def __init__(self, brokerIp=None, brokerPort=1883, topic=None):
self.__brokerIp = brokerIp
self.__brokerPort = brokerPort
self.__topic = topic
# mqtt의 Client 객체 생성
self.__client = mqtt.Client()
# 콜백 함수 설정
self.__client.on_connect = self.__on_connect
self.__client.on_disconnect = self.__on_disconnect
# 메시지를 받았을때 자동을 호출되는 콜백함수
self.__client.on_message = self.__on_message
# 센서 객체 생성
self.rgbLed = RgbLed(redpin=16, greenpin=18, bluepin=22)
self.pca9685 = Pca9685()
self.buzzer = ActiveBuzzer(35)
self.laser = Laser(37)
self.laser2 = Laser(29)
self.sg90direction = Sg90(self.pca9685, channel=15)
self.sg90sensor = Sg90(self.pca9685, channel=14)
self.sg90camera_vertical = Sg90(self.pca9685, channel=13)
self.sg90camera_horizontal = Sg90(
self.pca9685, channel=8) #12번인데 지금 개박살나서 8번으로 비활성화 해놨어요
self.lcd1602 = Lcd1602(0x27)
# 서보모터 각도 고정값
self.camera_angle_vertical = 10
self.camera_angle_horizontal = 70
self.direction_angle = 90
self.sensor_angle = 70
def __init__(self, brokerIp=None, brokerPort=1883, topic=None):
self.__brokerIp = brokerIp
self.__brokerPort = brokerPort
self.__topic = topic
self.__client = mqtt.Client()
self.__client.on_connect = self.__on_connect
self.__client.on_disconnect = self.__on_disconnect
self.__client.on_message = self.__on_message
self.pca9685 = Pca9685()
self.dcMotorL = DCMotor(IN1=11, IN2=12, pca9685=self.pca9685, pwm=5)
self.dcMotorR = DCMotor(IN1=13, IN2=15, pca9685=self.pca9685, pwm=4)
self.sg90direction = Sg90(self.pca9685, channel=15)
self.sg90sensor = Sg90(self.pca9685, channel=14)
self.sg90camera_vertical = Sg90(self.pca9685, channel=13)
self.sg90camera_horizontal = Sg90(self.pca9685, channel=8)
# 속도 정보가 저장되는 싱글톤 객체 생성
self.singletonSpeed = SingletonSpeed()
# 모터의 기본 속도 정의
self.motorspeed = 0
self.camera_angle_vertical = 10
self.camera_angle_horizontal = 70
self.direction_angle = 90
self.sensor_angle = 70
self.laser1 = Laser(37)
self.laser2 = Laser(29)
self.buzzer = ActiveBuzzer(35)
self.rgbLed = RgbLed(redpin=16, greenpin=18, bluepin=22)
self.checkStatus = False
def __init__(self, trigpin=None, echopin=None):
self.__trigpin = trigpin
self.__echopin = echopin
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
GPIO.setup(trigpin, GPIO.OUT)
GPIO.setup(echopin, GPIO.IN)
self.buzzer = ActiveBuzzer(35)
def __init__(self):
self.pcf8591 = Pcf8591(0x48)
self.pca9685 = Pca9685()
self.buzzer = ActiveBuzzer(35)
self.dcmotor = DcMotor(self.pca9685)
self.gas = Gas(self.pcf8591, ain=2) # 클래스 생성자에서 스레드 생성
self.hcsr = HcSr04(trigpin=40, echopin=38) # 클래스 생성자에서 스레드 생성
self.laser = Laser(37)
self.photo = Photoresistor(self.pcf8591, 0) # 클래스 생성자에서 스레드 생성
self.led = RgbLed(redpin=16, greenpin=18, bluepin=22)
self.servo1 = Sg90(self.pca9685, 0) # 카메라 서보1
self.servo2 = Sg90(self.pca9685, 1) # 카메라 서보2
self.servo3 = Sg90(self.pca9685, 8) # 초음파 서보
self.servo4 = Sg90(self.pca9685, 9) # 앞바퀴 서보
self.thermistor = Thermistor(self.pcf8591, 1) # 클래스 생성자에서 스레드 생성
self.tracker = Tracker(32) # 클래스 생성자에서 스레드 생성
self.lcd = Lcd1602(0x27)
def __init__(self, pcf8591, ain):
self.__pcf8591 = pcf8591
self.__ain = ain
self.buzzer = ActiveBuzzer(35)
self.rgbLed = RgbLed(redpin=16)
class Gas:
def __init__(self, pcf8591, ain):
self.__pcf8591 = pcf8591
self.__ain = ain
self.buzzer = ActiveBuzzer(35)
self.rgbLed = RgbLed(redpin=16)
def read(self):
value = self.__pcf8591.read(self.__ain)
if value > 205:
self.buzzer.on()
self.rgbLed.red()
else:
self.buzzer.off()
self.rgbLed.off()
return value
if __name__ == '__main__':
try:
pcf8591 = Pcf8591(0x48)
gas = Gas(pcf8591, ain=2)
buzzer = ActiveBuzzer(35)
led = RgbLed(redpin=16)
while True:
value = gas.read()
print('value: {}'.format(value))
time.sleep(1)
finally:
print('Program Exit')