def connect(request):
try:
connection = SerialManager()
a = ArduinoApi(connection = connection)
ledState = a.LOW
if request.method == 'POST':
connect = request.POST.get('connect')
if connect == 'on':
value = True
status = True
ledState = a.HIGH
else:
value = False
status = False
ledState = a.LOW
Bulb.objects.all().update(connect=value, status=status)
bulbs = Bulb.objects.all()
for bulb in bulbs:
ledPin = bulb.port_connect
ledPin1 = bulb.port
a.pinMode(ledPin, a.OUTPUT)
a.pinMode(ledPin1, a.OUTPUT)
a.digitalWrite(ledPin, ledState)
a.digitalWrite(ledPin1, ledState)
return redirect('/bulbs')
except:
return redirect('/error/103')
class Sensor():
def __init__(self,
pin,
name='Sensor',
connection=default_connection,
analog_pin_mode=False,
key=None):
self.pin = pin
self.name = name
self.key = key.replace(
" ", "_").lower() if key is not None else self.name.replace(
" ", "_").lower()
self.analog_pin_mode = analog_pin_mode
self.connection = connection
self.api = ArduinoApi(connection)
return
def init_sensor(self):
#Initialize the sensor here (i.e. set pin mode, get addresses, etc)
pass
def read(self):
#Read the sensor(s), parse the data and store it in redis if redis is configured
pass
def readRaw(self):
#Read the sensor(s) but return the raw data, useful for debugging
pass
def readPin(self):
#Read the pin from the ardiuno. Can be analog or digital based on "analog_pin_mode"
data = self.api.analogRead(
self.pin) if analog_pin_mode else self.api.digitalRead(self.pin)
return data
class SmartHomeIntentHandler():
EQUIPMENTS = ["light", "fan"]
EQUIPMENT_TO_PIN_MAP = {
"fan": 8,
"lights": 7,
"light": 7
}
def __init__(self, intent):
self.intent = intent
if Util.is_system_mac():
return
# initialize raspberry pi
connection = SerialManager(device='/dev/ttyACM0')
self.arduino_conn = ArduinoApi(connection=connection)
self.equipment = self.intent["EquipmentKeyword"]
self.state = self.intent["OnOffKeyword"]
def get_pin(self):
return self.EQUIPMENT_TO_PIN_MAP[self.equipment]
def handle(self):
print(self.equipment)
print(self.state)
if Util.is_system_mac():
return
pin = self.get_pin()
state_to_set = self.arduino_conn.LOW if self.state == "on" else self.arduino_conn.HIGH # NoQA
self.arduino_conn.pinMode(pin, self.arduino_conn.OUTPUT)
self.arduino_conn.digitalWrite(pin, state_to_set)
def __init__(self,
pin,
name=None,
connection=default_connection,
analog_pin_mode=False,
key=None,
redis_conn=None):
self.pin = pin
if key is None:
raise Exception('No "key" Found in Control Config')
else:
self.key = key.replace(" ", "_").lower()
if name is None:
self.name = self.key.replace("_", " ").title()
else:
self.name = name
self.analog_pin_mode = analog_pin_mode
self.connection = connection
self.api = ArduinoApi(connection)
try:
self.r = redis_conn if redis_conn is not None else redis.Redis(
host='127.0.0.1', port=6379)
except KeyError:
self.r = redis.Redis(host='127.0.0.1', port=6379)
return
def __init__(self, device):
self.devicePath = device
self.connection = SerialManager(device=self.devicePath)
self.arduino = ArduinoApi(connection=self.connection)
self.RPM1 = 100
self.RPM2 = 100
self.RPM3 = 100
# Motor pins
self.dir1=7
self.pwm1=6
self.dir2=12
self.pwm2=9
self.dir3=13
self.pwm3=11
# Setup pinmodes
self.arduino.pinMode(self.dir1, self.arduino.OUTPUT)
self.arduino.pinMode(self.pwm1, self.arduino.OUTPUT)
self.arduino.pinMode(self.dir2, self.arduino.OUTPUT)
self.arduino.pinMode(self.pwm2, self.arduino.OUTPUT)
self.arduino.pinMode(self.dir3, self.arduino.OUTPUT)
self.arduino.pinMode(self.pwm3, self.arduino.OUTPUT)
def main():
try:
connection = SerialManager()
a = ArduinoApi(connection=connection)
m = Measure(connection=connection)
except:
print("Faild to connect to Arduino Firas")
# setup the pinMode as is we were in the arduino IDE
a.pinMode(2, a.OUTPUT)
a.pinMode(3, a.OUTPUT)
a.pinMode(4, a.OUTPUT)
a.pinMode(5, a.OUTPUT)
try:
while True:
forward(a)
if distance(m, 6, 7) < 30:
print("right")
reverse(a)
right(a)
elif distance(m, 8, 9) < 30:
print("left")
reverse(a)
left(a)
except:
print("Faild2 ")
a.digitalWrite(2, a.LOW)
a.digitalWrite(3, a.LOW)
a.digitalWrite(4, a.LOW)
a.digitalWrite(5, a.LOW)
def __init__(self, device):
self.devicePath = device
self.connection = SerialManager(device=self.devicePath)
self.arduino = ArduinoApi(connection=self.connection)
self.RPM = 70
self.turnPRM = 60
# Motor pins
self.dir11=7
self.pwm11=5 #cytron 1
self.dir21=2
self.pwm21=3
self.dir11=self.dir21
self.pwm11=self.pwm21
self.dir12=8
self.pwm12=9 #cytron 2
self.dir22=13
self.pwm22=11
# Setup pinmodes
self.arduino.pinMode(self.dir11, self.arduino.OUTPUT)
self.arduino.pinMode(self.pwm11, self.arduino.OUTPUT)
self.arduino.pinMode(self.dir12, self.arduino.OUTPUT)
