def transmit_data(data):
line = DigitalOutputDevice(17)
start_time = time_ns() / 1e9
i = 0
while i < len(data):
entry = data[i]
time = entry['time']
if time_ns() / 1e9 - start_time > time:
line.value = entry['signal']
i = i + 1
line.value = 0
cv2.circle(frame, (x, y), 5, (75, 13, 180), -1)
# If object is in inside box, increment inside counter variable
if ((x > TL_inside[0]) and (x < BR_inside[0])
and (y > TL_inside[1]) and (y < BR_inside[1])):
inside_counter = inside_counter + 1
if inside_counter > 3: ##within box for two seconds
detected_inside = True
inside_counter = 0
# Pause pet detection by setting "pause" flag
pause = 1
if pause == 1:
if detected_inside == True: #activating motor
forward.value = True
reverse.value = False
drive.value = 1.0
sleep(5)
forward.value = False
reverse.value = False
drive.value = 0.0
sleep(.5)
forward.value = False
reverse.value = True
drive.value = 1.0
sleep(5)
forward.value = False
reverse.value = False
drive.value = 0.0
cv2.putText(frame, 'WHEELCHAIR',
value = 0.4425 # Change this value as well!
dac.normalized_value = value
try:
leftStickCenter = None
while leftStickCenter == None:
events = get_gamepad()
for event in events:
if event.code == "ABS_X":
leftStickCenter = event.state
while True:
events = get_gamepad()
for event in events:
if event.code == "BTN_WEST":
reverse.value = event.state
if event.code == "ABS_X":
steeringInput = event.state - leftStickCenter
steeringNormalized = steeringInput / 16384
setSteering(steeringNormalized)
elif event.code == "ABS_RZ":
throttleInput = event.state
throttleNormalized = throttleInput / 2047 # 1535 1/2 speed, 2047 1/4 speed, 1023 full speed (This adjusts the sensitivity)
setThrottle(throttleNormalized)
except:
dac.normalized_value = 0
reverse.off()
print("WARNING: AN EXCEPTION OCCURRED. MOTOR HAS BEEN SHUT OFF AND SCRIPT WILL EXIT.")
idleHSI = temp['hsi']
elif t == topics[0][0]:
global mainLight # needed to merge data into stream
mainLight = isON(msg) # save new light command
client.on_message = on_message
light = DigitalOutputDevice(4) # define GPIO pin for control relay
strip = RGBLED(13, 6, 5) # define GPIO pins for led strip
strip_color = HSI_LED()
connected = hollaBroker() # is broker found
while connected:
try:
sec = time.monotonic()
if (int(sec) % 2 == 0):
client.loop_start()
isListening = True
offTime = sec + 1.5
elif (sec >= offTime and isListening):
client.loop_stop()
strip_color.tick()
strip.value = (strip_color.rgb[0], strip_color.rgb[1],strip_color.rgb[2])
light.value = mainLight
except KeyboardInterrupt:
client.disconnect()
client.loop_stop()
break
#time.sleep(0.5)
#end client connected loop
from gpiozero import Motor
import time
import math
STBY = 19
MOTOR_A_PWM = 12
MOTOR_A_FORWARD = 5
MOTOR_A_REVERSE = 6
MOTOR_B_PWM = 13
MOTOR_B_FORWARD = 20
MOTOR_B_REVERSE = 16
stby = DigitalOutputDevice(STBY)
stby.value = True
motorA = Motor(MOTOR_A_FORWARD, MOTOR_A_REVERSE, pwm=False)
driveA = PWMOutputDevice(MOTOR_A_PWM,
active_high=True,
initial_value=0,
frequency=1000)
motorB = Motor(MOTOR_B_FORWARD, MOTOR_B_REVERSE, pwm=False)
driveB = PWMOutputDevice(MOTOR_B_PWM,
active_high=True,
initial_value=0,
frequency=1000)
def get_devices(m):
if m == "a":
def run(window, device, host, port):
run_window = window
factory = PiGPIOFactory(host=host, port=port)
if device in (N_DigitalOutputDevice, N_LED, N_Buzzer):
run_window.Layout(led_layout())
switch = False
device_open = False
while True:
event, values = run_window.read()
if event == '-pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-open-':
if not device_open:
if values['-pin-'] == 'Select pin':
sg.popup_no_titlebar("Select your pin!")
