def moveStop(self,channel):
GPIO.remove_event_detect(channel)
#PWM.start(self.pwmPIN, 0, self.freq, 0)
GPIO.output(self.upDIR, GPIO.LOW)
GPIO.output(self.downDIR, GPIO.LOW)
print "Motor STOP...!!"
return time.time()
def cleanup(self):
'''cleanup single GPIO pin: remove event detect and set to GPIO.IN with GPIO.PUD_OFF'''
logger.debug('cleanup ' + self.__class__.__name__ +
': cleanup single GPIO pin ' + self.gpio_pin)
GPIO.remove_event_detect(self.gpio_pin)
GPIO.setup(self.gpio_pin, GPIO.IN, pull_up_down=GPIO.PUD_OFF)
def moveStop(self, channel):
GPIO.remove_event_detect(channel)
#PWM.start(self.pwmPIN, 0, self.freq, 0)
GPIO.output(self.upDIR, GPIO.LOW)
GPIO.output(self.downDIR, GPIO.LOW)
print "Motor STOP...!!"
return time.time()
def cleanup(self):
'''cleanup individual GPIO pins: remove event detect and set to GPIO.IN with GPIO.PUD_OFF'''
for gpio_pin in [self.gpio_pin_green, self.gpio_pin_red]:
self.logger.debug('cleanup ' + self.__class__.__name__ +
': cleanup single GPIO pin ' + gpio_pin)
GPIO.remove_event_detect(gpio_pin)
GPIO.setup(gpio_pin, GPIO.IN, pull_up_down=GPIO.PUD_OFF)
def hw_exit(self):
'''exit/de-initialize gpio port.'''
self.logger.info('exitting {} on gpio pin {:s}.'.format(self.config_name, str(self.gpio_pin)))
# remove event detect if any..
GPIO.remove_event_detect(self.gpio_pin)
# reset state by setting to GPIO.IN and GPIO.LOW
GPIO.setup(self.gpio_pin, GPIO.IN, initial=GPIO.LOW)
def __init__(self, port, callback):
self.port = port
self.callback = callback
GPIO.setup(self.port, GPIO.IN)
print "DETECT EVENTS:", self.port
# GPIO.RISING, GPIO.FALLING, GPIO.BOTH
GPIO.remove_event_detect(self.port)
GPIO.add_event_detect(self.port, GPIO.RISING, callback=self.check_rising, bouncetime=300)
def __init__(self, port, callback):
self.port = port
self.callback = callback
GPIO.setup(self.port, GPIO.IN)
print "DETECT EVENTS:", self.port
# GPIO.RISING, GPIO.FALLING, GPIO.BOTH
GPIO.remove_event_detect(self.port)
GPIO.add_event_detect(self.port,
GPIO.RISING,
callback=self.check_rising,
bouncetime=300)
def handleClose(self):
self.do_beep(0.25)
for PIN in self.PROXIMITY_GPIO:
GPIO.remove_event_detect(PIN)
GPIO.remove_event_detect(self.STOP_BUTTON)
GPIO.remove_event_detect(self.ECHO_RETURN)
self.SCAN = False
sleep(1)
PWM.stop(self.SERVO_PWM)
PWM.stop(self.SPEAKER_PWM)
self.saber.stop()
print self.address, 'closed'
def handleClose(self):
self.do_beep(0.25)
for PIN in self.PROXIMITY_GPIO:
GPIO.remove_event_detect(PIN)
GPIO.remove_event_detect(self.STOP_BUTTON)
GPIO.remove_event_detect(self.ECHO_RETURN)
self.SCAN = False
sleep(1)
PWM.stop(self.SERVO_PWM)
PWM.stop(self.SPEAKER_PWM)
self.saber.stop()
print self.address, 'closed'
def setMode(self, mode):
"""Set device mode."""
if (mode in self._settings['modes']):
self._mode = mode
if mode == 'State':
GPIO.remove_event_detect(self._pin) # Remove event detection
elif mode == 'Rising Edge':
GPIO.remove_event_detect(self._pin) # Remove event detection
GPIO.add_event_detect(self._pin,
GPIO.RISING) # Set rising edge detection
elif mode == 'Falling Edge':
GPIO.remove_event_detect(self._pin) # Remove event detection
GPIO.add_event_detect(
self._pin, GPIO.FALLING) # Set falling edge detection
else:
raise ValueError('mode {} is not allowed'.format(mode))
def handleClose(self):
for PIN in self.PROXIMITY_GPIO:
GPIO.remove_event_detect(PIN)
self.saber.stop()
print self.address, 'closed'
def echoStart(self, pin):
self.t1 = time.time()
GPIO.remove_event_detect("P9_27")
GPIO.add_event_detect("P9_27", GPIO.FALLING, self.echoEnd)
def _shutdownInterrupt(self):
GPIO.remove_event_detect(self.pin)
def setup_digital_pin(self):
"""
This method processes the Scratch "Digital Pin" Block that establishes the mode for the pin
:return: None
"""
# clear out any residual problem strings
# self.report_problem('1-0\n')
self.last_problem = '1-0\n'
# retrieve mode from command
mode = self.payload['mode']