self.arduino.pinMode(self.pwm12, self.arduino.OUTPUT)
self.arduino.pinMode(self.dir21, self.arduino.OUTPUT)
self.arduino.pinMode(self.pwm21, self.arduino.OUTPUT)
self.arduino.pinMode(self.dir22, self.arduino.OUTPUT)
self.arduino.pinMode(self.pwm22, self.arduino.OUTPUT)
def connect(self):
# close old connection if exists
if self.serialManager:
self.serialManager.close()
# make new connection
self.serialManager = SerialManager()
self.a = ArduinoApi(connection=self.serialManager)
def __init__(self, intent):
self.intent = intent
if Util.is_system_mac():
return
# initialize raspberry pi
connection = SerialManager(device='/dev/ttyACM0')
self.arduino_conn = ArduinoApi(connection=connection)
self.equipment = self.intent["EquipmentKeyword"]
self.state = self.intent["OnOffKeyword"]
class Control():
def __init__(self,
pin,
name=None,
connection=default_connection,
analog_pin_mode=False,
key=None,
redis_conn=None):
self.pin = pin
if key is None:
raise Exception('No "key" Found in Control Config')
else:
self.key = key.replace(" ", "_").lower()
if name is None:
self.name = self.key.replace("_", " ").title()
else:
self.name = name
self.analog_pin_mode = analog_pin_mode
self.connection = connection
self.api = ArduinoApi(connection)
try:
self.r = redis_conn if redis_conn is not None else redis.Redis(
host='127.0.0.1', port=6379)
except KeyError:
self.r = redis.Redis(host='127.0.0.1', port=6379)
return
def init_control(self):
#Initialize the control here (i.e. set pin mode, get addresses, etc)
self.api.pinMode(self.pin, self.api.INPUT)
pass
def read(self):
#Read the sensor(s), parse the data and store it in redis if redis is configured
return self.read_pin()
def read_raw(self):
#Read the sensor(s) but return the raw data, useful for debugging
pass
def read_pin(self):
#Read the pin from the ardiuno. Can be analog or digital based on "analog_pin_mode"
data = self.api.analogRead(
self.pin) if self.analog_pin_mode else self.api.digitalRead(
self.pin)
return data
def emitEvent(self, data):
message = {'event': 'ControlUpdate', 'data': {self.key: data}}
print(message["data"])
self.r.publish('controls', json.dumps(message))
def water_read_moisture(pin='A0'):
air = 580
water = 277
connection = SerialManager()
a = ArduinoApi(connection=connection)
a.pinMode(pin, 'INPUT')
moisture_read = ((a.analogRead(pin) * -1) + air) / 3.05
return moisture_read
def main(pir_pin=2,inactiveDuration=10,outdir="."):
"""
*Parameters*
> `pir_pin<int>`: the GPIO signal pin (in BCM mode) of the PIR motion sensor
> `inactiveDuaration<int>`: specifies when the camera should stop recording after no motion has been detected
> `outdir<str>`: the path to the desired directory of which to save the video files
"""
# === Local Variables ===
camera = PiCamera()
# === setup Arduino ===
connection = SerialManager()
a = ArduinoApi(connection=connection)
# === start main loop ===
while True:
# === sense PIR motion ===
motionDetected = a.digitalRead(pir_pin)
print(motionDetected)
# === condition ===
if motionDetected:
print("started recording...")
# === start recording ===
# Set-up camera
camera.resolution = (1024,768)
# Start camera
camera.start_preview()
# Camera warm-up time
time.sleep(2)
# Determine output filename
outfilename = datetime.datetime.now().strftime("%m-%d-%Y-%H-%M-%S") + ".h264"
# Start Recording
camera.start_recording(outdir+"/"+outfilename)
while motionDetected:
# record for duration
time.sleep(inactiveDuration)
# detected motion
motionDetected = a.digitalRead(pir_pin)
# Stop Recording
camera.stop_recording()
print("recording finished")
def __init__(self, box_id, config_box):
self.box_id = box_id
self.config_box = config_box
if not BoxGpio._PARAM_PIN_CONTROLLER in self.config_box:
self.arduino = None
logging.info(f"Box {self.box_id} has no pin controller")
else:
connection = SerialManager(
device=self.config_box[BoxGpio._PARAM_PIN_CONTROLLER])
self.arduino = ArduinoApi(connection=connection)
self.set_power(False)
self.set_fan(0)
def __init__(self,
pin,
name='Sensor',
connection=default_connection,
analog_pin_mode=False,
key=None):
self.pin = pin
self.name = name
self.key = key.replace(
" ", "_").lower() if key is not None else self.name.replace(
" ", "_").lower()
self.analog_pin_mode = analog_pin_mode
self.connection = connection
self.api = ArduinoApi(connection)
return
def setup_arduino():
'''
Setup arduino connection
:return: Arduino API object used to control Arduino UNO
'''
a = None
try:
connection = SerialManager()
a = ArduinoApi(connection=connection)
a.pinMode(Util.ledPin, a.OUTPUT)
except:
# arduino_present = False
# print("Arduino device not found")
pass
return a
def init(self):
Logger.log(
LOG_LEVEL["info"],
'{name} Relay Worker {0}...\t\t\033[1;32m Initializing\033[0;0m'.
