def stop():
print "EXECUTING STOP"
Arduino.analogWrite(SPEED_B_PIN, 0)
Arduino.analogWrite(SPEED_A_PIN, 0)
Arduino.analogWrite(LED_PIN_R, 200)
Arduino.analogWrite(LED_PIN_G, 0)
Arduino.analogWrite(LED_PIN_B, 0)
def pirSense(self):
for key in self.unit['pir']:
pin = self.unit['pir'][key]['pin']
Arduino.pinMode(pin, Arduino.INPUT)
self.unit['pir'][key].update(state=Arduino.digitalRead(pin))
def lights():
status = request.json['status']
if status == 'on':
Arduino.digitalWrite(boardconfig.lights_pin, 1)
elif status == 'off':
Arduino.digitalWrite(boardconfig.lights_pin, 0)
else:
return jsonify({ 'error' : 'use status on or off' }), 400
return jsonify({ 'status' : 'success' }), 200
def forward(dist, vel):
"""
Move forward for dist (time) at vel (motor speed)
"""
Arduino.digitalWrite(dirA, Arduino.HIGH)
Arduino.digitalWrite(dirB, Arduino.HIGH)
Arduino.analogWrite(speedA, vel)
Arduino.analogWrite(speedB, vel)
Arduino.delay(dist)
def go_forward():
print "executing go_forward"
speed = 255
direction = 0
Arduino.digitalWrite(DIR_B_PIN, direction)
Arduino.analogWrite(SPEED_B_PIN, speed)
Arduino.digitalWrite(DIR_A_PIN, direction)
Arduino.analogWrite(SPEED_A_PIN, speed)
Arduino.analogWrite(LED_PIN_G, 155)
def reverse(dist, vel):
"""
Move backwards for dist (time) at vel (motor speed)
"""
Arduino.digitalWrite(dirA, Arduino.LOW)
Arduino.digitalWrite(dirB, Arduino.LOW)
Arduino.analogWrite(speedA, vel)
Arduino.analogWrite(speedB, vel)
Arduino.delay(dist)
def lights():
status = request.json['status']
if status == 'on':
Arduino.digitalWrite(boardconfig.lights_pin, 1)
elif status == 'off':
Arduino.digitalWrite(boardconfig.lights_pin, 0)
else:
return jsonify({'error': 'use status on or off'}), 400
return jsonify({'status': 'success'}), 200
def turn_left(angle, vel):
"""
Turns to the left according to angle (delay)
"""
Arduino.digitalWrite(dirA, Arduino.HIGH)
Arduino.digitalWrite(dirB, Arduino.LOW)
Arduino.analogWrite(speedA, vel)
Arduino.analogWrite(speedB, Arduino.LOW)
Arduino.delay(angle)
def arduinoPinwriteoutInd(outpin, PWM_Levelout):
global targetpin
targetpin = outpin
global writeVAR
writeVAR = PWM_Levelout
if USE_FIRMATA:
outpin.write(writeVAR / 255.0)
elif USE_NANPY:
Arduino.analogWrite(targetpin, writeVAR)
def rot_ccw(angle, vel):
"""
Spins to the left according to angle (delay),
then stops the motors
"""
Arduino.digitalWrite(dirA, Arduino.HIGH)
Arduino.digitalWrite(dirB, Arduino.LOW)
Arduino.analogWrite(speedA, vel)
Arduino.analogWrite(speedB, vel)
Arduino.delay(angle)
def read_sensors():
"""
Reads each of the Sharp sensors are returns a list of analog readings
in order: front, right, left, rear
"""
reading = []
for i in [FrontBump, RightBump, LeftBump, RearBump]:
reading.append(Arduino.analogRead(i))
Arduino.delay(1)
return reading
def __fetchAddress(self):
ds_address = self.__ds.search()
if ds_address == "1":
return False
