def run(self):
self.db = QtSql.QSqlDatabase.addDatabase('QMYSQL')
self.db.setHostName("3.34.124.67")
self.db.setDatabaseName("16_3")
self.db.setUserName("16_3")
self.db.setPassword("1234")
ok = self.db.open()
print(ok)
if ok == False:
return
self.mh = Raspi_MotorHAT(addr=0x6f)
self.dcMotor = self.mh.getMotor(2)
self.speed = 100
self.adjust = 0
self.moveTime = 0
self.dcMotor.setSpeed(self.speed)
self.query = QtSql.QSqlQuery()
self.servo = self.mh._pwm
self.servo.setPWMFreq(60)
self.sense = SenseHat()
gyro = self.sense.get_gyroscope()
self.prev_roll = gyro["roll"]
accel = self.sense.get_accelerometer_raw()
self.init_y = accel["y"]
while True:
time.sleep(0.1)
self.getQuery()
self.setQuery()
class Robot(object):
def __init__(self, motorhat_addr=0x6f):
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
atexit.register(self.stop_motors)
def convert_speed(self, speed):
mode = Raspi_MotorHAT.RELEASE
if speed > 0:
mode = Raspi_MotorHAT.FORWARD
elif speed < 0:
mode = Raspi_MotorHAT.BACKWARD
output_speed = (abs(speed) * 255) / 100
return mode, output_speed
def set_left(self, speed):
mode, output_speed = self.convert_speed(speed)
self.left_motor.setSpeed(output_speed)
self.left_motor.run(mode)
def set_right(self, speed):
mode, output_speed = self.convert_speed(speed)
self.right_motor.setSpeed(output_speed)
self.right_motor.run(mode)
def stop_motors(self):
self.left_motor.run(Raspi_MotorHAT.RELEASE)
self.right_motor.run(Raspi_MotorHAT.RELEASE)
def __init__(self, motorhat_addr=0x6f, drive_enabled=True):
# Setup the motorhat with the passed in address
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
# get local variable for each motor
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
self.drive_enabled = drive_enabled
# ensure the motors get stopped when the code exits
atexit.register(self.stop_all)
# Setup the line sensors
self.left_line_sensor = LineSensor(23, queue_len=3, pull_up=True)
self.right_line_sensor = LineSensor(16, queue_len=3, pull_up=True)
# Setup The Distance Sensors
self.left_distance_sensor = DistanceSensor(17, 27)
self.right_distance_sensor = DistanceSensor(5, 6)
# Setup the Encoders
EncoderCounter.set_constants(self.wheel_diameter_mm,
self.ticks_per_revolution)
self.left_encoder = EncoderCounter(4)
self.right_encoder = EncoderCounter(26)
# Setup the Leds
self.leds = leds_8_apa102c.Leds()
# Set up servo motors for pan and tilt.
self.servos = Servos(addr=motorhat_addr)
def __init__(self, addr=0x6f, left_id=2, right_id=3, left_trim=0, right_trim=0,
stop_at_exit=True):
"""Create an instance of the robot. Can specify the following optional
parameters:
- addr: The I2C address of the motor HAT, default is 0x6f.
- left_id: The ID of the left motor, default is 3.
- right_id: The ID of the right motor, default is 2.
- left_trim: Amount to offset the speed of the left motor, can be positive
or negative and use useful for matching the speed of both
motors. Default is 0.
- right_trim: Amount to offset the speed of the right motor (see above).
- stop_at_exit: Boolean to indicate if the motors should stop on program
exit. Default is True (highly recommended to keep this
value to prevent damage to the bot on program crash!).