format(self.key))
self.api = self.api if self.api is not None else ArduinoApi(connection)
self.pin_state_off = self.api.HIGH if self.config[
'normally_open'] is not None and self.config[
'normally_open'] else self.api.LOW
self.pin_state_on = self.api.LOW if self.config[
'normally_open'] is not None and self.config[
'normally_open'] else self.api.HIGH
self.api.pinMode(self.config['pin'], self.api.OUTPUT)
# Close the relay by default, we use the pin state we determined based on the config at init
self.api.digitalWrite(self.config['pin'], self.pin_state_off)
time.sleep(0.1)
# Feature to restore relay state in case of crash or unexpected shutdown. This will check for last state stored in redis and set relay accordingly
if (self.config.get('restore_last_known_state', None) is not None and
self.config.get('restore_last_known_state', False) is True):
if (self.r.get(self.key + '_state')):
self.api.digitalWrite(self.config['pin'], self.pin_state_on)
Logger.log(
LOG_LEVEL["warning"],
'Restoring Relay \033[1;36m{0} On\033[0;0m'.format(
self.key))
self.relay_ready = True
return
def ConnectArduino():
try:
connection = SerialManager(device='/dev/ttyACM0')
ConnectArduino.a = ArduinoApi(connection=connection)
print("\n\nConnection Successful...\n\n")
except:
print("\n\nFailed to connect...\n\n")
def __init__(self, size=60, crossover=0.8, elitism=0.1, mutation=0.03):
self.elitism = elitism
self.mutation = mutation
self.crossover = crossover
self.population = []
self.connection = SerialManager()
self.a = ArduinoApi(connection=self.connection)
for r in range(12):
self.a.pinMode(r, self.a.OUTPUT)
for i in range(size):
self.population.append(Chromosome.gen_random())
self._setFitness()
self.population = list(sorted(self.population,
key=lambda x: x.fitness))
def connectMotor():
global Motor
try:
connection = SerialManager("/dev/ttyACM0") #CHANGE THIS
Motor = ArduinoApi(connection=connection)
except Exception as e:
print("Failed to connect to arduino!", e)
def arduino_api_scope(self):
connection = SerialManager(device=self.arduino_port)
arduino = ArduinoApi(connection=connection)
try:
yield arduino
finally:
connection.close()
def __init__(self):
"""
Creation of connection to the arduino through nanpy and initialisation of the used Pins
"""
try:
connection = SerialManager()
self.asdw_m = ArduinoApi(connection=connection)
print("failed to upload")
except:
print("didn't worked")
self.asdw_m.pinMode(l_turn, self.asdw_m.OUTPUT)
self.asdw_m.pinMode(back_d, self.asdw_m.OUTPUT)
self.asdw_m.pinMode(r_turn, self.asdw_m.OUTPUT)
self.asdw_m.pinMode(forward_d, self.asdw_m.OUTPUT)
def ConnectArduino(): #establish connection with arduino
try:
connection = SerialManager(
device='/dev/ttyACM0') #change device path for multiple Arduinos
ConnectArduino.a = ArduinoApi(connection=connection)
print("\n\nConnection Successful...\n\n")
except:
print("\n\nFailed to connect...\n\n")
def __init__(self):
# self.gpio17 = rpilib.GPIOrtx('17')
# self.gpio18 = rpilib.GPIOrtx('18')
# self.gpio22 = rpilib.GPIOrtx('22')
# self.gpio23 = rpilib.GPIOrtx('23')
try:
connection = SerialManager()
self.a = ArduinoApi(connection=connection)
except:
print('Failed to connect to Arduino!')
self.ENA = 10
self.ENB = 5
self.IN1 = 9
self.IN2 = 8
self.IN3 = 7
self.IN4 = 6
def __init__(self, en, in1, in2, a=ArduinoApi()):
self.en = en
self.in1 = in1
self.in2 = in2
self.a = a
self.a.pinMode(en, a.OUTPUT)
self.a.pinMode(in1, a.OUTPUT)
self.a.pinMode(in2, a.OUTPUT)
def main():
connect_broker()
connection = SerialManager(device='/dev/ttyACM0')
a = ArduinoApi(connection=connection)
a.pinMode(PIN, a.INPUT)
try:
client.loop_start()
while True:
value = a.analogRead(PIN)
client.publish("messwerte/test", str(value), qos=1)
print "value:" + str(value)
sleep(1)
except:
client.loop_stop()
print("publisher stopped")
def __init__(self, _lcd):
threading.Thread.__init__(self)
try:
self.conn = SerialManager()
self.a = ArduinoApi(self.conn)
except:
print("Failed to connect to Arduino.")
