def __init__(self):
self.db = Database() # classe database
self.i2c = 0
self.getBusValue() # Setta il corretto device
self.A = {}
self.P = {}
self.mBoard = [] # matrive board
self.mBoard_io = [] # matrice IO
self.mProg = [] # matrice programma
self.area_id = ()
self.dir_root = os.path.dirname(os.path.abspath(__file__))
self.initialize()
"""
Example pigpio port
"""
self.pi = pigpio.pi("localhost", 8888) # Instance host, port
print dir(self.pi)
print
self.pi.write(16, False)
print self.pi.read(16) # Read status if IO 16
self.pi.write(16, True) # Write 1 to IO 16
print self.pi.read(16)
for n in range(32): # print mode of GPIO: 0 = INPUT 1 = OUTPUT, 2 = ALT5, 3 = ALT4, 4 = ALT0, 5 = ALT1, 6 = ALT2, 7 = ALT3
print "GPIO n:%s, mode: %s" %(n, self.pi.get_mode(n))
def init(self, switch_pin=None, clock_pin=None, data_pin=None, **kwargs):
self._switch_pin = switch_pin
self._clock_pin = clock_pin
self._data_pin = data_pin
self._state = 0
self._gpio = pigpio.pi()
self._data = None
self._clock = None
self._switch = None
if self._switch_pin:
self._gpio.set_glitch_filter(self._switch_pin, 2000)
self._gpio.set_mode(self._switch_pin, pigpio.INPUT)
self._gpio.set_pull_up_down(self._switch_pin, pigpio.PUD_UP)
self._switch = self._gpio.callback(self._switch_pin, pigpio.EITHER_EDGE, self._switch_cb)
if self._data_pin:
self._gpio.set_mode(self._data_pin, pigpio.INPUT)
self._data = self._gpio.callback(self._data_pin, pigpio.EITHER_EDGE, self._data_cb)
if self._clock_pin:
self._gpio.set_mode(self._clock_pin, pigpio.INPUT)
self._clock = self._gpio.callback(self._clock_pin, pigpio.EITHER_EDGE, self._clock_cb)
if self._data_pin and self._clock_pin:
self._state = 2*self._gpio.read(self._clock_pin) + self._gpio.read(self._data_pin)
self._values = []
def main():
#Run pigpiod is called on getSensorData script
#Init led flasher
INDC_SPLY_OUTS = 16
INDC_HEALTH_RED = 26
INDC_HEALTH_GREEN = 20
INDC_HEALTH_BLUE = 19
#Supply voltage
#Related to srCurrent
#Normal off, error blinking
#Health
#Normal blinking green
#Network error blinking red
#Temp error blinking yellow
#CPU utilization error blinking yellow
try:
pi = pigpio.pi()
while True:
#time.sleep(4)
time.sleep(0.2)
pi.write(23,1)
time.sleep(0.2)
pi.write(23,0)
except:
print 'Error init led flasher'
pi.stop()
sys.exit(1)
def __init__(self, logger):
self.logger = logger
self.pi = pigpio.pi()
# self.Pit-Config
self.pit_type = None
self.pit_gpio = None
# public
self.pit_min = 50
self.pit_max = 200
self.pit_inverted = False
self.pit_startup_min = 25
self.pit_startup_threshold = 0
self.pit_startup_time = 0.5
# Steuergröße
self.pit_out = None
# Wave-ID
self.fan_pwm = None
self.pit_io_pwm_thread = None
self.pit_io_pwm_on = 0
self.pit_io_pwm_off = 0
self.pit_io_pwm_lock = threading.Lock()
self.pit_io_pwm_end = threading.Event()
def main():
#Run pigpiod is called on getSensorData script
#Init charger control
try:
pi = pigpio.pi()
while True:
#Read from DB
db = MySQLdb.connect("localhost","monitor","1234","smartRectifier")
curs = db.cursor()
cmd = "SELECT srVBat FROM sensorDataCurrent ORDER BY srVBat ASC LIMIT 1"
curs.execute(cmd)
value = curs.fetchone()
vbat = value[0]
db.close()
print vbat
#print type(vbat)
#!!! Handler if vbat is NULL !!!
