパルス幅をデューティ100%を1024として指定。
# ここでは6.75%に対応する69を指定
wiringpi.pwmWrite(18, 69)
adc_pin0 = 0
try:
while True:
inputVal0 = readadc(adc_pin0, SPICLK, SPIMOSI, SPIMISO, SPICS)
duty = servo_duty_hwpwm(inputVal0)
wiringpi.pwmWrite(18, duty)
sleep(0.2)
except KeyboardInterrupt:
def end(self):
wiringpi2.pinMode(self.SPEAKER, 0)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_BAL)
FRONT_LIGHT_PIN = 2 BACK_LIGHT_PIN = 3 # IO Modes on Raspberry OUTPUT = 1 INPUT = 0 print "[..] ", "Init Wiring Pi Lib" wiringpi2.wiringPiSetup() print "[..] ", "Init Servos" throttle = Servo(THROTTLE_PIN) steering = Servo(STEERING_PIN) wiringpi2.pwmSetMode(PWM_MODE_MS) print "[..] ", "Init LEDs" frontLed = LED(FRONT_LIGHT_PIN) backLed = LED(BACK_LIGHT_PIN) ### Open a Socket s = socket.socket() print "[..] New Socket on localhost:5556" host = '' # Get local machine name port = 5556 # Reserve a port for your service. ### Bind the Socket
from twisted.internet.protocol import Protocol, Factory
from twisted.internet import reactor
import RPi.GPIO as GPIO
import wiringpi2 as wiringpi
import time
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(18, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetClock(400)
wiringpi.pwmSetRange(1024)
# 速度の調整
duty = 3
unduty = -3
set_time = 0.01
class RaspberryLight(Protocol):
def connectionMade(self):
self.factory.clients.append(self)
def connectionLost(self, reason):
self.factory.clients.remove(self)
def dataReceived(self, data):
if (data == "start"):
print "start"
# 回転角の調整
for deg in range(0, 171, duty):
wiringpi.pwmWrite(18, deg / 2 + 910)
import os
app = Flask(__name__)
# Mise en route de WiringPi
wiringpi2.wiringPiSetup()
# Initialisation du GPIO
wiringpi2.pinMode(1, 2) # PWM
wiringpi2.pinMode(2, 1) # Premier moteur
wiringpi2.pinMode(3, 1)
wiringpi2.pinMode(4, 1) # Deuxieme moteur
wiringpi2.pinMode(5, 1)
wiringpi2.pwmSetMode(0) # Mode PWM
@app.route("/")
def hello():
return render_template('index.html', cpuUsage=psutil.cpu_percent(interval=None), cpuTemp=int(float(getCPUtemperature())), rpiversion=GPIO.RPI_REVISION)
@app.route("/alive")
def alive():
return "alive"
@app.route("/direction/Gauche")
def direction_gauche():
wiringpi2.digitalWrite(4, 0)
GPIO.setmode(GPIO.BCM)
# ピンの名前を変数として定義
SPICLK = 11
SPIMOSI = 10
SPIMISO = 9
SPICS = 8
# SPI通信用の入出力を定義
GPIO.setup(SPICLK, GPIO.OUT)
GPIO.setup(SPIMOSI, GPIO.OUT)
GPIO.setup(SPIMISO, GPIO.IN)
GPIO.setup(SPICS, GPIO.OUT)
wiringpi.wiringPiSetupGpio() # GPIO名で番号を指定する
wiringpi.pinMode(18, wiringpi.GPIO.PWM_OUTPUT) # PWM出力を指定
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS) # 周波数を固定するための設定
wiringpi.pwmSetClock(375) # 50 Hz。ここには 18750/(周波数) の計算値に近い整数を入れる
# PWMのピン番号18とデフォルトのパルス幅をデューティ100%を1024として指定。
# ここでは6.75%に対応する69を指定
wiringpi.pwmWrite(18, 69)
adc_pin0 = 0
try:
while True:
inputVal0 = readadc(adc_pin0, SPICLK, SPIMOSI, SPIMISO, SPICS)
duty = servo_duty_hwpwm(inputVal0)
wiringpi.pwmWrite(18, duty)
sleep(0.2)
except KeyboardInterrupt:
pwm_range = 1024 dt_min = 125 dt_max = 175 dt_horizontal = 150 dt_vertical = 150 # changing PWM verticalPWM = 0 verticalPWMSpeed = 0.5 # enable PWM0 wiringpi.pinMode(pwm_pin_horizontal, 2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(pwm_clock) wiringpi.pwmSetRange(pwm_range) # enable PWM1 wiringpi.pinMode(pwm_pin_vertical, 2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(pwm_clock) wiringpi.pwmSetRange(pwm_range) #led faceFoundPin = 5 wiringpi.pinMode(faceFoundPin, 1) faceLost = True faceLostStart = -1