self.analogIn = '******'
self.mVperAmp = 66 # use 100 for 20A Module and 66 for 30A Module
self.voltage = 0
self.amps = 0
self.rawValue = 0
self.default = 510
# Current = Voltage You Applied / The Resistance of your Load
self.lcd = _lcd
def connectToArduino():
try:
con = SerialManager(timeout=3)
api = ArduinoApi(connection=con)
return api
except Exception as e:
print "Failed to connect to Arduino"
print e
sys.exit(1)
def __init__(self, uc_pin=7, ub_pin=8, pc_pin=12, pb_pin=13):
# set member variables
self.upstream_state = None
self.phy_state = None
self.uc_pin = uc_pin
self.ub_pin = ub_pin
self.pc_pin = pc_pin
self.pb_pin = pb_pin
# connect to the arduino device over serial connection
self.connection = SerialManager()
self.api = ArduinoApi(connection=self.connection)
# initialize pins as output
self.api.pinMode(self.uc_pin, self.api.OUTPUT)
self.api.pinMode(self.ub_pin, self.api.OUTPUT)
self.api.pinMode(self.pc_pin, self.api.OUTPUT)
self.api.pinMode(self.pb_pin, self.api.OUTPUT)
def connect(self):
attempts = 3
conn = None
if self.config.get('use_wifi', False):
while attempts > 0 and self.main_thread_running.is_set():
try:
Logger.log(LOG_LEVEL["debug"], '\033[1;36m{0}\033[0;0m -> Connecting... \t'.format(self.config["name"], (3-attempts)))
attempts-= 1
conn = SocketManager(host=str(self.config.get('address', 'mudpi.local')))
# Test the connection with api
self.api = ArduinoApi(connection=conn)
except (SocketManagerError, BrokenPipeError, ConnectionResetError, socket.timeout) as e:
Logger.log(LOG_LEVEL["warning"], '{name} -> Connecting...\t\t\033[1;33m Timeout\033[0;0m '.format(**self.config))
if attempts > 0:
Logger.log(LOG_LEVEL["info"], '{name} -> Preparing Reconnect... \t'.format(**self.config))
else:
Logger.log(LOG_LEVEL["error"], '{name} -> Connection Attempts...\t\033[1;31m Failed\033[0;0m '.format(**self.config))
conn = None
self.resetConnection()
time.sleep(15)
except (OSError, KeyError) as e:
Logger.log(LOG_LEVEL["error"], '[{name}] \033[1;33m Node Not Found. (Is it online?)\033[0;0m'.format(**self.config))
conn = None
self.resetConnection()
time.sleep(15)
else:
Logger.log(LOG_LEVEL["info"], '{name} -> Wifi Connection \t\t\033[1;32m Success\033[0;0m '.format(**self.config))
for worker in self.workers:
worker.connection = conn
self.node_connected.set()
self.node_ready.set()
break
else:
while attempts > 0 and self.main_thread_running.is_set():
try:
attempts-= 1
conn = SerialManager(device=str(self.config.get('address', '/dev/ttyUSB1')))
except SerialManagerError:
Logger.log(LOG_LEVEL["warning"], '{name} -> Connecting...\t\t\033[1;33m Timeout\033[0;0m '.format(**self.config))
if attempts > 0:
Logger.log(LOG_LEVEL["info"], '{name} -> Preparing Reconnect... \t'.format(**self.config), end='\r', flush=True)
else:
Logger.log(LOG_LEVEL["error"], '{name} -> Connection Attempts...\t\033[1;31m Failed\033[0;0m '.format(**self.config))
self.resetConnection()
conn = None
time.sleep(15)
else:
if conn is not None:
Logger.log(LOG_LEVEL["info"], '[{name}] Serial Connection \t\033[1;32m Success\033[0;0m '.format(**self.config))
for worker in self.workers:
worker.connection = conn
self.node_connected.set()
self.node_ready.set()
break
return conn
def __init__(self, connection_path):
try:
connection = SerialManager(connection_path)
self.arduino = ArduinoApi(connection=connection)
self.ultrasonic = Ultrasonic(self.EchoPin,
self.TrigPin,
False,
connection=connection)
except:
print("Failed to connect to the arduino")
# Motors set up
self.arduino.pinMode(self.Motor1A, self.arduino.OUTPUT)
self.arduino.pinMode(self.Motor1B, self.arduino.OUTPUT)
self.arduino.pinMode(self.Motor2A, self.arduino.OUTPUT)
self.arduino.pinMode(self.Motor2B, self.arduino.OUTPUT)
# Sensor set up
self.arduino.pinMode(self.TrigPin, self.arduino.OUTPUT)
self.arduino.pinMode(self.EchoPin, self.arduino.INPUT)
class Control():
def __init__(self,
pin,
name='Control',
connection=default_connection,
analog_pin_mode=False,
key=None):
self.pin = pin
self.name = name
self.key = key.replace(
" ", "_").lower() if key is not None else self.name.replace(
" ", "_").lower()
self.analog_pin_mode = analog_pin_mode
self.connection = connection
self.api = ArduinoApi(connection)
return
def init_control(self):
#Initialize the control here (i.e. set pin mode, get addresses, etc)
self.api.pinMode(self.pin, self.api.INPUT)
pass
def read(self):
#Read the sensor(s), parse the data and store it in redis if redis is configured
return self.readPin()
def readRaw(self):
#Read the sensor(s) but return the raw data, useful for debugging
pass
def readPin(self):
#Read the pin from the ardiuno. Can be analog or digital based on "analog_pin_mode"
data = self.api.analogRead(
self.pin) if self.analog_pin_mode else self.api.digitalRead(
self.pin)
return data
def emitEvent(self, data):
message = {'event': 'ControlUpdate', 'data': {self.key: data}}
print(message["data"])
variables.r.publish('controls', json.dumps(message))
def __init__(self, trip_meter):