"""
# Initialize motor HAT and left, right motor.
self._mh = Raspi_MotorHAT(addr)
self._left = self._mh.getMotor(left_id)
self._right = self._mh.getMotor(right_id)
self._left_trim = int(left_trim)
self._right_trim = int(right_trim)
# Start with motors turned off.
self._left.run(Raspi_MotorHAT.RELEASE)
self._right.run(Raspi_MotorHAT.RELEASE)
# Configure all motors to stop at program exit if desired.
if stop_at_exit:
atexit.register(self.stop)
def __init__(self, motorhat_addr=0x6f):
# Setup the motorhat with the passed in address
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
# Setup the Leds
self.leds = leds_led_shim.Leds()
# Set up servo motors for pan and tilt.
self.servos = Servos(addr=motorhat_addr, deflect_90_in_ms=1)
# Setup The Distance Sensors
self.left_distance_sensor = DistanceSensor(echo=17,
trigger=27,
queue_len=2)
self.right_distance_sensor = DistanceSensor(echo=5,
trigger=6,
queue_len=2)
# Setup the Encoders
EncoderCounter.set_constants(self.wheel_diameter_mm,
self.ticks_per_revolution)
self.left_encoder = EncoderCounter(4)
self.right_encoder = EncoderCounter(26)
# ensure the motors get stopped when the code exits
atexit.register(self.stop_all)
def __init__(self, motorhat_addr=0x6f):
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
atexit.register(self.stop_all)
self.left_line_sensor = LineSensor(23, pull_up=True)
self.right_line_sensor = LineSensor(16, pull_up=True)
def __init__(self,**kwage):
"""
:address :SetDefult Address to x60
"""
self.ADDRESS=kwage["address"]
self.mh=Raspi_MotorHAT(self.ADDRESS)
self.mh1=Raspi_MotorHAT(self.ADDRESS)
atexit.register(self.set_Motor2zero)
def __init__(self, motorhat_addr=0x6f):
# Setup the motorhat with the passed in address
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
# get local variable for each motor
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
# ensure the motors get stopped when the code exits
atexit.register(self.stop_motors)
class Robot(object):
def __init__(self, motorhat_addr=0x6f):
# Setup the motorhat with the passed in address
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
# get local variable for each motor
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
# ensure the motors get stopped when the code exits
atexit.register(self.stop_all)
# Setup the line sensors
self.left_line_sensor = LineSensor(23, queue_len=3, pull_up=True)
self.right_line_sensor = LineSensor(16, queue_len=3, pull_up=True)
# Setup the Leds
self.leds = leds_8_apa102c.Leds()
def stop_all(self):
self.stop_motors()
# Clear any sensor handlers
self.left_line_sensor.when_line = None
self.left_line_sensor.when_no_line = None
self.right_line_sensor.when_line = None
self.right_line_sensor.when_no_line = None
# Clear the display
self.leds.clear()
self.leds.show()
def convert_speed(self, speed):
mode = Raspi_MotorHAT.RELEASE
if speed > 0:
mode = Raspi_MotorHAT.FORWARD
elif speed < 0:
mode = Raspi_MotorHAT.BACKWARD
output_speed = (abs(speed) * 255) / 100
return mode, int(output_speed)
def set_left(self, speed):
mode, output_speed = self.convert_speed(speed)
self.left_motor.setSpeed(output_speed)
self.left_motor.run(mode)
def set_right(self, speed):
mode, output_speed = self.convert_speed(speed)
self.right_motor.setSpeed(output_speed)
self.right_motor.run(mode)
def stop_motors(self):
self.left_motor.run(Raspi_MotorHAT.RELEASE)
self.right_motor.run(Raspi_MotorHAT.RELEASE)
def run(self):
db = QtSql.QSqlDatabase.addDatabase('QMYSQL')
db.setHostName("13.209.64.111")
db.setDatabaseName("IoT_data")
db.setUserName("ujin")
db.setPassword("ujin")
ok = db.open()
print(ok)
self.mh = Raspi_MotorHAT(addr=0x6f)
self.myMotor = self.mh.getMotor(2)
self.myMotor.setSpeed(100)
self.speed_value = 100
self.pwm = PWM(0x6F)
self.pwm.setPWMFreq(60)
#self.sense=SenseHat()
self.BUZZER = 5
self.RIGHT_LED_F = 23
self.LEFT_LED_F = 24
self.RIGHT_LED_R = 8
self.LEFT_LED_R = 7
self.ECHO = 21
self.TRIG = 20
self.timeF = 0
self.camera = picamera.PiCamera()