continue
else:
d = DigitalOutputDevice(values['-pin-'], pin_factory=factory)
device_open = True
run_window['-open-'].update(image_data=icon_close)
else:
device_open = False
switch = False
run_window['-open-'].update(image_data=icon_open)
run_window['-switch-'].update(image_data=icon_switch_off)
d.close()
if event == '-switch-':
if device_open:
switch = not switch
run_window['-switch-'].update(image_data=icon_switch_on if switch else icon_switch_off)
d.on() if switch else d.off()
else:
sg.popup_no_titlebar("Open device first!")
if event in (sg.WIN_CLOSED, 'Exit'):
break
elif device in (N_PWMOutputDevice, N_PWMLED):
run_window.Layout(pwmled_layout())
device_open = False
while True:
event, values = run_window.read()
if event in (sg.WIN_CLOSED, 'Exit'):
break
# if not exit-event, get param
cycle = 0 if str(values['-cycle-']).startswith('Select') else values['-cycle-']
frequency = 100 if values['-frequency-'].startswith('Select') else int(
values['-frequency-'].replace('Hz', ''))
if event == '-pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-frequency-':
if device_open:
d.frequency = frequency
if event == '-cycle-':
if device_open:
d.value = cycle
if event == '-open-':
if not device_open:
if values['-pin-'] == 'Select pin':
sg.popup_no_titlebar("Select your pin!")
continue
else:
d = PWMOutputDevice(values['-pin-'], initial_value=cycle, frequency=frequency,
pin_factory=factory)
device_open = True
run_window['-open-'].update(image_data=icon_close)
else:
device_open = False
d.close()
run_window['-open-'].update(image_data=icon_open)
if event == '-pulse-':
if device_open:
d.pulse()
else:
sg.popup_no_titlebar("Open device first!")
elif device == N_Servo:
run_window.Layout(servo_layout())
device_open = False
while True:
event, values = run_window.read()
if event in (sg.WIN_CLOSED, 'Exit'):
break
value = 0 if str(values['-value-']).startswith('Select') else values['-value-']
min_pulse_width = (1 if values['-min_pulse_width-'].startswith('Select') else float(
values['-min_pulse_width-'].replace('ms', ''))) / 1000
max_pulse_width = (2 if values['-max_pulse_width-'].startswith('Select') else float(
values['-max_pulse_width-'].replace('ms', ''))) / 1000
if event == '-pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-value-':
if device_open:
d.value = value
if event in ('-min_pulse_width-', '-max_pulse_width-'):
if device_open:
sg.popup_no_titlebar('Pulse-width param only work before open!')
if event == '-open-':
if not device_open:
if values['-pin-'] == 'Select pin':
sg.popup_no_titlebar("Select your pin!")
continue
else:
d = Servo(values['-pin-'], initial_value=value, min_pulse_width=min_pulse_width,
max_pulse_width=max_pulse_width, pin_factory=factory)
device_open = True
run_window['-open-'].update(image_data=icon_close)
else:
device_open = False
d.close()
run_window['-open-'].update(image_data=icon_open)
elif device == N_AngularServo:
run_window.Layout(angularservo_layout())
device_open = False
while True:
event, values = run_window.read()
if event in (sg.WIN_CLOSED, 'Exit'):
break
angle = 0 if str(values['-angle-']).startswith('Select') else values['-angle-']
min_angle = -90 if str(values['-min_angle-']).startswith('Select') else values['-min_angle-']
max_angle = 90 if str(values['-max_angle-']).startswith('Select') else values['-max_angle-']
min_pulse_width = (1 if values['-min_pulse_width-'].startswith('Select') else float(
values['-min_pulse_width-'].replace('ms', ''))) / 1000
max_pulse_width = (2 if values['-max_pulse_width-'].startswith('Select') else float(
values['-max_pulse_width-'].replace('ms', ''))) / 1000
if event == '-pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-angle-':
if device_open:
d.angle = angle
if event in ('-min_pulse_width-', '-max_pulse_width-', '-min_angle-', '-max_angle-'):
if device_open:
sg.popup_no_titlebar('Pulse-width param only work before open!')
if event == '-open-':
if not device_open:
if values['-pin-'] == 'Select pin':
sg.popup_no_titlebar("Select your pin!")
continue
else:
d = AngularServo(values['-pin-'], initial_angle=angle, min_angle=min_angle, max_angle=max_angle,
min_pulse_width=min_pulse_width,
max_pulse_width=max_pulse_width, pin_factory=factory)
device_open = True
run_window['-open-'].update(image_data=icon_close)
else:
device_open = False
d.close()
run_window['-open-'].update(image_data=icon_open)
elif device == N_PhaseEnableMotor:
run_window.Layout(phaseenablemotor_layout())
device_open = False
while True:
event, values = run_window.read()
if event in (sg.WIN_CLOSED, 'Exit'):
break
# if not exit-event, get param
speed = 0 if str(values['-speed-']).startswith('Select') else values['-speed-']
if event == '-direction_pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-speed_pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-speed-':
if device_open:
d.value = speed
if event == '-open-':
if not device_open:
select = 'Select direction pin'
if values['-direction_pin-'] == select or values['-speed_pin-'] == select:
sg.popup_no_titlebar("Select your pin!")