# these values might need to be adjusted
self.max_speed = 0.55
min_voltage = 1.0
self.correction_interval = 0.01
self.proportional_term_in_PID = 1.25
self.derivative_term_in_PID = 0.01
# these values might change
self.pin_right_forward = 6
self.pin_right_backward = 11
self.pin_left_forward = 5
self.pin_left_backward = 10
self.pin_motor_battery = 7
##################################################
# Values after this should not need to be changed.
##################################################
self.trip_meter = trip_meter
self.min_value = math.floor(min_voltage / 5.0 * 255)
try:
self.connection = SerialManager(device='/dev/ttyACM2')
self.arduino = ArduinoApi(connection=self.connection)
except:
try:
self.connection = SerialManager(device='/dev/ttyACM0')
self.arduino = ArduinoApi(connection=self.connection)
except:
try:
self.connection = SerialManager(device='/dev/ttyACM1')
self.arduino = ArduinoApi(connection=self.connection)
except:
try:
self.connection = SerialManager(device='/dev/ttyACM3')
self.arduino = ArduinoApi(connection=self.connection)
except:
print "Could not connect to the arduino using /dev/ttyACM0, /dev/ttyACM1, /dev/ttyACM2 or /dev/ttyACM3"
self.arduino.pinMode(self.pin_right_forward, self.arduino.OUTPUT)
self.arduino.pinMode(self.pin_right_backward, self.arduino.OUTPUT)
self.arduino.pinMode(self.pin_left_forward, self.arduino.OUTPUT)
self.arduino.pinMode(self.pin_left_backward, self.arduino.OUTPUT)
self.arduino.pinMode(self.pin_motor_battery, self.arduino.OUTPUT)
self.arduino.pinMode(13, self.arduino.OUTPUT)
self.arduino.digitalWrite(13, 1)
self.arduino.digitalWrite(self.pin_motor_battery, 0)
self.power = 0.0
self.turn = 0.0
self.right_forward_value = 0
self.right_backward_value = 0
self.left_forward_value = 0
self.left_backward_value = 0
self.previous_right_forward_value = 0
self.previous_right_backward_value = 0
self.previous_left_forward_value = 0
self.previous_left_backward_value = 0
self.right_speed = 0.0
self.left_speed = 0.0
self.stopped = True
self.motor_control_thread = threading.Thread(target = self.motor_control_loop)
self.motor_control_thread.setDaemon(True)
self.motor_control_thread.start()
#!/usr/bin/env python
# Author: Andrea Stagi <*****@*****.**>
# Description: keeps your led blinking
# Dependencies: None
from nanpy import (ArduinoApi, SerialManager)
from time import sleep
device = '/dev/cu.usbmodem1411'
connection = SerialManager(device=device)
connection.open()
a = ArduinoApi(connection=connection)
a.pinMode(3, a.OUTPUT)
led_status = 1
while True:
if led_status:
led_status = 0
else:
led_status = 1
a.digitalWrite(3, led_status)
sleep(2)
# -SCT (09/27/14)
# ACTUALLY possibly too slow to use for 5 ms pulses. This is a shame. digitalWrite takes like 8 or 9 ms
# nanpy is the package with the Arduino control via python
from nanpy import (ArduinoApi, SerialManager)
import time
import datetime
import multiprocessing
import os
import wiringpi2 as wp
# will automatically find the arduino
# if there's more than one Arduino and you want a specific location, write SerialManager('location') (not as a string)
connection = SerialManager()
# a is the name of our Arduino at location connection
a = ArduinoApi(connection=connection)
# Define the names of the pins that we're using to control the lights
indicator = 9
pinStart = 10
pinEnd = 14
numPins = pinEnd-pinStart
# timescale is 1000 if we're using milliseconds, 1000000 if we're using microseconds (this is just a quality of life change to make the code easy to deal with if the implementation changes; thanks Stephen from a year ago!)
timescale = 1
# startTime is how long from program initation until it should start (this is a holdover from the C code, since the RasPi should be able to do all the clockwork on its own. I may change this eventually)
startTime = 0
duration = 1200 #20 minutes
endOfDays = startTime + duration
# Frequency for each light, organized as an array. The first entry corresponds to the "first" set of lights
freq = [5,0,5,0]
class DriveModule():
def __init__(self):
# self.gpio17 = rpilib.GPIOrtx('17')
# self.gpio18 = rpilib.GPIOrtx('18')
# self.gpio22 = rpilib.GPIOrtx('22')
# self.gpio23 = rpilib.GPIOrtx('23')
try:
connection = SerialManager()
self.a = ArduinoApi(connection=connection)
except:
print('Failed to connect to Arduino!')