if vbat is not None and vbat < 50:
#charging
pi.write(21,1)
time.sleep(600)
pi.write(21,0)
time.sleep(30)
except:
print 'Error charger control'
pi.stop()
sys.exit(1)
def __init__(self, servo=False, motor_trim_factor=1.0):
self.pi = pigpio.pi('localhost')
self.pi.set_mode(PIN_PUSHBUTTON, pigpio.INPUT)
self.pi.set_mode(PIN_ENCODER_LEFT, pigpio.INPUT)
self.pi.set_mode(PIN_ENCODER_RIGHT, pigpio.INPUT)
self._cb = dict()
self._cb_last_tick = dict()
self._cb_elapse = dict()
self._servo = servo
self._motor_trim_factor = motor_trim_factor
if self._servo:
self.motor_control = self._servo_motor
else:
self.motor_control = self._pibrella_motor
self._cb1 = self.pi.callback(PIN_PUSHBUTTON, pigpio.EITHER_EDGE, coderbot_callback)
self._cb2 = self.pi.callback(PIN_ENCODER_LEFT, pigpio.RISING_EDGE, coderbot_callback)
self._cb3 = self.pi.callback(PIN_ENCODER_RIGHT, pigpio.RISING_EDGE, coderbot_callback)
for pin in self._pin_out:
self.pi.set_PWM_frequency(pin, PWM_FREQUENCY)
self.pi.set_PWM_range(pin, PWM_RANGE)
self.stop()
self._is_moving = False
self.sonar = [sonar.Sonar(self.pi, PIN_SONAR_1_TRIGGER, PIN_SONAR_1_ECHO),
sonar.Sonar(self.pi, PIN_SONAR_2_TRIGGER, PIN_SONAR_2_ECHO),
sonar.Sonar(self.pi, PIN_SONAR_3_TRIGGER, PIN_SONAR_3_ECHO)]
self._encoder_cur_left = 0
self._encoder_cur_right = 0
self._encoder_target_left = -1
self._encoder_target_right = -1
def __init__(self, address, port):
super(PiGPIOInterface, self).__init__()
self.hostname = address
self.port = port
self._logger = PytoLogging(self.__class__.__name__)
self.pig = pigpio.pi(self.hostname,self.port)
self._logger.info("creating pigpiod connection to %s on port %s " % (self.hostname, port))
def __new__(cls, number, host='localhost', port=8888):
try:
return cls._PINS[(host, port, number)]
except KeyError:
self = super(PiGPIOPin, cls).__new__(cls)
cls._PINS[(host, port, number)] = self
try:
self._connection = cls._CONNECTIONS[(host, port)]
except KeyError:
self._connection = pigpio.pi(host, port)
cls._CONNECTIONS[(host, port)] = self._connection
self._host = host
self._port = port
self._number = number
self._pull = 'up' if number in (2, 3) else 'floating'
self._pwm = False
self._bounce = None
self._when_changed = None
self._callback = None
self._edges = pigpio.EITHER_EDGE
try:
self._connection.set_mode(self._number, pigpio.INPUT)
except pigpio.error as e:
del cls._PINS[(host, port, number)]
raise ValueError(e)
self._connection.set_pull_up_down(self._number, self.GPIO_PULL_UPS[self._pull])
self._connection.set_glitch_filter(self._number, 0)
self._connection.set_PWM_range(self._number, 255)
return self
def ValueChange(self, instance, value):
self.label_1.text = str(self.slide_1.value)
try:
p = pigpio.pi()
p.set_servo_pulsewidth(18, 1500 + self.slide_1.value)
except:
pass
def __init__(self):
self.logger = logging.getLogger(__name__)
self.gpio = pigpio.pi()
if not self.gpio is None:
self.__setup_pins()
else:
self.logger.critical("Failed to get GPIO!")
def raspberrypi_bridge():
"""
Main function for the raspberry pi bridge
:return:
"""
# noinspection PyShadowingNames
parser = argparse.ArgumentParser()
parser.add_argument("-b", dest="board_number", default="1", help="Board Number - 1 through 10")
parser.add_argument("-r", dest="router_ip_address", default="None", help="Router IP Address")
args = parser.parse_args()
pi = pigpio.pi()
board_num = args.board_number
router_ip_address = args.router_ip_address
rpi_bridge = RaspberryPiBridge(pi, board_num, router_ip_address)
try:
rpi_bridge.run_raspberry_bridge()
except KeyboardInterrupt:
rpi_bridge.cleanup()
pi.stop()
sys.exit(0)
# signal handler function called when Control-C occurs
# noinspection PyShadowingNames,PyUnusedLocal,PyUnusedLocal
def signal_handler(signal, frame):
print("\nControl-C detected. See you soon.")