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(self.BUZZER, GPIO.OUT)
GPIO.setup(self.RIGHT_LED_F, GPIO.OUT)
GPIO.setup(self.LEFT_LED_F, GPIO.OUT)
GPIO.setup(self.RIGHT_LED_R, GPIO.OUT)
GPIO.setup(self.LEFT_LED_R, GPIO.OUT)
GPIO.setup(self.TRIG, GPIO.OUT)
GPIO.setup(self.ECHO, GPIO.IN)
while True:
if (self.timeF == 10):
now = datetime.datetime.now()
self.camera.capture('./img/' + now.strftime('%Y%m%d%H%M%S') +
'.jpg')
self.timeF = 0
time.sleep(0.1)
self.getQuery()
# self.setQuery()
self.timeF += 1
def __init__(self, motorhat_addr=0x6f):
# Setup the motorhat with the passed in address
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
# get local variable for each motor
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
# ensure the motors get stopped when the code exits
atexit.register(self.stop_all)
# Setup the line sensors
self.left_line_sensor = LineSensor(23, queue_len=3, pull_up=True)
self.right_line_sensor = LineSensor(16, queue_len=3, pull_up=True)
class Robot:
def __init__(self, motorhat_addr=0x6f):
# Setup the motorhat with the passed in address
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
# get local variable for each motor
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
# Setup The Distance Sensors
self.left_distance_sensor = DistanceSensor(echo=17, trigger=27, queue_len=2)
self.right_distance_sensor = DistanceSensor(echo=5, trigger=6, queue_len=2)
# Setup the Leds
self.leds = leds_led_shim.Leds()
# ensure the motors get stopped when the code exits
atexit.register(self.stop_all)
def convert_speed(self, speed):
# Choose the running mode
mode = Raspi_MotorHAT.RELEASE
if speed > 0:
mode = Raspi_MotorHAT.FORWARD
elif speed < 0:
mode = Raspi_MotorHAT.BACKWARD
# Scale the speed
output_speed = (abs(speed) * 255) // 100
return mode, int(output_speed)
def set_left(self, speed):
mode, output_speed = self.convert_speed(speed)
self.left_motor.setSpeed(output_speed)
self.left_motor.run(mode)
def set_right(self, speed):
mode, output_speed = self.convert_speed(speed)
self.right_motor.setSpeed(output_speed)
self.right_motor.run(mode)
def stop_motors(self):
self.left_motor.run(Raspi_MotorHAT.RELEASE)
self.right_motor.run(Raspi_MotorHAT.RELEASE)
def stop_all(self):
self.stop_motors()
# Clear the display
self.leds.clear()
self.leds.show()
def __init__(self, motorhat_addr=0x6f):
# set up motorhat with address parameter
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
# get local variable for each motor
self.left_motor_rear = self._mh.getMotor(1)
self.left_motor_front = self._mh.getMotor(2)
self.right_motor_rear = self._mh.getMotor(4)
self.right_motor_front = self._mh.getMotor(3)
# make sure motors stop when code exits
atexit.register(self.stop_motors)
# Set up servo motors for pan and tilt
self.servos = Servos(addr=motorhat_addr)
def __init__(self, motorhat_addr=0x6f):
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
atexit.register(self.stop_motors)
# Setup the line sensors
self.right_line_sensor = LineSensor(23, queue_len=3, pull_up=True)
self.left_line_sensor = LineSensor(16, queue_len=3, pull_up=True)
self.right_line_sensor_stuck = ""
self.left_line_sensor_stuck = ""
self.servos = Servos(addr=motorhat_addr)
def __init__(self, motorhat_addr=0x6f):
# Setup the motorhat with the passed in address
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
# get local variable for each motor
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
# Setup The Distance Sensors
self.left_distance_sensor = DistanceSensor(echo=17, trigger=27, queue_len=2)
self.right_distance_sensor = DistanceSensor(echo=5, trigger=6, queue_len=2)
# Setup the Leds
self.leds = leds_led_shim.Leds()
# ensure the motors get stopped when the code exits
atexit.register(self.stop_all)
class FireCanon(object):
def __init__(self, addr=0x6f, right_id=4, stop_at_exit=True):
"""Create an instance of the canon. Can specify the following optional
parameters:
- addr: The I2C address of the motor HAT, default is 0x60.