self.ENA = 10
self.ENB = 5
self.IN1 = 9
self.IN2 = 8
self.IN3 = 7
self.IN4 = 6
def online(self):
print('online')
# self.gpio17.export()
# self.gpio17.setDirection('out')
# self.gpio18.export()
# self.gpio18.setDirection('out')
# self.gpio22.export()
# self.gpio22.setDirection('out')
# self.gpio23.export()
# self.gpio23.setDirection('out')
self.a.pinMode(self.IN1, self.a.OUTPUT)
self.a.pinMode(self.IN2, self.a.OUTPUT)
self.a.pinMode(self.ENA, self.a.OUTPUT)
self.a.digitalWrite(self.ENA, self.a.HIGH)
self.a.pinMode(self.IN3, self.a.OUTPUT)
self.a.pinMode(self.IN4, self.a.OUTPUT)
self.a.pinMode(self.ENB, self.a.OUTPUT)
self.a.digitalWrite(self.ENB, self.a.HIGH)
def offline(self):
# self.gpio17.unexport()
# self.gpio18.unexport()
# self.gpio22.unexport()
# self.gpio23.unexport()
self.a.digitalWrite(self.ENA, self.a.LOW)
self.a.digitalWrite(self.ENB, self.a.LOW)
def stop(self):
# self.gpio17.writeValue('0')
# self.gpio18.writeValue('0')
# self.gpio22.writeValue('0')
# self.gpio23.writeValue('0')
self.a.digitalWrite(self.IN1, self.a.LOW)
self.a.digitalWrite(self.IN2, self.a.LOW)
self.a.digitalWrite(self.IN3, self.a.LOW)
self.a.digitalWrite(self.IN4, self.a.LOW)
def drive_forward(self):
print('drive_forward')
# self.gpio18.writeValue('1')
# self.gpio22.writeValue('1')
self.a.digitalWrite(self.IN1, self.a.LOW)
self.a.digitalWrite(self.IN2, self.a.HIGH)
self.a.digitalWrite(self.IN3, self.a.HIGH)
self.a.digitalWrite(self.IN4, self.a.LOW)
time.sleep(1)
self.stop()
def drive_backward(self):
# self.gpio17.writeValue('1')
# self.gpio23.writeValue('1')
self.a.digitalWrite(self.IN1, self.a.HIGH)
self.a.digitalWrite(self.IN2, self.a.LOW)
self.a.digitalWrite(self.IN3, self.a.LOW)
self.a.digitalWrite(self.IN4, self.a.HIGH)
time.sleep(1)
self.stop()
def steer_left(self):
# self.gpio17.writeValue('1')
# self.gpio22.writeValue('1')
self.a.digitalWrite(self.IN4, self.a.HIGH)
time.sleep(0.1)
self.a.digitalWrite(self.IN4, self.a.LOW)
# self.gpio17.writeValue('0')
# self.gpio22.writeValue('0')
def steer_right(self):
# self.gpio18.writeValue('1')
# self.gpio23.writeValue('1')
self.a.digitalWrite(self.IN1, self.a.HIGH)
time.sleep(0.1)
self.a.digitalWrite(self.IN1, self.a.LOW)
# Load settings
device = settings.get('Arduino', 'SERIAL_PORT')
pin_sound = settings.getint('Arduino', 'PIN_SOUND')
pin_temp = settings.getint('Arduino', 'PIN_TEMPERATURE')
app_id = settings.get('Instapush', 'INSTAPUSH_APP_ID')
app_secret = settings.get('Instapush', 'INSTAPUSH_APP_SECRET')
event_id = settings.get('Instapush', 'INSTAPUSH_EVENT_NAME')
threshold = settings.getfloat('Fridge', 'THRESHOLD')
notify_every_x_seconds = settings.getfloat('Fridge', 'NOTIFY_EVERY_X_SECONDS')
write_log_every_x_measurements = 50
# Startup arduino connection
connection = SerialManager(device=device)
connection.open()
arduino = ArduinoApi(connection=connection)
temperature_sensors = DallasTemperature(connection=connection, pin=pin_temp)
temperature_sensors.setResolution(12)
# Mute sound by default
arduino.pinMode(pin_sound, arduino.OUTPUT)
arduino.digitalWrite(pin_sound, 0)
# Initial values
last_alert = time.time()
threshold_reached = False
write_log_counter = 0
while True:
temperature_sensors.requestTemperatures()
s.starttls()
s.ehlo()
s.login(email, email_password)
print(address_to_send)
s.sendmail(email, address_to_send, msg.as_string())
s.quit()
camera = picamera.PiCamera()
val = 0;
sensor = 0
try:
connection = SerialManager()
a = ArduinoApi(connection = connection)
except:
print("failed to connect")
a.pinMode(sensor, a.INPUT)
while True:
val = a.analogRead(sensor)
print(val)
sleep(0.1)
if val > 200:
camera.capture('image.jpg')
sleep(0.1)
SendSpMail('image.jpg')
#!/usr/bin/env python
# Author: Andrea Stagi <*****@*****.**>
# Description: keeps your led blinking
# Dependencies: None
from nanpy import (ArduinoApi, SerialManager)
from time import sleep
connection = SerialManager()
a = ArduinoApi(connection=connection)
a.pinMode(13, a.OUTPUT)
for i in range(10000):
a.digitalWrite(13, (i + 1) % 2)
sleep(0.2)
#!/usr/bin/env python
import cv2
import numpy as np
import time
from nanpy import ArduinoApi
from nanpy import SerialManager
Q = np.loadtxt('Q_mat.txt')
try:
connection = SerialManager(device='/dev/ttyACM2')
arduino = ArduinoApi(connection=connection)
except:
try:
connection = SerialManager(device='/dev/ttyACM0')
arduino = ArduinoApi(connection=connection)
except:
try:
connection = SerialManager(device='/dev/ttyACM1')
arduino = ArduinoApi(connection=connection)
except:
try:
connection = SerialManager(device='/dev/ttyACM3')
arduino = ArduinoApi(connection=connection)
except:
print "Could not connect to the arduino using /dev/ttyACM0, /dev/ttyACM1, /dev/ttyACM2 or /dev/ttyACM3"
arduino.pinMode(13, arduino.OUTPUT)
arduino.pinMode(8, arduino.OUTPUT)
arduino.digitalWrite(13,1)
from nanpy import (ArduinoApi, SerialManager)
from time import sleep
connection = SerialManager()
ard = ArduinoApi(connection = connection)
db = MySQLdb.connect("localhost", "root", "elect1", "SensorData")
curs=db.cursor()
ard.pinMode (13, ard.OUTPUT)
for i in range(10000):
ard.digitalWrite(13, (i+1) % 2)
sleep(0.2)
from flask import Flask, render_template, Blueprint, Response, request, json
from time import sleep
from nanpy import(ArduinoApi, SerialManager)
app = Flask(__name__)
led = 13
sensor = 24
swch = 12
ledState = False
swchState = 0
try:
connection = SerialManager()
ard = ArduinoApi(connection)
# pinMode setup for arduino
ard.pinMode(led, ard.OUTPUT)
ard.pinMode(swch, ard.INPUT)
ard.pinMode(sensor, ard.INPUT)
except:
print("Failed To Connect to Arduino")
@app.route('/')
def home():
try:
estadoLuz = ard.digitalRead(led)
temp = ard.analogRead(sensor)
class Motor:
def __init__(self, trip_meter):
# these values might need to be adjusted
self.max_speed = 0.55
min_voltage = 1.0
self.correction_interval = 0.01
self.proportional_term_in_PID = 1.25
self.derivative_term_in_PID = 0.01
# these values might change
self.pin_right_forward = 6
self.pin_right_backward = 11
self.pin_left_forward = 5
self.pin_left_backward = 10
self.pin_motor_battery = 7
##################################################
# Values after this should not need to be changed.
##################################################
self.trip_meter = trip_meter
self.min_value = math.floor(min_voltage / 5.0 * 255)
try:
self.connection = SerialManager(device='/dev/ttyACM2')
self.arduino = ArduinoApi(connection=self.connection)
except:
try:
self.connection = SerialManager(device='/dev/ttyACM0')
self.arduino = ArduinoApi(connection=self.connection)
except:
try:
self.connection = SerialManager(device='/dev/ttyACM1')
self.arduino = ArduinoApi(connection=self.connection)
except:
try:
self.connection = SerialManager(device='/dev/ttyACM3')
self.arduino = ArduinoApi(connection=self.connection)
except:
print "Could not connect to the arduino using /dev/ttyACM0, /dev/ttyACM1, /dev/ttyACM2 or /dev/ttyACM3"
self.arduino.pinMode(self.pin_right_forward, self.arduino.OUTPUT)
self.arduino.pinMode(self.pin_right_backward, self.arduino.OUTPUT)
self.arduino.pinMode(self.pin_left_forward, self.arduino.OUTPUT)
self.arduino.pinMode(self.pin_left_backward, self.arduino.OUTPUT)
self.arduino.pinMode(self.pin_motor_battery, self.arduino.OUTPUT)
self.arduino.pinMode(13, self.arduino.OUTPUT)
self.arduino.digitalWrite(13, 1)
self.arduino.digitalWrite(self.pin_motor_battery, 0)
self.power = 0.0
self.turn = 0.0
self.right_forward_value = 0
self.right_backward_value = 0
self.left_forward_value = 0
self.left_backward_value = 0
self.previous_right_forward_value = 0
self.previous_right_backward_value = 0
self.previous_left_forward_value = 0
self.previous_left_backward_value = 0
self.right_speed = 0.0
self.left_speed = 0.0
self.stopped = True
self.motor_control_thread = threading.Thread(target = self.motor_control_loop)
self.motor_control_thread.setDaemon(True)
self.motor_control_thread.start()
def motor_control_loop(self):
while True:
self.true_right_speed = self.trip_meter.get_right_speed() * 100.0 / self.max_speed
self.true_left_speed = self.trip_meter.get_left_speed() * 100.0 / self.max_speed
if (self.right_speed > 0.0):
self.right_backward_value = 0
next_previous_right_forward_value = self.right_forward_value
self.right_forward_value += self.proportional_term_in_PID * (self.right_speed - self.true_right_speed) - self.derivative_term_in_PID * (self.right_forward_value - self.previous_right_forward_value) / self.correction_interval
self.previous_right_forward_value = next_previous_right_forward_value
elif (self.right_speed < 0.0):
self.right_forward_value = 0
next_previous_right_backward_value = self.right_backward_value
self.right_backward_value += self.proportional_term_in_PID * (-self.right_speed - self.true_right_speed) - self.derivative_term_in_PID * (self.right_backward_value - self.previous_right_backward_value) / self.correction_interval
self.previous_right_backward_value = next_previous_right_backward_value
else:
self.right_forward_value = 0
self.right_backward_value = 0
self.previous_right_forward_value = 0