continue
else:
d = PhaseEnableMotor(phase=values['-direction_pin-'], enable=values['-speed_pin-'],
pin_factory=factory)
d.value = 0
device_open = True
run_window['-open-'].update(image_data=icon_close)
else:
device_open = False
d.close()
run_window['-open-'].update(image_data=icon_open)
elif device == N_Button:
run_window.Layout(button_layout())
device_open = False
while True:
event, values = run_window.read()
if event in (sg.WIN_CLOSED, 'Exit'):
break
# if not exit-event, get param
if event == '-pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-pull_up-':
if device_open:
sg.popup_no_titlebar('pull-up param only work before open!')
if event == '-test-':
if device_open:
sg.popup_no_titlebar('Now you can test button!')
d.wait_for_press()
sg.popup_no_titlebar('Yuu pressed button!')
d.wait_for_release()
sg.popup_no_titlebar('Yuu released button!')
else:
sg.popup_no_titlebar("Open device first!")
if event == '-open-':
if not device_open:
if values['-pin-'] == 'Select pin':
sg.popup_no_titlebar("Select your pin!")
continue
else:
pull_up = True if str(values['-pull_up-']).startswith('Select') else values['-pull_up-']
d = Button(values['-pin-'], pull_up=pull_up, bounce_time=0.1, pin_factory=factory)
device_open = True
run_window['-open-'].update(image_data=icon_close)
else:
device_open = False
d.close()
run_window['-open-'].update(image_data=icon_open)
elif device in (N_LineSensor, N_MotionSensor, N_LightSensor):
run_window.Layout(linesensor_layout())
device_open = False
while True:
event, values = run_window.read()
if event in (sg.WIN_CLOSED, 'Exit'):
break
if event == '-pin-':
if device_open:
sg.popup_no_titlebar("Close device first!")
if event == '-test-':
if device_open:
sg.popup_no_titlebar('Now you can test sensor!')
d.wait_for_active()
sg.popup_no_titlebar('device now is active!')
d.wait_for_inactive()
sg.popup_no_titlebar('device now is inactive, Test over!')
else:
sg.popup_no_titlebar("Open device first!")
if event == '-open-':
if not device_open:
if values['-pin-'] == 'Select pin':
sg.popup_no_titlebar("Select your pin!")
continue
else:
d = eval(device)(pin=values['-pin-'], pin_factory=factory)
device_open = True
run_window['-open-'].update(image_data=icon_close)
else:
device_open = False
d.close()
run_window['-open-'].update(image_data=icon_open)
slider = Slider(box, end=100, start=-100, grid=[2, 1])
micLab = Text(box, text="Mic", grid=[0, 3])
"""
Auto Components
"""
modeChange()
t = 0
while True:
t += 1
stopLab.clear()
micLab.clear()
v = round(mcp.read_adc(0) * (9.9 / 1023), 2)
s = round(mcp.read_adc(1), 2)
stopLab.append(v)
micLab.append(s)
# io.output(4,1)
speed = slider.value
forwardRight.value = speed >= 0
reverseRight.value = speed < 0
if t % 5 == 0:
print(speed)
driveRight.value = abs((int(slider.value)) / 100)
io.output(12, True)
# time.sleep(.1)
io.output(3, False)
# time.sleep(.1)
app.update()
import time
from gpiozero import DigitalInputDevice, DigitalOutputDevice
# Setup devices, an input device and an output device, with pin numbers for the sensors.
print "Prepare GPIO pins"
# Left sensor
left_trigger = DigitalOutputDevice(17)
left_echo = DigitalInputDevice(27)
left_trigger.value = False
# Right sensor
right_trigger = DigitalOutputDevice(5)
right_echo = DigitalInputDevice(6)
right_trigger.value = False
# wait a little, to iron out spurious responses.
print "Warm up time"
time.sleep(0.5)
def make_measurement(trig_device, echo_device):
"""Function to get the distance measurement"""
# Timeout - we'll use this to stop it getting stuck
time_out = time.time() + 1
# This off-on-off pulse tells the device to make a measurement
trig_device.value = True
time.sleep(0.00001) # This is the 10 microseconds