self.__ds.reset()
self.__ds.select(ds_address)
self.__ds.write(0x44, 1)
Arduino.delay(700)
present = self.__ds.reset()
self.__ds.select(ds_address)
self.__ds.write(0xBE)
return True
def go(vel):
"""
Start the motors and keep them running until told otherwise
"""
Arduino.digitalWrite(dirA, Arduino.HIGH)
Arduino.digitalWrite(dirB, Arduino.HIGH)
Arduino.analogWrite(speedA, vel)
Arduino.analogWrite(speedB, vel)
def close_pins():
"""
Close all motor pins to quit cleanly upon end or exception
"""
Arduino.analogWrite(speedA, Arduino.LOW)
Arduino.analogWrite(speedB, Arduino.LOW)
Arduino.digitalWrite(dirA, Arduino.LOW)
Arduino.digitalWrite(dirB, Arduino.LOW)
def get_pots(): """ Grab a reading from each of the pot pins and send it to a tuple to be read by the colour mixer """ r = Arduino.analogRead(pot_r_Pin) / 4 Arduino.delay(1) g = Arduino.analogRead(pot_g_Pin) / 4 Arduino.delay(1) b = Arduino.analogRead(pot_b_Pin) / 4 Arduino.delay(1) return r, g, b
def get_pots(): """ Grab a reading from each of the pot pins and send it to a tuple to be read by the colour mixer """ r = Arduino.analogRead(pot_r_Pin) / 4 Arduino.delay(1) g = Arduino.analogRead(pot_g_Pin) / 4 Arduino.delay(1) b = Arduino.analogRead(pot_b_Pin) / 4 Arduino.delay(1) return r, g, b
def main():
while True:
try:
locked = Arduino.digitalRead(lock)
if locked == 0:
debug()
else:
### Actual Avoider coder starts below ###
if not front_bump():
if not left_bump() and not right_bump():
print "No bump detected - on we go!"
go(200)
if left_bump() and not right_bump():
print "Left bump detected... Turning right"
rot_cw(100, 200)
elif right_bump() and not left_bump():
print "Right bump detected... Turning left"
rot_ccw(100, 200)
elif left_bump() and right_bump():
print "Both left & right bumps detected... Turning round!"
rot_cw(500, 200)
else:
print "Front bump detected... Turning round!"
rot_cw(500, 200)
# avoider code ends above
except KeyboardInterrupt:
close_pins()
print "\nExiting"
quit()
def GET(self):
# x = []
while True:
print "start to get the temperature info....."
while True:
sensorValue = Arduino.analogRead(analogPort)
temperature = (sensorValue / 1023.) * powervoltage * 100
return temperature
def send_updates_to_arduino(batch):
if batch.heat:
Arduino.digitalWrite(ARDUINO_HEAT_PIN, Arduino.HIGH)
else:
Arduino.digitalWrite(ARDUINO_HEAT_PIN, Arduino.LOW)
if batch.cool:
Arduino.digitalWrite(ARDUINO_COOL_PIN, Arduino.HIGH)
else:
Arduino.digitalWrite(ARDUINO_COOL_PIN, Arduino.LOW)
def debug():
"""
If lock switch is in the locked position stop motors and give sensor feedback instead
"""
stop()
reading = read_sensors()
Arduino.delay(5)
if reading[0] > frontTrigger:
print "Front bump detected!"
elif reading[1] > sideTrigger:
print "Right bump detected!"
elif reading[2] > sideTrigger:
print "Left bump detected!"
elif reading[3] > rearTrigger:
print "Rear bump detected!"