sys.exit(0)
# listen for SIGINT
signal.signal(signal.SIGINT, signal_handler)
signal.signal(signal.SIGTERM, signal_handler)
def end_read(signal, frame):
global continue_reading
print("Ctrl+C captured, ending read.")
continue_reading = False
# GPIO.cleanup()
pi = pigpio.pi()
pi.stop()
def __init__(self, config):
'''
'''
self.config = config
self.hours_pin = int(config.get('clockdriver', 'hour_pin'))
self.mins_pin = int(config.get('clockdriver', 'min_pin'))
self.seconds_pin = int(config.get('clockdriver', 'sec_pin'))
#
self.gpio = pigpio.pi()
#
self.ds3231 = SDL_DS3231(0, int(config.get('clockdriver', 'ds3231addr'),0) )
#
self.msfdecoder = MSFDecoder( self.gpio,
int(config.get('clockdriver', 'msf_pin')),
self.tick_callback,
self.timesync_callback,
)
self.dial_update_scheduled = False
self.running = True
return
def __init__(self):
rospy.Subscriber('Green_led', Bool, self.green)
rospy.Subscriber('White_led', Bool, self.white)
#self.green_pub = rospy.Publisher("green_light", String, queue_size=1)
#self.white_pub = rospy.Publisher("white_light", String, queue_size=1)
self.pig = pigpio.pi()
self.pig.set_mode(12, pigpio.OUTPUT)
self.pig.set_mode(16, pigpio.OUTPUT)
self.green_flag = 0
rate = rospy.Rate(360) #Hz
counter = 0
while not rospy.is_shutdown():
if self.green_flag == 0:
self.pig.write(16, 0)
elif self.green_flag == 1:
if counter == 0 or counter == 1 or counter == 2 or counter == 3 or counter == 4 or counter == 5 or counter == 6 or counter == 7:
self.pig.write(16, 1)
else:
self.pig.write(16, 1) #self.pig.write(16, 0)
counter += 1
if counter > 23:
#this resets the counter
counter = 0
rate.sleep()
def __init__(self): self.MAX_RETRIES = 5 self.roomTemp = 0 #Init temp self.rasPiChannel = 1 #Numero de bus dans la raspberry self.omronAddress = 0x0a #Adresse du capteur dans la Rasp self.arraySize = 16 #Taille des donnees du capteur self.BUFFER_LENGTH=(self.arraySize * 2) + 3 # Taille du buffer self.piGPIO = pigpio.pi() self.piGPIOver = self.piGPIO.get_pigpio_version() self.i2cBus = smbus.SMBus(1) time.sleep(0.1) # initialize the device based on Omron's appnote 1 self.retries = 0 self.result = 0 for i in range(0,self.MAX_RETRIES): time.sleep(0.05) # Wait a short time self.handle = self.piGPIO.i2c_open(self.rasPiChannel, self.omronAddress) # open Omron D6T device at address 0x0a on bus 1 print self.handle if self.handle > 0: self.result = self.i2cBus.write_byte(self.omronAddress,0x4c) break else: print '' print '***** Omron init error ***** handle='+str(self.handle)+' retries='+str(self.retries) self.retries += 1
def __init__(self,debug = 0,
enc_plus = 16,
enc_minus = 20,
enc_button = 21,
no_encoder = 0,
encoder_object = None):
#Set the encoder + and - pins and push switch pin
self.enc_plus = enc_plus
self.enc_minus = enc_minus
self.enc_button = enc_button
#Set the debug level
self.debug = debug
self.pos = 0
self.pushed = 0
self.no_encoder = no_encoder
self.encoder_object = encoder_object #if not none, this is a curses object
if (self.debug == 0):
#Setup the rotary encoder module (lol idk what it does)
self.pi = pigpio.pi()
self.decoder = rotary_encoder.decoder(self.pi, self.enc_plus, self.enc_minus, self.callback)
#Set the GPIO parameters for the push switch pin
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.enc_button, GPIO.IN, pull_up_down=GPIO.PUD_UP)
else:
#self.screen = curses.initscr()
# turn off input echoing
#curses.noecho()
# respond to keys immediately (don't wait for enter)
#curses.cbreak()
# map arrow keys to special values
#self.screen.keypad(True)
pass
def __init__(self,
port=DEFAULT_GPIO_TX,
baudrate=DEFAULT_BAUD,
serial_address=DEFAULT_ADDRESS,
word_offset=DEFAULT_GPIO_WORD_OFFSET,
stop_bits=DEFAULT_STOP_BITS):
if SIM_MODE:
print 'In sim mode. Commands will not be sent to TXD.'
