def connect(self):
self.connection = nanpy.SerialManager(device=self.DEVICE)
self.arduino = nanpy.ArduinoApi(connection=self.connection)
a = self.arduino
a.pinMode(self.PIN_LED, a.OUTPUT)
a.pinMode(self.PIN_SWITCH, a.INPUT)
self.connected = True
def __init__(self):
"""
initialize pins as motor outputs
"""
self.DB1 = rospy.get_param('DB1') # Driver Board #1 INH
self.M1 = rospy.get_param('M1') # DB #1 IN1 & IN2
self.M2 = rospy.get_param('M2') # DB #1 IN3 & IN4
self.DB2 = rospy.get_param('DB2') # DB #2 INH
self.M3 = rospy.get_param('M3') # DB #2 IN1 & IN2
self.M4 = rospy.get_param('M4') # DB #2 IN3 & IN4
self.turbo = False # turbo mode
self.arch = os.environ['ARCHITECTURE']
if self.arch == 'raspi':
GPIO.setmode(GPIO.BOARD) # use RasPi pin numbers
GPIO.setwarnings(False) # don't show setup warnings
# set pins as outputs and initialize to False/Low
GPIO.setup(self.DB1, GPIO.OUT, initial=False)
GPIO.setup(self.M1, GPIO.OUT, initial=False)
GPIO.setup(self.M2, GPIO.OUT, initial=False)
GPIO.setup(self.DB2, GPIO.OUT, initial=False)
GPIO.setup(self.M3, GPIO.OUT, initial=False)
GPIO.setup(self.M4, GPIO.OUT, initial=False)
# setup all pwm outputs
self.frequency = 500.0 # pwm frequency
self.PWM_M1 = GPIO.PWM(self.M1, self.frequency)
self.PWM_M1.start(0.0)
self.PWM_M2 = GPIO.PWM(self.M2, self.frequency)
self.PWM_M2.start(0.0)
self.PWM_M3 = GPIO.PWM(self.M3, self.frequency)
self.PWM_M3.start(0.0)
self.PWM_M4 = GPIO.PWM(self.M4, self.frequency)
self.PWM_M4.start(0.0)
else:
no_connection = True
while no_connection:
try:
connection = nanpy.SerialManager()
self.a = nanpy.ArduinoApi(connection=connection)
no_connection = False
except:
print("Failed to connect to Arduino")
self.a.pinMode(self.DB1, self.a.OUTPUT)
self.a.pinMode(self.M1, self.a.OUTPUT)
self.a.pinMode(self.M2, self.a.OUTPUT)
self.a.pinMode(self.DB2, self.a.OUTPUT)
self.a.pinMode(self.M3, self.a.OUTPUT)
self.a.pinMode(self.M4, self.a.OUTPUT)
def find_arduino():
import glob
# Find /dev/cu.usbmodem* using the glob module:
ports = glob.glob('/dev/cu.usbmodem*')
if len(ports) == 1:
import nanpy
return nanpy.ArduinoApi(connection=nanpy.SerialManager(device=ports[0]))
if len(ports) == 0:
rumps.notification(title='On Air',
subtitle='Error detecting Arduino',
message='No Arduino device detected (plugged in?)')
else:
rumps.notification(title='On Air',
subtitle='Error detecting Arduino',
message='Multiple devices detected')
import nanpy
import time
print("CONNECT")
# Initialise connection
# connection = nanpy.SerialManager(device="/dev/ttyUSB0")
connection = nanpy.SerialManager(device="/dev/ttyUSB0")
arduino = nanpy.ArduinoApi(connection=connection)
# Define pin's
D0 = 0 # D0/RX - PD0
D1 = 1 # D1/TX - PD1
D2 = 2 # D2 - PD2
D3 = 3 # D3 - PD3
D4 = 4 # D4 - PD4
D5 = 5 # D5 - PD5
D6 = 6 # D6 - PD6
D7 = 7 # D7 - PD7
D8 = 8 # D8 - PB0
D9 = 9 # D9 - PB1
D10 = 10 # D10 - PB2
D11 = 11 # D11 - PB3
D12 = 12 # D12 - PB4
D13 = 13 # D13 - PB5
A0 = 14 # D14 - A0 - PC0 - ADC[0]
A1 = 15 # D15 - A1 - PC1 - ADC[1]
A2 = 16 # D16 - A2 - PC2 - ADC[2]
A3 = 17 # D17 - A3 - PC3 - ADC[3]
A4 = 18 # D18 - A4 - PC4 - ADC[4] - SDA