else:
print "Front:", reading[0], " | Right:", reading[1], " | Left:", reading[2], " | Rear:", reading[3]
sleep(0.1)
def pwmLcdBacklight(self, newState):
step = 25
if newState < self.unit['lcd'][0]['pwmState']:
step = -step
while self.unit['lcd'][0]['pwmState'] != newState:
self.unit['lcd'][0]['pwmState'] += step
Arduino.analogWrite(self.unit['lcd'][0]['backlightPin'],
self.unit['lcd'][0]['pwmState'])
if (self.unit['lcd'][0]['pwmState'] > 128):
self.unit['lcd'][0]['backlightState'] = True
else:
self.unit['lcd'][0]['backlightState'] = False
def close_pins(): """ Close pins to quit cleanly (doesn't work with a 'for loop' despite the pins happily initialising that way!) """ Arduino.digitalWrite(redPin,Arduino.LOW) Arduino.digitalWrite(greenPin,Arduino.LOW) Arduino.digitalWrite(bluePin,Arduino.LOW)
def close_pins(): """ Close pins to quit cleanly (doesn't work with a 'for loop' despite the pins happily initialising that way!) """ Arduino.digitalWrite(redPin,Arduino.LOW) Arduino.digitalWrite(greenPin,Arduino.LOW) Arduino.digitalWrite(bluePin,Arduino.LOW)
def index(self,request):
json = 0
data = 0
if request.args.get('json', '') == "1":
json = 1
ser = Arduino()
data = self.receiving(ser)
sensorValue = Arduino.analogRead(analogPort)
data= (sensorValue/1023.)*powervoltage*100
print "data = ", data
html = self.showDemoHTML(data,json)
return html
def colour_mixing(): """ Call get_pots() and set the colour pins accordingly """ r, g, b = get_pots() Arduino.analogWrite(redPin, r) Arduino.analogWrite(greenPin, g) Arduino.analogWrite(bluePin, b)
def set_colour(r, g, b): """ simple colour fade for R, G, B. Colours can be set indivdually or mixed automatically by calling the 'get' functions below. """ Arduino.analogWrite(redPin, r) Arduino.analogWrite(greenPin, g) Arduino.analogWrite(bluePin, b)
def colour_mixing():
"""
Call get_pots() and set
the colour pins accordingly
"""
r, g, b = get_pots()
Arduino.analogWrite(redPin, r)
Arduino.analogWrite(greenPin, g)
Arduino.analogWrite(bluePin, b)
def digitalpin(pin_number):
if request.method == 'GET':
Arduino.pinMode(pin_number, Arduino.INPUT)
data = {
'value' : Arduino.digitalRead(pin_number)
}
resp = Response(json.dumps(data), status=200, mimetype='application/json')
return resp
else:
Arduino.pinMode(pin_number, Arduino.OUTPUT)
Arduino.digitalWrite(pin_number, request.json['value'])
resp = Response("", status=200, mimetype='application/json')
return resp
def receiving(self, ser):
print "..recieving...."
global last_received
# data = 0.0
# buffer = ''
# while True:
sensorValue = Arduino.analogRead(analogPort)
data= (sensorValue/1023.)*powervoltage*100
# buffer = buffer + ser.analogRead(analogPort)
# data = temp_demo
# if '\r\n' in buffer:
# print ('Alas...')
print ("temperature=",data)
return data
def phase2():
av = 0
cnt = 0
outputpin = 0
while True:
rawvoltage= Arduino.analogRead(outputpin)
millivolts= float((rawvoltage/1024.0) * 5000.0)
celsius = (millivolts)/10.0
tempf = (celsius * 9)/5 + 32
msgbox('degrees Celsius: {}\n degrees Fahrenheit: {}'.format(celsius, tempf))
lcd.setCursor(0, 0)
lcd.printString(celsius)
lcd.setCursor(0, 1)
lcd.printString(tempf)
time.sleep(10)
def taha(N):
Arduino.pinMode(13, Arduino.OUTPUT)
while True:
Arduino.digitalWrite(13, Arduino.HIGH)
time.sleep(float(N))
Arduino.digitalWrite(13, Arduino.LOW)
time.sleep(float(N))
lcd.setCursor(0, 1)
lcd.printString(N)
print N
def taha(N): Arduino.pinMode(13, Arduino.OUTPUT) while True: Arduino.digitalWrite(13, Arduino.HIGH) time.sleep(float(N)) Arduino.digitalWrite(13, Arduino.LOW) time.sleep(float(N)) lcd.setCursor(0, 1) lcd.printString(N) print N
def getKey(): # Function to Translate the analogRead values from the Keys to a Command
val = Arduino.analogRead(14)
if val == 1023:
return "NONE"
elif val < 100:
return "RIGHT"
elif val < 150:
return "UP"
elif val < 330:
return "DOWN"
elif val < 510:
return "LEFT"
elif val < 750:
return "SEL"
else:
return "KBD_FAULT"
def phase2():
av = 0
cnt = 0
outputpin = 0
while True:
rawvoltage = Arduino.analogRead(outputpin)
millivolts = float((rawvoltage / 1024.0) * 5000.0)
celsius = (millivolts) / 10.0
tempf = (celsius * 9) / 5 + 32
msgbox('degrees Celsius: {}\n degrees Fahrenheit: {}'.format(
celsius, tempf))
lcd.setCursor(0, 0)
lcd.printString(celsius)
lcd.setCursor(0, 1)
lcd.printString(tempf)
time.sleep(10)
def getKey():
val = Arduino.analogRead(14)
if val == 1023:
return "NONE"
elif val < 100:
return "RIGHT"
elif val < 150:
return "UP"
elif val < 330:
return "DOWN"
elif val < 510:
return "LEFT"
elif val < 750:
return "SEL"
else:
return "KBD_FAULT"
def showDemoHTML(self,data,json):
## reads an html file and does things with it
## there are better ways, but they are more complicated
print "....showDemoHTML...."