- right_id: The ID of the right motor, hard-coded to motor 4.
- stop_at_exit: Boolean to indicate if the motors should stop on program
exit. Default is True (highly recommended to keep this
value to prevent damage to the bot on program crash!).
This controls the plunger motor forward/backward motion
that pushes the darts into the canon bore
"""
# Initialize motor HAT and left, right motor.
self._mh = Raspi_MotorHAT(addr)
self._right = self._mh.getMotor(right_id)
# Start with motors turned off.
self._right.run(Raspi_MotorHAT.RELEASE)
# Configure all motors to stop at program exit if desired.
if stop_at_exit:
atexit.register(self.stop)
# These motors will always run at full speed
def _right_speed(self, speed=254):
"""Set the speed of the right motor, taking into account its trim offset.
"""
assert 0 <= speed <= 255, 'Speed must be a value between 0 to 255 inclusive!'
speed += 0 # no trim for these motors
speed = max(0, min(255,
speed)) # Constrain speed to 0-255 after trimming.
self._right.setSpeed(speed)
def stop(self):
"""Stop all movement."""
self._right.run(Raspi_MotorHAT.RELEASE)
def forward(self, speed=254, seconds=None):
"""Move forward at the specified speed (0-255). Will start moving
forward and return unless a seconds value is specified, in which
case the robot will move forward for that amount of time and then stop.
"""
# Set motor speed and move both forward.
self._right_speed(speed)
self._right.run(Raspi_MotorHAT.FORWARD)
# If an amount of time is specified, move for that time and then stop.
if seconds is not None:
time.sleep(seconds)
self.stop()
def backward(self, speed=254, seconds=None):
"""Move backward at the specified speed (0-255). Will start moving
backward and return unless a seconds value is specified, in which
case the robot will move backward for that amount of time and then stop.
"""
# Set motor speed and move both backward.
self._right_speed(speed)
self._right.run(Raspi_MotorHAT.BACKWARD)
# If an amount of time is specified, move for that time and then stop.
if seconds is not None:
time.sleep(seconds)
self.stop()
def __init__(self, addr=0x6f, left_id=3, stop_at_exit=True):
"""Create an instance of the robot. Can specify the following optional
parameters:
- addr: The I2C address of the motor HAT, default is 0x60.
- left_id: The ID of the left motor, hard-coded to motor 3.
- stop_at_exit: Boolean to indicate if the motors should stop on program
exit. Default is True (highly recommended to keep this
value to prevent damage to the bot on program crash!).
"""
# Initialize motor HAT and left, right motor.
self._mh = Raspi_MotorHAT(addr)
self._left = self._mh.getMotor(left_id)
# Start with motors turned off.
self._left.run(Raspi_MotorHAT.RELEASE)
# Configure all motors to stop at program exit if desired.
if stop_at_exit:
atexit.register(self.stop)
def __init__(self, addr=0x6f, right_id=4, stop_at_exit=True):
"""Create an instance of the canon. Can specify the following optional
parameters:
- addr: The I2C address of the motor HAT, default is 0x60.
- right_id: The ID of the right motor, hard-coded to motor 4.
- stop_at_exit: Boolean to indicate if the motors should stop on program
exit. Default is True (highly recommended to keep this
value to prevent damage to the bot on program crash!).
This controls the plunger motor forward/backward motion
that pushes the darts into the canon bore
"""
# Initialize motor HAT and left, right motor.
self._mh = Raspi_MotorHAT(addr)
self._right = self._mh.getMotor(right_id)
# Start with motors turned off.
self._right.run(Raspi_MotorHAT.RELEASE)
