class GPIO():
def __init__(self):
pass
def __enter__(self):
self.GP = GPIOProcessor()
self.forward_pin = self.GP.getPin25()
self.forward_pin.out()
self.right_high = self.GP.getPin26()
self.right_high.out()
self.right_low = self.GP.getPin27()
self.right_low.out()
self.left_high = self.GP.getPin29()
self.left_high.out()
self.left_low = self.GP.getPin30()
self.left_low.out()
return self
def __exit__(self, exc_type, exc_val, exc_tb):
self.GP.cleanup()
def brake(self):
self.forward_pin.low()
def unbrake(self):
self.forward_pin.high()
def turn_left(self):
self.left_low.low()
self.left_high.high()
def turn_right(self):
self.right_low.low()
self.right_high.high()
class DC:
def __init__(self):
"""
DC maps DragonBoard 410c GPIO pins for Debian to the L293N H-Bridge I/C, ready to receive control
messages from Manager.py.
Green wire : Pin 23 -> OpAmp Node 1 -> L298N h-bridge Input 2
White wire : Pin 24 -> OpAmp Node 4 -> L298N h-bridge Enable A
Yellow wire : Pin 26 -> OpAmp Node 3 -> L298N h-bridge Input 1
Set Input 2 to Low, Input 1 to High for clockwise spin.
"""
self.gp = GPIOProcessor()
# h-bridge
self.green = self.gp.getPin23()
self.white = self.gp.getPin24()
self.yellow = self.gp.getPin26()
self.green.out()
self.white.out()
self.yellow.out()
# clockwise
self.green.low() # Input 2
self.yellow.high() # Input 1
self.isPropSpinning = False
def start_motor(self):
"""
Set Enable A to High to start motor.
:rtype: Boolean
:return: True if motor started, False if failed.
"""
try:
self.white.low()
self.white.high()
self.isPropSpinning = True
return True
except KeyboardInterrupt():
print "Keyboard interrupt received. Cleaning up ..."
self.gp.cleanup()
return False
def stop_motor(self):
"""
Set Enable A to Low to stop motor.
:rtype: Boolean
:return: True if motor stopped, False if failed.
"""
try:
self.white.low()
self.isPropSpinning = False
return True
except KeyboardInterrupt():
print "Keyboard interrupt received. Cleaning up ..."
self.gp.cleanup()
try:
steps_made = 0
pins = [
GP.getPin31(),
GP.getPin32(),
GP.getPin33(),
GP.getPin34(),
]
for p in pins:
p.out()
right = GP.getPin27()
right.input()
left = GP.getPin26()
left.input()
reset = GP.getPin24()
reset.input()
sequence = FULL_STEP_SEQUENCE
i = 0
direction = 0
resetting = False
while True:
time.sleep(DELAY)
for p in pins:
p.low()
from GPIOLibrary import GPIOProcessor
import time
import math
GP = GPIOProcessor()
try:
# Stepper Motor Controls
A1 = GP.getPin34() # Green
A2 = GP.getPin24() # Black
B1 = GP.getPin33() # White
B2 = GP.getPin26() # Yellow
A1.out()
A2.out()
B1.out()
B2.out()
# Delay time
T = 0.001
# Stepper Sequence (Forward ; Reverse)
SS = [[[0,1,0,1],[1,0,0,1],[1,0,1,0],[0,1,1,0]],
[[0,1,0,1],[0,1,1,0],[1,0,1,0],[1,0,0,1]]]
# Forward/Reverse Indicator (0 - Forward, 1 - Reverse)
FR = 0
# Step Angle
SA = 1.8 # 1.8 degrees per step
from GPIOLibrary import GPIOProcessor
import time
import math
GP = GPIOProcessor()
try:
# Stepper Motor Controls
A1 = GP.getPin34() # Green
A2 = GP.getPin24() # Black
B1 = GP.getPin33() # White
B2 = GP.getPin26() # Yellow
A1.out()
A2.out()
B1.out()
B2.out()
# Delay time
T = 0.001
# Stepper Sequence (Forward ; Reverse)
SS = [[[0, 1, 0, 1], [1, 0, 0, 1], [1, 0, 1, 0], [0, 1, 1, 0]],
[[0, 1, 0, 1], [0, 1, 1, 0], [1, 0, 1, 0], [1, 0, 0, 1]]]
# Forward/Reverse Indicator (0 - Forward, 1 - Reverse)
FR = 0
# Step Angle
SA = 1.8 # 1.8 degrees per step
# GPIO assignment
# TRIG Pin 23
# ECHO Pin 27
# GREEN Pin 24
# YELLOW Pin 25
# RED Pin 26
try:
# Create GPIO variables
trig = GP.getPin34()
echo = GP.getPin27()
green = GP.getPin24()
yellow = GP.getPin25()
red = GP.getPin26()
trig.out()
echo.input()
green.out()
yellow.out()
red.out()
# Duration of Activation (seconds)
D = 10
# Approximate Speed of Sound (cm/s)
speed = 34029
print "Begin"
timeout = time.time() + D
MAGIC = "face600d"
server_socket = socket.socket()
server_host = '192.168.43.20'
server_port = 5002
server_socket.bind((server_host, server_port))
server_socket.listen(5)
c,addr = server_socket.accept()
try:
# Stepper Motor Controls
A1 = GP.getPin23() # blue
A2 = GP.getPin24() # pink
B1 = GP.getPin25() # yellow
B2 = GP.getPin26() # orange
A1.out()
A2.out()
B1.out()
B2.out()
# Delay time
T = 0.001
# Stepper Sequence (Forward ; Reverse)
SS = [[[1,1,0,0],[0,1,1,0],[0,0,1,1],[1,0,0,1]],
[[1,0,0,1],[0,0,1,1],[0,1,1,0],[1,1,0,0]]]
# Step Angle
SA = 0.18 #degrees per step
# GPIO assignment
# TRIG Pin 23
# ECHO Pin 27
# GREEN Pin 24
# YELLOW Pin 25
# RED Pin 26
try:
# Create GPIO variables
trig = GP.getPin34()
echo = GP.getPin27()
green = GP.getPin24()
yellow = GP.getPin25()
red = GP.getPin26()
trig.out()
echo.input()
green.out()
yellow.out()
red.out()
# Duration of Activation (seconds)
D = 10
# Approximate Speed of Sound (cm/s)
speed = 34029
print "Begin"
timeout=time.time()+D
#A1 = 34 Green #A2 = 33 White #A3 = 24 Black #A4 = 26 Yellow #PIR = 29 #Ind = 30 Din = GP.getPin27() Din.input() A1 = GP.getPin34() A1.out() A2 = GP.getPin33() A2.out() A3 = GP.getPin24() A3.out() A4 = GP.getPin26() A4.out() PIR = GP.getPin29() PIR.out() PIR.low() Ind = GP.getPin30() Ind.out() Ind.low() # Remote Average Pulse M = 800 # Stepper Motor Delay t = 0.001 # Stepper Motor Sequence (Forward / Reverse)
#A1 = 34 Green #A2 = 33 White #A3 = 24 Black #A4 = 26 Yellow #PIR = 29 #Ind = 30 Din = GP.getPin27() Din.input() A1 = GP.getPin34() A1.out() A2 = GP.getPin33() A2.out() A3 = GP.getPin24() A3.out() A4 = GP.getPin26() A4.out() PIR = GP.getPin29() PIR.out() PIR.low() Ind = GP.getPin30() Ind.out() Ind.low() # Remote Average Pulse M = 800 # Stepper Motor Delay t = 0.001 # Stepper Motor Sequence (Forward / Reverse)