while True:
sensorValue = Arduino.analogRead(analogPort)
data= (sensorValue/1023.)*powervoltage*100
if json == 1:
f = open(CURRENTDIR +"/json.html")
html = f.read()
html = html.replace("%Temperature%",str(data))
print html
return html
else:
f = open(CURRENTDIR +"/temp.html")
html = f.read()
html = html.replace("%Temperature%",str(data))
print ".....demo....", data
return html
from nanpy import Arduino as A
# setup
A.pinMode(1, A.OUTPUT)
while True:
A.digitalWrite(1, HIGH)
A.delay(400)
A.digitalWrite(1, LOW)
A.delay(400)
from nanpy import Arduino from time import sleep # set LED pin numbers redPin = 3 greenPin = 6 bluePin = 9 # set pot pin numbers pot_r_Pin = 0 pot_g_Pin = 3 pot_b_Pin = 5 #set three coloured pins as outputs for pins in (redPin, greenPin, bluePin): Arduino.pinMode(pins, Arduino.OUTPUT) # set pot pins as inputs for pins in (pot_r_Pin, pot_g_Pin, pot_b_Pin): Arduino.pinMode(pins, Arduino.INPUT) # prints values to the terminal when True debug = False def get_pots(): """ Grab a reading from each of the pot pins and send it to a tuple to be read by the colour mixer """ r = Arduino.analogRead(pot_r_Pin) / 4 Arduino.delay(1)
from nanpy import Arduino
from nanpy import SerialManager
from time import sleep
from Tkinter import *
from tkColorChooser import askcolor
#serial_manager.connect('/dev/ttyS0') # serial connection to Arduino
connection = SerialManager()
a = Arduino(connection=connection)
a.pinMode(5, a.OUTPUT)
a.pinMode(6, a.OUTPUT)
a.pinMode(3, a.OUTPUT)
RLED = 5 # LED on Arduino Pin 10 (with PWM)
GLED = 3
BLED = 6
def setBgColor():
(triple, hexstr) = askcolor()
if hexstr:
print hexstr
print (triple[0], " ", triple[1], " ", triple[2])
a.analogWrite(RLED, triple[0])
a.analogWrite(GLED, triple[1])
a.analogWrite(BLED, triple[2])
push.config(bg=hexstr)
print"Starting"
print"5 blinks"
def led_test(r, g, b):
r_val, g_val, b_val = int(r), int(g), int(b)
Arduino.analogWrite(LED_PIN_R, r_val)
Arduino.analogWrite(LED_PIN_G, g_val)
Arduino.analogWrite(LED_PIN_B, b_val)
return "r:%s, g:%s, b:%s" %(r_val, g_val, b_val)
def go_right():
print "executing go_right"
speed = 255
direction_a = 1
direction_b = 0
Arduino.digitalWrite(DIR_B_PIN, direction_b)
Arduino.analogWrite(SPEED_B_PIN, speed)
Arduino.digitalWrite(DIR_A_PIN, direction_a)
Arduino.analogWrite(SPEED_A_PIN, speed)
Arduino.analogWrite(LED_PIN_R, 0)
Arduino.analogWrite(LED_PIN_G, 0)
Arduino.analogWrite(LED_PIN_B, 155)
from datetime import datetime
from subprocess import *
from time import sleep, strftime
from Queue import Queue
from threading import Thread
import os
from nanpy import Arduino, Lcd
Arduino.pinMode(14, input)
lcd = Lcd([8, 9, 4, 5, 6, 7],
[16, 2]) # Setup the LCD pins for the Sainsmart Shield
lcd.printString("Jess's Web Radio", 0, 0)
lcd.printString("Loading" + "." * 3, 0, 1)
sleep(5)
max_trax = 74
x = 1
loop_menu = 1
loop_radio = 1
def display_ipaddr():
show_wlan0 = "ip addr show wlan0 | cut -d/ -f1 | awk '/inet/ {printf \"w%15.15s\", $2}'"