# Configure all motors to stop at program exit if desired.
if stop_at_exit:
atexit.register(self.stop)
def run(self):
self.db = QtSql.QSqlDatabase.addDatabase('QMYSQL')
self.db.setHostName("3.34.124.67")
self.db.setDatabaseName("16_3")
self.db.setUserName("16_3")
self.db.setPassword("1234")
ok = self.db.open()
print(ok)
if ok == False : return
self.mh = Raspi_MotorHAT(addr=0x6f)
self.myMotor = self.mh.getMotor(1)
self.pwm = PWM(0x6F)
self.pwm.setPWMFreq(60)
self.sense = SenseHat(1)
while True:
time.sleep(0.1)
self.getQuery()
self.setQuery()
class Robot(object):
def __init__(self, motorhat_addr=0x6f):
# Setup the motorhat with the passed in address
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
# get local variable for each motor
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
# ensure the motors get stopped when the code exits
atexit.register(self.stop_motors)
def convert_speed(self, speed):
# Choose the running mode
mode = Raspi_MotorHAT.RELEASE
if speed > 0:
mode = Raspi_MotorHAT.FORWARD
elif speed < 0:
mode = Raspi_MotorHAT.BACKWARD
# Scale the speed
output_speed = (abs(speed) * 255) / 100
return mode, int(output_speed)
def set_left(self, speed):
mode, output_speed = self.convert_speed(speed)
self.left_motor.setSpeed(output_speed)
self.left_motor.run(mode)
def set_right(self, speed):
mode, output_speed = self.convert_speed(speed)
self.right_motor.setSpeed(output_speed)
self.right_motor.run(mode)
def stop_motors(self):
self.left_motor.run(Raspi_MotorHAT.RELEASE)
self.right_motor.run(Raspi_MotorHAT.RELEASE)
def __init__(self):
# 모터 설정
self.mh = Raspi_MotorHAT(addr=0x6f)
self.dcMotor = self.mh.getMotor(3) # M3단자에 모터 연결
self.speed = 125 # 기본 속도 0~255
self.dcMotor.setSpeed(self.speed)
# 서보 설정
self.servo = self.mh._pwm
self.servo.setPWMFreq(50)
# init constant
# jahong
self.MIDPWM = 375
self.MINPWM = 140
self.MAXPWM = 450
#self.MAXANGLE = 60
# angle
self.cur_pwm = self.MIDPWM
self.servo.setPWM(0, 0, self.MIDPWM)
# status
self.status = "stop"
print("car init")
from Raspi_MotorHAT import Raspi_MotorHAT import time servoMin= 70 servoMax= 120 mh = Raspi_MotorHAT(0x6F) # motor-HAT i2c주소 myMotor = mh.getMotor(3) myMotor.setSpeed(150) #myMotor.run() myMotor.run(Raspi_MotorHAT.FORWARD) servo = mh._pwm # pwm frequency 설정하기 서보컨트롤에서는 50Hz 혹은 60Hz가 일반적이다. (여기에서는 60Hz 사용.) servo.setPWMFreq(60) while(True): servo.setPWM(0, 4096, 0) time.sleep(1) servo.setPWM(0, 0, 4096) time.sleep(1)
from Raspi_MotorHAT import Raspi_MotorHAT
#import keyboard
mh = Raspi_MotorHAT(addr=0x6f)
lmotor = mh.getMotor(1)
rmotor = mh.getMotor(2)
# lmotor.run(Raspi_MotorHAT.FORWARD)
# loopend = True
def driveBot(buttonInput):
if buttonInput == "w":
lmotor.run(Raspi_MotorHAT.BACKWARD)
rmotor.run(Raspi_MotorHAT.FORWARD)
lmotor.setSpeed(100)
rmotor.setSpeed(100)
elif buttonInput == "s":
lmotor.run(Raspi_MotorHAT.FORWARD)
rmotor.run(Raspi_MotorHAT.BACKWARD)
lmotor.setSpeed(100)
rmotor.setSpeed(100)
elif buttonInput == "a":
lmotor.run(Raspi_MotorHAT.BACKWARD)
rmotor.run(Raspi_MotorHAT.BACKWARD)
lmotor.setSpeed(100)
rmotor.setSpeed(100)
elif buttonInput == "d":
lmotor.run(Raspi_MotorHAT.FORWARD)
rmotor.run(Raspi_MotorHAT.FORWARD)
lmotor.setSpeed(100)
# day2_car.py
from Raspi_MotorHAT import Raspi_MotorHAT, Raspi_DCMotor
from PyQt5 import QtSql
from PyQt5.QtCore import *
from sense_hat import sense_hat
from time import sleep
from pyowm import OWM
owm = OWM("22f81e736830f16039f7dbf55aeec7f7")
mgr = owm.weather_manager()
obs = mgr.weather_at_place('Seoul')
mh = Raspi_MotorHAT(addr=0x6f)
dcMotor = mh.getMotor(3)
speed = 80
dcMotor.setSpeed(speed)
servo = mh._pwm
servo.setPWMFreq(60)
sense = sense_hat.SenseHat()
w = [150, 150, 150]
b = [0, 0, 255]
e = [0, 0, 0]
image = []
def go():
global image
global sense
image = [
e, e, e, b, e, e, e, e, e, e, e, b, e, e, e, e, e, e, e, b, e, e, e, e,
#!/usr/bin/python
#import Raspi_MotorHAT, Raspi_DCMotor, Raspi_Stepper
from Raspi_MotorHAT import Raspi_MotorHAT, Raspi_DCMotor, Raspi_StepperMotor
import time
import atexit
# create a default object, no changes to I2C address or frequency
mh = Raspi_MotorHAT(0x6F)