# Create serial connection
self._conn = pigpio.pi()
# Initialize GPIO TX Pin
self._conn.set_mode(port,pigpio.OUTPUT)
self._conn.set_pull_up_down(port, pigpio.PUD_DOWN)
# Define the settings required by pigpio api
self._gpio_tx_port = port
self._gpio_baud = baudrate
self._gpio_offset = word_offset
self._gpio_stop_bits = stop_bits
# Initialize sabertooth
time.sleep(3)
self._write_bytes(bytearray([AUTO_BAUD_RATE_COMMAND]))
self._serial_address = serial_address
# Sabertooth requires you to define a min battery voltage upon startup
self._send_packet(
self._get_packet_for_command(
MIN_VOLTAGE_COMMAND,10))
def __init__(self, pins):
assert len(pins) == 3
self.PINS = pins
self.MIN_SPEED = 1
self.MAX_SPEED = 20
self.interval = 1
self.speed = 1
self.set_speed(self.MIN_SPEED)
self.gpio = None
self.gpio = pigpio.pi()
self.stop_event = threading.Event()
self.thread = None
self.programs = {
"off" : self.off,
"fade" : self.fade,
"flash" : self.flash,
"strobe" : self.strobe,
"smooth" : self.smooth
}
def __init__(self):
Pio._refcount += 1
self._closed = False
if not Pio._started:
try:
Pio.host
except AttributeError:
Pio.host = 'localhost'
try:
Pio.port
except AttributeError:
Pio.port = 8888
# now see if daemon is running
try:
socket = soc.create_connection((Pio.host,Pio.port))
except:
dok = False
else:
socket.close()
dok = True
if not dok:
self._closed = True
raise RuntimeError('Cannot connect to pigpio daemon')
Pio.pi = pg.pi(Pio.host,Pio.port)
Pio._started = True
def startPIGPIO(self):
if sys.version_info[0] < 3:
import commands
status, process = commands.getstatusoutput('sudo pidof pigpiod')
if status: # it wasn't running, so start it
self.LogInfo ("pigpiod was not running")
commands.getstatusoutput('sudo pigpiod') # try to start it
time.sleep(0.5)
# check it again
status, process = commands.getstatusoutput('sudo pidof pigpiod')
else:
import subprocess
status, process = subprocess.getstatusoutput('sudo pidof pigpiod')
if status: # it wasn't running, so start it
self.LogInfo ("pigpiod was not running")
subprocess.getstatusoutput('sudo pigpiod') # try to start it
time.sleep(0.5)
# check it again
status, process = subprocess.getstatusoutput('sudo pidof pigpiod')
if not status: # if it was started successfully (or was already running)...
pigpiod_process = process
self.LogInfo ("pigpiod is running, process ID is {} ".format(pigpiod_process))
try:
pi = pigpio.pi() # local GPIO only
self.LogInfo ("pigpio's pi instantiated")
except Exception as e:
start_pigpiod_exception = str(e)
self.LogError ("problem instantiating pi: {}".format(start_pigpiod_exception))
else:
self.LogError ("start pigpiod was unsuccessful.")