show_eth0 = "ip addr show eth0 | cut -d/ -f1 | awk '/inet/ {printf \"e%15.15s\", $2}'"
ipaddr = run_cmd(show_eth0)
if ipaddr == "":
ipaddr = run_cmd(show_wlan0)
lcd.printString('IP Address:', 0, 0)
lcd.printString(ipaddr, 0, 1)
sleep(2)
def get_b(): b_val = Arduino.analogRead(pot_b_Pin) / 4 Arduino.delay(1) return b_val
import os
from nanpy import Arduino, Lcd
# Initialize buttons and states
buttonPin = 7
buttonPin2 = 8
buttonState = 0
buttonState2 = 0
# Activate buttons
Arduino.pinMode(buttonPin, input)
Arduino.pinMode(buttonPin2, input)
# Initialize LCD
lcd = Lcd([12, 11, 5, 4, 3, 2], [16, 2])
# Maximum number of stations held in the mpc list
max_trax = 4
# Print station info to LCD
def getTrack():
L = [S.strip('\n') for S in os.popen('mpc').readlines()]
station = L[0][0:15]
track = L[0][-16:-1]
lcd.printString(16 * " ", 0, 0)
lcd.printString(station, 0, 0)
lcd.printString(16 * " ", 0, 1)
lcd.printString(track, 0, 1)
print(L)
print(station)
def get_r(): r_val = Arduino.analogRead(pot_r_Pin) / 4 Arduino.delay(1) return r_val
def get_g(): g_val = Arduino.analogRead(pot_g_Pin) / 4 Arduino.delay(1) return g_val
#!/usr/bin/env python
# Author: Andrea Stagi <*****@*****.**>
# Description: get the current time from a ntp server and show it on a lcd
# Dependencies: ntplib (http://pypi.python.org/pypi/ntplib/)
import ntplib
from nanpy import (Arduino, Lcd)
from datetime import datetime
ntp_client = ntplib.NTPClient()
response = ntp_client.request('europe.pool.ntp.org', version=3)
time = int(response.tx_time)
lcd = Lcd([7, 8, 9, 10, 11, 12], [16, 2])
while (1):
lcd.setCursor(0, 0)
lcd.printString((datetime.fromtimestamp(time)).strftime('%Y-%m-%d'))
if time % 2:
time_format = '%H:%M'
else:
time_format = '%H %M'
lcd.setCursor(0, 1)
lcd.printString((datetime.fromtimestamp(time)).strftime(time_format))
Arduino.delay(1000)
time += 1
#!/usr/bin/env python
# Author: Andrea Stagi <*****@*****.**>
# Description: keeps your led blinking
# Dependencies: None
from nanpy import Arduino
sys.path.append('/home/pi/Desktop/nanpy-0.8/firmware/ArduinoClass.h')
Arduino.pinMode(4, Arduino.OUTPUT)
for i in range(10000):
Arduino.digitalWrite(4, (i + 1) % 2)
Arduino.delay(1000)
from nanpy import Arduino from time import sleep # set LED pin numbers redPin = 3 greenPin = 6 bluePin = 9 # set pot pin numbers pot_r_Pin = 0 pot_g_Pin = 3 pot_b_Pin = 5 #set three coloured pins as outputs for pins in (redPin, greenPin, bluePin): Arduino.pinMode(pins, Arduino.OUTPUT) # set pot pins as inputs for pins in (pot_r_Pin, pot_g_Pin, pot_b_Pin): Arduino.pinMode(pins, Arduino.INPUT) # prints values to the terminal when True debug = False def get_pots(): """ Grab a reading from each of the pot pins and send it to a tuple to be read by the colour mixer """ r = Arduino.analogRead(pot_r_Pin) / 4 Arduino.delay(1)
def move():
movetype = request.json['type']
duration = request.json['duration']