# recommended for auto-disabling motors on shutdown!
def turnOffMotors():
mh.getMotor(1).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(2).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(3).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(4).run(Raspi_MotorHAT.RELEASE)
atexit.register(turnOffMotors)
myStepper = mh.getStepper(200, 1) # 200 steps/rev, motor port #1
myStepper.setSpeed(30) # 30 RPM
while (True):
print("Single coil steps")
myStepper.step(200, Raspi_MotorHAT.FORWARD, Raspi_MotorHAT.SINGLE)
myStepper.step(200, Raspi_MotorHAT.FORWARD, Raspi_MotorHAT.SINGLE)
myStepper.step(100, Raspi_MotorHAT.FORWARD, Raspi_MotorHAT.SINGLE)
myStepper.step(200, Raspi_MotorHAT.BACKWARD, Raspi_MotorHAT.SINGLE)
myStepper.step(100, Raspi_MotorHAT.FORWARD, Raspi_MotorHAT.SINGLE)
myStepper.step(300, Raspi_MotorHAT.FORWARD, Raspi_MotorHAT.SINGLE)
myStepper.step(100, Raspi_MotorHAT.BACKWARD, Raspi_MotorHAT.SINGLE)
class Robot(object):
def __init__(self, addr=0x6f, left_id=2, right_id=3, left_trim=0, right_trim=0,
stop_at_exit=True):
"""Create an instance of the robot. Can specify the following optional
parameters:
- addr: The I2C address of the motor HAT, default is 0x6f.
- left_id: The ID of the left motor, default is 3.
- right_id: The ID of the right motor, default is 2.
- left_trim: Amount to offset the speed of the left motor, can be positive
or negative and use useful for matching the speed of both
motors. Default is 0.
- right_trim: Amount to offset the speed of the right motor (see above).
- stop_at_exit: Boolean to indicate if the motors should stop on program
exit. Default is True (highly recommended to keep this
value to prevent damage to the bot on program crash!).
"""
# Initialize motor HAT and left, right motor.
self._mh = Raspi_MotorHAT(addr)
self._left = self._mh.getMotor(left_id)
self._right = self._mh.getMotor(right_id)
self._left_trim = int(left_trim)
self._right_trim = int(right_trim)
# Start with motors turned off.
self._left.run(Raspi_MotorHAT.RELEASE)
self._right.run(Raspi_MotorHAT.RELEASE)
# Configure all motors to stop at program exit if desired.
if stop_at_exit:
atexit.register(self.stop)
def _left_speed(self, speed):
"""Set the speed of the left motor, taking into account its trim offset.
"""
assert 0 <= speed <= 255, 'Speed %d must be a value between 0 to 255 inclusive!' % speed
speed += self._left_trim
speed = max(0, min(255, speed)) # Constrain speed to 0-255 after trimming.
self._left.setSpeed(speed)
def _right_speed(self, speed):
"""Set the speed of the right motor, taking into account its trim offset.