return False
return True
def __init__(self):
# Setup SPI
self.spi = spidev.SpiDev()
# -------------------------------
# GPIO pin for bump switch setup
# -------------------------------
self.pi1 = pigpio.pi()
self.pi1.set_mode(18, pigpio.INPUT)
cb1 = self.pi1.callback(18, pigpio.RISING_EDGE, self.bumpSwitch_ISR)
self.bumpSwitchPressed = False
#---------------------
# Color sensing setup
#---------------------
# Setup Color Sensor Array
self.bus = smbus.SMBus(1)
self.addr = 0x70
self.addr1 = 0x29
# Initialize and calibrate color sensors
self.initializeColorSensors()
# Approximate rail cart RGB arrays
self.redCartColor = [91, 86, 17]
self.blueCartColor = [74, 69, 2]
self.greenCartColor = [111, 97, 16]
self.yellowCartColor = [99, 94, 26]
self.railCartColorMatrix = [self.redCartColor, self.blueCartColor, self.greenCartColor, self.yellowCartColor]
def main():
'''Entry point for script'''
global precip_tick_count
global precip_accu
precip_tick_count = 0
precip_accu = 0
#---------------------------------------------------------------------------
# SET UP LOGGER
#---------------------------------------------------------------------------
logger = log.setup('root', '/home/pi/weather/logs/read_rain_gauge.log')
logger.info('--- Read Rain Gauge Script Started ---')
#---------------------------------------------------------------------------
# LOAD DRIVERS
#---------------------------------------------------------------------------
try:
pi = pigpio.pi()
except Exception, e:
logger.error('Failed to connect to PIGPIO ({error_v}). Exiting...'.format(
error_v=e))
sys.exit()
def __init__(self, gpioA, gpioB,):
self.pi = pigpio.pi()
self.gpioA = gpioA
self.gpioB = gpioB
#self.callback = callback
self.levA = 0
self.levB = 0
self.lastGpio = None
self.pi.set_mode(gpioA, pigpio.INPUT)
self.pi.set_mode(gpioB, pigpio.INPUT)
self.pi.set_pull_up_down(gpioA, pigpio.PUD_UP)
self.pi.set_pull_up_down(gpioB, pigpio.PUD_UP)
"""VARIABLES DE INTERRUPCION"""
self.pos = 0
self.tiempo_pasado = time.time()
self.tiempo_actual = 0
self.velocidad = 0
self.pid_posicion = pidp()
self.status = 0
def __init__(self):
# Wecker parameter
self.weckzeit = None
self.wecker_startzeit = None
self.wecken_p = False
self.dimm_dauer = 120 #sekunden
self.nachleuchten = 1 #sekunden
self.config_file = SCRIPT_DIR + "/config.json"
# PWM Configuration
self.pwm_start = 1000
self.pwm_ende = 2550
self.pi = pigpio.pi()
# setup pin as an output
self.pi.set_mode(LED_PIN, pigpio.OUTPUT)
# pi set frequency
self.pi.set_PWM_frequency(LED_PIN, 1200)
self.load_config()
if(self.weckzeit):
self.init_scheduler()
def __init__(self, config_file, rgb_csv_file, logging_config_file=None):
if logging_config_file is None:
self.logging = logging.getLogger(self.__class__.__name__)
logging.basicConfig(filename='hugh.log',level=logging.INFO)
else:
logging.config.fileConfig(logging_config_file, disable_existing_loggers=True)
self.logging = logging.getLogger(self.__class__.__name__)
self.pi = pigpio.pi() # local device GPIO
# Config parsing
self.timestamps = [0.0, 0.0] # when configuration files were last updated
self.config_files = [ config_file, rgb_csv_file ]
self.color_correction = None
self.fade_through_black = None
self.instant = None
self.increment_count = None
self.freq = None
self.pins = None
self.scp = ConfigParser.SafeConfigParser()
self.configure()
self.init_pins()
self.set_frequency()
def __init__(self, rasPiChannel=1, omronAddress=0x0a, arraySize=8):
self.MAX_RETRIES = 5
self.roomTemp = 0
self.omronAddress = omronAddress
self.arraySize = arraySize
self.BUFFER_LENGTH=(arraySize * 2) + 3 # data buffer size
self.CRC_ERROR_BIT = 0x04 # the third bit
self.CRC = 0xa4 / (16/arraySize) # if you take the CRC of the whole word including the PEC, this is what you get
self.piGPIO = pigpio.pi()
self.piGPIOver = self.piGPIO.get_pigpio_version()
self.i2cBus = smbus.SMBus(1)
time.sleep(0.1) # Wait
# initialize the device based on Omron's appnote 1
self.retries = 0
self.result = 0
for i in range(0,self.MAX_RETRIES):
time.sleep(0.05) # Wait a short time