if movetype == 'left':
Arduino.digitalWrite(boardconfig.motor1_cp1, 0)
Arduino.digitalWrite(boardconfig.motor1_cp2, 1)
Arduino.analogWrite(boardconfig.motor1_ep, boardconfig.motor_speed)
elif movetype == 'right':
Arduino.digitalWrite(boardconfig.motor1_cp1, 1)
Arduino.digitalWrite(boardconfig.motor1_cp2, 0)
Arduino.analogWrite(boardconfig.motor1_ep, boardconfig.motor_speed)
elif movetype == 'up':
Arduino.digitalWrite(boardconfig.motor2_cp1, 0)
Arduino.digitalWrite(boardconfig.motor2_cp2, 1)
Arduino.analogWrite(boardconfig.motor2_ep, boardconfig.motor_speed)
elif movetype == 'down':
Arduino.digitalWrite(boardconfig.motor2_cp1, 1)
Arduino.digitalWrite(boardconfig.motor2_cp2, 0)
Arduino.analogWrite(boardconfig.motor2_ep, boardconfig.motor_speed)
else:
return jsonify({'error': 'use type up, down, left or right'}), 400
time.sleep(duration / 1000)
Arduino.analogWrite(boardconfig.motor2_ep, 0)
Arduino.analogWrite(boardconfig.motor1_ep, 0)
return jsonify({'status': 'success'}), 200
def rw(self, **data):
print data
Arduino.digitalWrite(self.cp1, 1)
Arduino.digitalWrite(self.cp2, 0)
Arduino.analogWrite(self.ep, data['speed'])
@app.route('/lights', methods=['POST'])
def lights():
status = request.json['status']
if status == 'on':
Arduino.digitalWrite(boardconfig.lights_pin, 1)
elif status == 'off':
Arduino.digitalWrite(boardconfig.lights_pin, 0)
else:
return jsonify({'error': 'use status on or off'}), 400
return jsonify({'status': 'success'}), 200
@app.route('/beep', methods=['POST'])
def beep():
duration = request.json['duration']
tone = Tone(boardconfig.beep_pin)
tone.play(Tone.NOTE_FS1, duration)
return jsonify({'status': 'success'}), 200
if __name__ == "__main__":
serial_manager.open(boardconfig.serialport)
Arduino.pinMode(boardconfig.motor1_cp1, Arduino.OUTPUT)
Arduino.pinMode(boardconfig.motor1_cp2, Arduino.OUTPUT)
Arduino.pinMode(boardconfig.motor1_ep, Arduino.OUTPUT)
Arduino.pinMode(boardconfig.motor2_cp1, Arduino.OUTPUT)
Arduino.pinMode(boardconfig.motor2_cp2, Arduino.OUTPUT)
Arduino.pinMode(boardconfig.motor2_ep, Arduino.OUTPUT)
Arduino.pinMode(boardconfig.lights_pin, Arduino.OUTPUT)
app.run()
def flash_yellows(STOP):
while True:
Arduino.analogWrite(LED_PIN_R, 155)
Arduino.analogWrite(LED_PIN_G, 155)
Arduino.analogWrite(LED_PIN_B, 0)
sleep(0.5)
def stop(self, **data):
print data
Arduino.analogWrite(self.ep, 0)
from flask import Flask, render_template, request from nanpy import Arduino as A from nanpy import (SPI, Wire, L3G, Servo) import os tmpl_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '') app = Flask(__name__, template_folder=tmpl_dir, static_url_path='') import datetime red = 8 green = 11 A.pinMode(red, A.OUTPUT) A.pinMode(green, A.OUTPUT) ##################### ####### Gyro ######## ##################### L3G gyro gyroSum = 0 gyroOffset = 0.0 Xval = 0 # gyro calibration variables gyromin = -25000 gyromax = 25000 # gyro smoothing variables i = 0 gyroaverage = 0. numReadings = 5