"""
assert 0 <= speed <= 255, 'Speed %d must be a value between 0 to 255 inclusive!' % speed
speed += self._right_trim
speed = max(0, min(255, speed)) # Constrain speed to 0-255 after trimming.
self._right.setSpeed(speed)
def stop(self):
"""Stop all movement."""
self._left.run(Raspi_MotorHAT.RELEASE)
self._right.run(Raspi_MotorHAT.RELEASE)
def right(self, speed_percent):
"""Drive right motor at speed_percent"""
# Set motor speed and move both forward.
dir = Raspi_MotorHAT.FORWARD if speed_percent >= 0 else Raspi_MotorHAT.BACKWARD
self._right.run(dir)
self._right_speed(max(0, min(100, int(abs(speed_percent) * 255 / 100))))
def left(self, speed_percent):
"""Drive left motor at speed_percent"""
# Set motor speed and move both forward.
dir = Raspi_MotorHAT.FORWARD if speed_percent >= 0 else Raspi_MotorHAT.BACKWARD
self._left.run(dir)
self._left_speed(max(0, min(100, int(abs(speed_percent) * 255 / 100))))
SWmaster = 33
SW1 = 29
SW2 = 31
SW3 = 36
SW4 = 37
SW = [0, SW1, SW2, SW3, SW4]
LED_list = [LED1r, LED1g, LED2r, LED2g, LED3r, LED3g, LED4r, LED4g]
switch_list = [SWmaster, SW1, SW2, SW3, SW4]
for i in LED_list:
GPIO.setup(i, GPIO.OUT)
for i in switch_list:
GPIO.setup(i, GPIO.IN)
# create a default object, no changes to I2C address or frequency
mh = Raspi_MotorHAT(addr=0x6f)
# recommended for auto-disabling motors on shutdown!
def turnOffMotors():
mh.getMotor(1).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(2).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(3).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(4).run(Raspi_MotorHAT.RELEASE)
GPIO.output(LED1r, 0)
GPIO.output(LED2r, 0)
GPIO.output(LED3r, 0)
GPIO.output(LED4r, 0)
GPIO.output(LED1g, 0)
GPIO.output(LED2g, 0)
GPIO.output(LED3g, 0)
GPIO.setup(i, GPIO.OUT)
# Switches not yet implemented...
# SWmaster = 33
# SW1 = 29
# SW2 = 31
# SW3 = 36
# SW4 = 37
# SW = [ 0, SW1, SW2, SW3, SW4 ]
# switch_list = [SWmaster, SW1, SW2, SW3, SW4]
# for i in switch_list:
# GPIO.setup(i, GPIO.IN)
# create a default object, no changes to I2C address or frequency
mh = Raspi_MotorHAT(addr=0x6f)
# recommended for auto-disabling motors on shutdown!
def turnOffMotors():
for i in range(1, 4):
mh.getMotor(i).run(Raspi_MotorHAT.RELEASE)
GPIO.output(LEDr[i], 1)
GPIO.output(LEDg[i], 0)
MOTORS = 4
MOTOR_SEGMENTS = 4
MOTOR_SPEED = [0, 28, 15, 15, 28]
MOTOR_DURATION = [0, 10, 10, 10, 10.5]
# MOTOR_DELAY = [ 0, 5, 5, 5, 5 ] # This took 03:55.06, so add 56:04 / 16 = 210.5.
#!/usr/bin/python
from Raspi_MotorHAT import Raspi_MotorHAT, Raspi_DCMotor
import time
import atexit
# create a default object, no changes to I2C address or frequency
mh = Raspi_MotorHAT(addr=0x6f)
# recommended for auto-disabling motors on shutdown!
def turnOffMotors():
mh.getMotor(1).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(2).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(3).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(4).run(Raspi_MotorHAT.RELEASE)
atexit.register(turnOffMotors)
################################# DC motor test!