self.handle = self.piGPIO.i2c_open(rasPiChannel, omronAddress) # open Omron D6T device at address 0x0a on bus 1
print self.handle
if self.handle > 0:
self.result = self.i2cBus.write_byte(self.omronAddress,0x4c)
break
else:
print ''
print '***** Omron init error ***** handle='+str(self.handle)+' retries='+str(self.retries)
self.retries += 1
def __init__(self, red_pin, green_pin, blue_pin, brightness=100):
import pigpio
# Disallow same pin for two colors
# if red == green or red == blue or green == blue:
# raise ValueError('The pin values cannot be the same')
self.gpio = pigpio.pi()
if red_pin in self.ALLOWED_PINS:
self.red_pin = red_pin
else:
raise ValueError('Red pin must be one of: ' + str(self.ALLOWED_PINS))
if green_pin in self.ALLOWED_PINS:
self.green_pin = green_pin
else:
raise ValueError('Green pin must be one of: ' + str(self.ALLOWED_PINS))
if blue_pin in self.ALLOWED_PINS:
self.blue_pin = blue_pin
else:
raise ValueError('Blue pin must be one of: ' + str(self.ALLOWED_PINS))
self.red_val = 0
self.green_val = 0
self.blue_val = 0
self.set_brightness(brightness)
def __init__(self):
self.pin_motor_left_front = rospy.get_param('~pin_motor_left_front', 11)
self.pin_motor_right_front = rospy.get_param('~pin_motor_right_front', 9)
self.pin_motor_left_back = rospy.get_param('~pin_motor_left_back', 14)
self.pin_motor_right_back = rospy.get_param('~pin_motor_right_back', 18)
# in meter
self.wheel_dist = rospy.get_param('~wheel_dist', 0.223)
self.max_vel = rospy.get_param('~max_velocity', 255)
self.min_vel = rospy.get_param('~min_velocity', 100)
# in sec
self.timeout = rospy.get_param('~timeout', 1)
self.velocity_corr = rospy.get_param('~velocity_correction', 1.0)
self.rotation_corr = rospy.get_param('~rotation_correction', 1.0)
self.debug_mode = rospy.get_param('~debug_mode', False)
try:
if not self.debug_mode:
self.pi = pigpio.pi()
self.pi.set_mode(self.pin_motor_left_front, pigpio.OUTPUT)
self.pi.set_mode(self.pin_motor_right_front, pigpio.OUTPUT)
self.pi.set_mode(self.pin_motor_left_back, pigpio.OUTPUT)
self.pi.set_mode(self.pin_motor_right_back, pigpio.OUTPUT)
# switch them off for now
self.pi.write(self.pin_motor_left_front, 0)
self.pi.write(self.pin_motor_right_front, 0)
self.pi.write(self.pin_motor_left_back, 0)
self.pi.write(self.pin_motor_right_back, 0)
except:
print " Error: unable to set cmd vel!"
# return
self.vel_right = 0.0
self.vel_left = 0.0
self.last_msg = None
self.enabled = False
self.x = 0
self.y = 0
self.vx = 0
self.vy = 0
self.yaw = 0
self.vyaw = 0
self.last_time = None
rospy.Subscriber("cmd_vel", Twist, self.cmd_cb)
self.odom_pub = rospy.Publisher("/odom", Odometry, queue_size=10)
self.tfbr = tf.TransformBroadcaster()
while not rospy.is_shutdown():
rospy.sleep(0.02) # 50Hz
self.check_timeout()
self.publish_odometry()
def Initialize(self):
# Create an RFID object.
self.pi = pigpio.pi()
self.rfid = decoder(self.pi, self.data_low, self.data_high, self._RfidTagScanned)
self.pi.set_mode(self.led, pigpio.OUTPUT)
self.pi.set_mode(self.beep, pigpio.OUTPUT)
self.pi.set_mode(self.lock, pigpio.OUTPUT)
def initialize(self):
if(pigpioLibraryFound):
self.emit(QtCore.SIGNAL('logEvent'),"servo initialized")
self.pi = pigpio.pi()
self.setAngle(90)
self.currentAngle = 90
self.openLid()
self.currentState = ScreenState.OPEN
#
#
# unit testing script for the ventilator
# controller class
#
import pigpio
from configs.gpio_map import *
from actuators.motor import Motor
from sensors.rotary_encoder import RotaryEncoder
from sensors.limit_switch import LimitSwitch
from sensors.power_switch import PowerSwitch
from ventilator_controller import VentilatorController
if __name__ == "__main__":
encoder = RotaryEncoder(pigpio.pi(), ENCODER_B_PLUS_PIN,
ENCODER_A_PLUS_PIN)
contact_switch = LimitSwitch(CONTACT_SWITCH_PIN)
absolute_switch = LimitSwitch(ABSOLUTE_SWITCH_PIN)
power_switch = PowerSwitch(POWER_SWITCH_PIN)
# instantiate actuators
motor = Motor(encoder)
# instantiate controller
controller = VentilatorController(motor, None, absolute_switch,
contact_switch, power_switch)
controller.start_homing()
print("Start ventilation...")