self.previous_right_backward_value = 0
if (self.left_speed > 0.0):
self.left_backward_value = 0
next_previous_left_forward_value = self.left_forward_value
self.left_forward_value += self.proportional_term_in_PID * (self.left_speed - self.true_left_speed) - self.derivative_term_in_PID * (self.left_forward_value - self.previous_left_forward_value) / self.correction_interval
self.previous_left_forward_value = next_previous_left_forward_value
elif (self.left_speed < 0.0):
self.left_forward_value = 0
next_previous_left_backward_value = self.left_backward_value
self.left_backward_value += self.proportional_term_in_PID * (-self.left_speed - self.true_left_speed) - self.derivative_term_in_PID * (self.left_backward_value - self.previous_left_backward_value) / self.correction_interval
self.previous_left_backward_value = next_previous_left_backward_value
else:
self.left_forward_value = 0
self.left_backward_value = 0
self.previous_left_forward_value = 0
self.previous_left_backward_value = 0
if (not self.stopped):
if (self.right_forward_value < 0):
self.right_forward_value = 0.0
elif (self.right_forward_value > 255):
self.right_forward_value = 255
if (self.right_backward_value < 0.0):
self.right_backward_value = 0.0
elif (self.right_backward_value > 255):
self.right_backward_value = 255
if (self.left_forward_value < 0.0):
self.left_forward_value = 0.0
elif (self.left_forward_value > 255):
self.left_forward_value = 255
if (self.left_backward_value < 0.0):
self.left_backward_value = 0.0
elif (self.left_backward_value > 255):
self.left_backward_value = 255
self.arduino.analogWrite(self.pin_right_forward, self.right_forward_value)
self.arduino.analogWrite(self.pin_right_backward, self.right_backward_value)
self.arduino.analogWrite(self.pin_left_forward, self.left_forward_value)
self.arduino.analogWrite(self.pin_left_backward, self.left_backward_value)
time.sleep(self.correction_interval)
def stop(self):
self.stopped = True
self.right_speed = 0.0
self.left_speed = 0.0
self.right_forward_value = 0
self.right_backward_value = 0
self.left_forward_value = 0
self.left_backward_value = 0
self.arduino.analogWrite(self.pin_right_forward, 0)
self.arduino.analogWrite(self.pin_right_backward, 0)
self.arduino.analogWrite(self.pin_left_forward, 0)
self.arduino.analogWrite(self.pin_left_backward, 0)
def turn_off(self):
self.arduino.digitalWrite(self.pin_motor_battery, 1)
self.stop()
# 'right_speed' is a number between -100 and 100, where 100 is full speed forward on the right wheel
def set_right_speed(self, right_speed):
self.right_speed = right_speed
self.stopped = False
if (self.right_speed == 0):
self.right_forward_value = 0
self.right_backward_value = 0
elif (self.right_speed > 0):
self.right_forward_value = self.right_speed / 100.0 * (255 - self.min_value) + self.min_value
self.right_backward_value = 0
elif (self.right_speed < 0):
self.right_forward_value = 0
self.right_backward_value = -self.right_speed / 100.0 * (255 - self.min_value) + self.min_value
# 'left_speed' is a number between -100 and 100, where 100 is full speed forward on the left wheel
def set_left_speed(self, left_speed):
self.left_speed = left_speed
self.stopped = False
if (self.left_speed == 0):
self.left_forward_value = 0
self.left_backward_value = 0
elif (self.left_speed > 0):
self.left_forward_value = self.left_speed / 100.0 * (255 - self.min_value) + self.min_value
self.left_backward_value = 0
elif (self.left_speed < 0):
self.left_forward_value = 0
self.left_backward_value = -self.left_speed / 100.0 * (255 - self.min_value) + self.min_value
#!/usr/bin/env python
# Author: Andrea Stagi <*****@*****.**>
# Description: keeps your led blinking on 2 boards
# Dependencies: None
from nanpy import (ArduinoApi, SerialManager)
from time import sleep
device_1 = '/dev/tty.usbmodem1411'
device_2 = '/dev/tty.usbmodem1431'
connection_1 = SerialManager(device=device_1)
connection_2 = SerialManager(device=device_2)
a1 = ArduinoApi(connection=connection_1)
a1.pinMode(13, a1.OUTPUT)
a2 = ArduinoApi(connection=connection_2)
a2.pinMode(13, a2.OUTPUT)
for i in range(10000):
a1.digitalWrite(13, (i + 1) % 2)
sleep(1)
a2.digitalWrite(13, (i + 1) % 2)
sleep(1)
#!/usr/bin/env python
from nanpy import ArduinoApi
from time import sleep
from nanpy.sockconnection import SocketManager
# import logging
# logging.basicConfig(level=logging.DEBUG)
PIN=2
connection = SocketManager()
a = ArduinoApi(connection=connection)
a.pinMode(PIN, a.OUTPUT)
for i in range(10000):
a.digitalWrite(PIN, (i + 1) % 2)
sleep(0.2)