#myMotor = mh.getMotor(3)
FL = mh.getMotor(3)
FR = mh.getMotor(4)
BL = mh.getMotor(1)
BR = mh.getMotor(2)
# set the speed to start, from 0 (off) to 255 (max speed)
#myMotor.setSpeed(150)
#myMotor.run(Raspi_MotorHAT.FORWARD);
#!/usr/bin/python
from Raspi_MotorHAT import Raspi_MotorHAT, Raspi_DCMotor
import time
import atexit
# create a default object, no changes to I2C address or frequency
mh = Raspi_MotorHAT(addr=0x6f)
# recommended for auto-disabling motors on shutdown!
def turnOffMotors():
mh.getMotor(1).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(2).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(3).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(4).run(Raspi_MotorHAT.RELEASE)
atexit.register(turnOffMotors)
################################# DC motor test!
myMotor = mh.getMotor(3)
# set the speed to start, from 0 (off) to 255 (max speed)
myMotor.setSpeed(150)
myMotor.run(Raspi_MotorHAT.FORWARD)
# turn on motor
myMotor.run(Raspi_MotorHAT.RELEASE)
while True:
print "Forward! "
#!/usr/bin/python
from Raspi_MotorHAT import Raspi_MotorHAT, Raspi_DCMotor
import time
import atexit
# create a default object, no changes to I2C address or frequency
mh = Raspi_MotorHAT(addr=0x6f)
# recommended for auto-disabling motors on shutdown!
def turnOffMotors():
mh.getMotor(1).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(2).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(3).run(Raspi_MotorHAT.RELEASE)
mh.getMotor(4).run(Raspi_MotorHAT.RELEASE)
atexit.register(turnOffMotors)
################################# DC motor test!
# Motors are stupidly numbered from 1. These numbers match the
# numbers printed on the board: M1 M2 M3 M4.
myMotor = mh.getMotor(3)
# set the speed to start, from 0 (off) to 255 (max speed)
myMotor.setSpeed(150)
myMotor.run(Raspi_MotorHAT.FORWARD)
# turn on motor
myMotor.run(Raspi_MotorHAT.RELEASE)
class Robot(object):
wheel_diameter_mm = 69.0
ticks_per_revolution = 40.0
wheel_distance_mm = 140.0
def __init__(self, motorhat_addr=0x6f, drive_enabled=True):
# Setup the motorhat with the passed in address
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
# get local variable for each motor
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
self.drive_enabled = drive_enabled
# ensure the motors get stopped when the code exits
atexit.register(self.stop_all)
# Setup the line sensors
self.left_line_sensor = LineSensor(23, queue_len=3, pull_up=True)
self.right_line_sensor = LineSensor(16, queue_len=3, pull_up=True)
# Setup The Distance Sensors
self.left_distance_sensor = DistanceSensor(17, 27)
self.right_distance_sensor = DistanceSensor(5, 6)
# Setup the Encoders
EncoderCounter.set_constants(self.wheel_diameter_mm,
self.ticks_per_revolution)
self.left_encoder = EncoderCounter(4)
self.right_encoder = EncoderCounter(26)
# Setup the Leds
self.leds = leds_8_apa102c.Leds()
# Set up servo motors for pan and tilt.
self.servos = Servos(addr=motorhat_addr)
def stop_all(self):
self.stop_motors()
# Clear any sensor handlers
self.left_line_sensor.when_line = None
self.left_line_sensor.when_no_line = None
self.right_line_sensor.when_line = None
self.right_line_sensor.when_no_line = None
self.left_encoder.stop()
self.right_encoder.stop()
# Clear the display
self.leds.clear()
self.leds.show()
# Reset the servos
self.servos.stop_all()
def convert_speed(self, speed):
mode = Raspi_MotorHAT.RELEASE
if speed > 0:
mode = Raspi_MotorHAT.FORWARD
elif speed < 0:
mode = Raspi_MotorHAT.BACKWARD
output_speed = (abs(speed) * 255) / 100
return mode, output_speed
def set_left(self, speed):
if not self.drive_enabled:
return
mode, output_speed = self.convert_speed(speed)
self.left_motor.setSpeed(output_speed)
self.left_motor.run(mode)
def set_right(self, speed):
if not self.drive_enabled:
return
mode, output_speed = self.convert_speed(speed)
self.right_motor.setSpeed(output_speed)
self.right_motor.run(mode)
def stop_motors(self):
self.left_motor.run(Raspi_MotorHAT.RELEASE)
self.right_motor.run(Raspi_MotorHAT.RELEASE)
def set_pan(self, angle):
self.servos.set_servo_angle(1, angle)
def set_tilt(self, angle):
self.servos.set_servo_angle(0, angle)