def __init__(self,gpio):
self.gpio=gpio
self.pi = pigpio.pi()
if not self.pi.connected:
exit()
self.pi.set_servo_pulsewidth(gpio, MID_WIDTH)
import cv2 as cv import time import imutils import argparse from imutils.video import VideoStream from imutils.video import FPS #servo libraries import RPi.GPIO as GPIO import pigpio import time servo = 18 #GPIO 18 corresponds to pin 11 in reality #Use pigpio to set a PWM pwm = pigpio.pi() pwm.set_mode(servo,pigpio.OUTPUT) pwm.set_PWM_frequency(servo,50) #setting the PWM to 50hz, this is what the servo was designed for #initialising servo ranges maxServoPos = 2500 #Pulse width of 2500 microseconds minServoPos = 500 #Pulse width of 500 microseconds midServoPos = minServoPos+(maxServoPos-minServoPos)/2 #Middle of servo = 1500 microseconds servoPos = midServoPos #initialising variable which will store servo values pwm.set_servo_pulsewidth(servo,servoPos) #setting servo to 90 degreees initially #initialising variables that store values for PID integral = 0 prev_error = 0
def main():
user = "******"
password = "******"
host = ""
localpi = pigpio.pi()
power_pin = 0
serial_passes = 0
plugin_passes = 0
serial_fails = 0
plugin_fails = 0
A_firmware = ""
B_firmware = ""
initial_run = True
initial_plugins = 0
current_plugins = 0
trial_number = 0
plugin_trial_number = 0
returned_serial = ""
#while A_firmware and B_firmware == "":
#A_firmware = input("What's the normal firmware's git hash?:\n")
#B_firmware = input("What's the alternate firmware's git hash?: \n")
while host == "":
host = input("What's the IP?\n")
expected_serial = input("and what's the serial?\n")
power_pin = int(input("What's the power pin to use?"))
filename = (expected_serial + "logfile.txt")
if exists(filename) != True:
print("Creating a logfile...")
target = open(filename, 'x')
target.close()
print("Logfile created!")
elif exists(filename) == True:
print("Appending to existing logfile.")
while True:
print("Trial #", trial_number)
# Boot the oven
localpi.write(power_pin, 1)
# Wait for a ssh connection
connected = False
while connected == False:
try:
ssh = paramiko.SSHClient()
ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
ssh.connect(host, username = user, password = password)
print("connected!")
connected = True
except:
sleep(1)
print("connecting...")
# When connected, query the serial number and plug in events.
returned_serial = check_serial(host)
print("the serial is", returned_serial)
#read the plugins
current_plugins = check_plugins(host)
print("the plugins are ", current_plugins)
# If this is the initial run of the test, store the plug in events.
if initial_run == True:
print("this is an initial run of this test.\n")
initial_plugins = current_plugins
initial_run = False
# Wait 1 minute.
for i in range(1,90):
print(i, "...")
sleep(1)
# On five second intervals, query the serial number and plug in events. Do this 6 times
for i in range(1,2):
print("Check #", i, "checking the serial...")
check = check_serial(host)
if check in expected_serial:
print("The serial is correct")
serial_passes += 1
# If the serial is corrupted, fail
elif check != expected_serial:
print(check)
print("Wrong serial! fail:(")
serial_fails += 1
# If the serial is blank, fail
elif check == "":
print("no serial. Fail:(")
serial_fails += 1
# On the 6th query, check the plugin events is correct.
print("checking plugins...")
check = check_plugins(host)
sleep(5)
# If plugin is incorrect, fail and restart the initial plugin events check
if check == (initial_plugins + plugin_trial_number):
print("there are ", check, "plugins, which is expected. Pass!")
plugin_passes += 1
elif check != (initial_plugins + plugin_trial_number):
print("there are ", check, "plugins. There should be: ", initial_plugins + plugin_trial_number, "fail:(")
plugin_fails += 1
#reset the plugins
initial_plugins = 0
plugin_trial_number = 0
initial_run = True
else:
print("whoops. Check the initial plugin stuff")
# Close the SSH connection
ssh.close()
# Print test conditions
serial = "serial fails: ", serial_fails, "and passes: ", serial_passes
print(serial)
plugins = "plugin fails: ", plugin_fails, "and passes: ", plugin_passes
print(plugins)
# Goto 1
trial_number += 1
print("Turning off the oven!")