# Is the user enabling or disabling the pin? Get the 'raw' value and translate it.
enable = self.payload['enable']
if mode == 'SONAR':
self.last_problem = '7-0\n'
pin = self.validate_pin(self.analog_pins)
if pin == 99:
self.last_problem = '7-1\n'
return
index = self.analog_pins.index(pin)
pin_entry = self.analog_pin_states[index]
if self.payload['enable'] == 'Enable':
pin_entry['enabled'] = True
pin_entry['mode'] = 'sonar'
self.analog_pin_states[index] = pin_entry
else:
pin_entry['enabled'] = False
self.analog_pin_states[index] = pin_entry
if not self.analog_reader:
self.analog_reader = AnalogReader(self.board_num, self.analog_pin_states)
ADC.setup()
self.analog_reader.start()
elif mode == 'PWM' or mode == 'Servo' or mode == 'Tone':
pin = self.validate_pin(self.pwm_pins)
if pin == 99:
self.last_problem = '1-2\n'
return
index = self.pwm_pins.index(pin)
pin_entry = self.pwm_pin_states[index]
if self.payload['enable'] == 'Enable':
pin_entry['enabled'] = True
self.pwm_pin_states[index] = pin_entry
if mode == 'PWM' or mode == 'Tone':
PWM.start(pin, 0.0)
else:
PWM.start(pin, 3, 60.0, self.servo_polarity)
else:
pin_entry['enabled'] = False
self.pwm_pin_states[index] = pin_entry
else:
pin = self.validate_pin(self.black_gpio_pins)
if pin == 99:
self.last_problem = '1-1\n'
return
# retrieve mode from command
mode = self.payload['mode']
#
if enable == 'Enable':
# validate the mode for this pin
if mode == 'Input':
index = self.black_gpio_pins.index(pin)
pin_entry = self.gpio_pin_states[index]
pin_entry['mode'] = GPIO.IN
pin_entry['enabled'] = True
self.gpio_pin_states[index] = pin_entry
GPIO.setup(pin, GPIO.IN)
GPIO.add_event_detect(pin, GPIO.BOTH, callback=self.digital_input_callback)
elif mode == 'Output':
index = self.black_gpio_pins.index(pin)
pin_entry = self.gpio_pin_states[index]
# update the pin table
# pin_entry = {'pin': pin, 'mode': GPIO.OUT, 'enabled': True}
pin_entry['mode'] = GPIO.OUT
pin_entry['enabled'] = True
self.gpio_pin_states[index] = pin_entry
GPIO.setup(pin, GPIO.OUT)
# must be disable
else:
if mode == 'Output':
index = self.black_gpio_pins.index(pin)
pin_entry = self.gpio_pin_states[index]
pin_entry['enabled'] = False
self.gpio_pin_states[index] = pin_entry
elif mode == 'Input':
index = self.black_gpio_pins.index(pin)
pin_entry = self.gpio_pin_states[index]
pin_entry['enabled'] = False
self.gpio_pin_states[index] = pin_entry
GPIO.remove_event_detect(pin)
def remove_event(self):
# function: remove event detection
GPIO.remove_event_detect(self.sig)
def cleanup(self):
# function: clean up pin
GPIO.remove_event_detect(self.sig)
GPIO.cleanup()
stop = time.time()
if count_l > count_max_l and not l_stop:
GPIO.output(LEFT_DIR, GPIO.LOW)
PWM.set_duty_cycle(LEFT_PWM,0)
l_stop = 1
if count_r > count_max_r and not r_stop:
GPIO.output(RIGHT_DIR, GPIO.LOW)
PWM.set_duty_cycle(RIGHT_PWM,0)
r_stop = 1
GPIO.output(LEFT_DIR, GPIO.LOW)
GPIO.output(RIGHT_DIR, GPIO.LOW)
PWM.start(LEFT_PWM, 0)
PWM.start(RIGHT_PWM, 0)
GPIO.remove_event_detect(L_ENC)
GPIO.remove_event_detect(R_ENC)
####################################################################
def main():
global run_flag
#setup pins
GPIO.setup(LEFT_DIR, GPIO.OUT)
GPIO.setup(RIGHT_DIR, GPIO.OUT)
GPIO.setup(pin1trigger, GPIO.OUT)
GPIO.setup(pin2trigger, GPIO.OUT)
GPIO.setup(pin3trigger, GPIO.OUT)
GPIO.setup(pin4trigger, GPIO.OUT)
def trigEN(self):
GPIO.remove_event_detect("P9_27")
GPIO.add_event_detect("P9_27", GPIO.RISING, self.echoStart)
self.trigRD = 1
# The wait_for_edge method is blocking, and will wait until something happens:
GPIO.wait_for_edge("P8_14", GPIO.RISING)
# Another option, that is non-blocking is to add an event to detect.
# First, you setup your event to watch for, then you can do whatever else your
# program will do, and later on, you can check if that event was detected.
# A simple example of this is as follows:
GPIO.add_event_detect("P8_14", GPIO.FALLING)
#your amazing code here
#detect wherever:
time.sleep(5)
if GPIO.event_detected("P8_14"):
print("event detected!")
# Or if you want you can define a callback function.
def my_callback(channel):
print('Edge detected on channel %s' % channel)
# Then have it called when the event occurs
GPIO.remove_event_detect("P8_14")
GPIO.add_event_detect("P8_14", GPIO.BOTH, callback=my_callback)
while True: # Do something while waiting for event
time.sleep(100)
GPIO.cleanup()