localpi.write(power_pin, 1)
localpi.write(power_pin, 0)
print("logging results...")
log_file = open(filename, 'a+')
log_file.write(str(serial))
log_file.write(str(plugins))
log_file.write("\n")
log_file.close()
for i in range(1,15):
print(i, "...")
sleep(1)
import time
# GPIO.setmode(GPIO.BOARD) # Sets the pin numbering system to use the physical layout
# Set up pin 12 for PWM
# GPIO.setup(12, GPIO.OUT) # Sets up pin 12 to an output (instead of an input)
# pwm = GPIO.PWM(12, 50) # Sets up pin 11 as a PWM pin | 50hz frequency
frequency = 50
period = 1.0 / frequency
lowestCycle = 0.0005 / period * 100
highestCycle = 0.0025 / period * 100
minAngle = 0
maxAngle = 180
gpioPin = 12 # GPIO pin connected to servo
pi = pigpio.pi() # connect to GPIO
if not pi.connected:
print("not connected")
exit()
pi.set_mode(gpioPin, pigpio.OUTPUT) # set pin to output mode
print(pi.set_PWM_frequency(gpioPin, frequency)) # set PWM frequency of pin
pi.set_PWM_range(gpioPin, 255)
def start():
test = 6.8
# pwm.start(test) # Starts running PWM on the pin and sets it to 1
# example = 0.0005 # 500us minimum
# pwm.ChangeDutyCycle(test)
def __init__(self):
super(PinManager, self).__init__()
self.gpio = pigpio.pi('0.0.0.0', 3000)
self.initialize_pins()
#! /usr/bin/python import RPi.GPIO as GPIO import time import pigpio import sys pi = pigpio.pi() RedPin = 17 #start pigpiod deamon pi = pigpio.pi() #connect to Pi #turnOn relay GPIO.setmode(GPIO.BCM) GPIO.cleanup() GPIO.setwarnings(False) GPIO.setup(23, GPIO.OUT) GPIO.output(23, GPIO.LOW) duty_s = sys.argv[1] duty = int(duty_s) duty_red = duty * 2.55 pi.set_PWM_dutycycle(RedPin, duty_red) #stop pigpio pi.stop() #disconnect with Pi
import pigpio
import time
try:
pi = pigpio.pi()
GPIO_pin = 4
pi.set_mode(GPIO_pin, pigpio.OUTPUT)
pi = pigpio.pi() # connect to local Pi
freq = 30000 # Hz
period = 1.0 / freq * 10**6
print "period: %f" % period
#ramp_time = 5 # sec
#start_date = time.time()
# final wave
square = []
square.append(pigpio.pulse(1 << GPIO_pin, 0, period / 2.0))
square.append(pigpio.pulse(0, 1 << GPIO_pin, period / 2.0))
pi.wave_clear()
pi.wave_add_generic(square)
wid0 = pi.wave_create()
square = []
################################################################################
# ir_led_test.py
#
# First test of IR Remote with LED with PIGGPI
#
# 30.06.2019 Created by: zhenya
################################################################################
import pigpio
import time
host_addr = '192.168.2.44'
gpio_pin = 21
LED_pin = 27
count = 0
pi = pigpio.pi(host_addr)
while True:
tr = pi.event_trigger(21)
print(tr)
time.sleep(1)
#if pi.wait_for_event(gpio_pin, 10):
# print("event detected")
#else:
# print("wait for event timed out")
#while True:
# try:
# eve = pi.event_callback(gpio_pin)
import pigpio
from time import sleep
from tkinter import *
from tkinter.colorchooser import *
pi = pigpio.pi('192.168.1.12', 8888) # Connect to the local Pi
pins_used = (17, 27, 22, 18, 23, 24)
for i in pins_used: # Sets up pins as outputs
pi.set_mode(i, pigpio.OUTPUT)
# Assign pins to strips and colors
strip1 = (17, 27, 22)
strip2 = (18, 23, 24)
# Set frequency
Hz = 800
freq = 1 / Hz # in seconds
# Set min and max levels
min_level = 0
max_level = 255
def breathe(color, time=1):
# Reset each color
for i in pins_used:
pi.set_PWM_dutycycle(i, 0)
# Get initial level
level = pi.get_PWM_dutycycle(color)
PWM_FREQ = 50
CLOSE = 170
OPEN = 135
FEEDING = False
PWM = None
config = configparser.ConfigParser()
config.read('config.ini')
format_config = '%(asctime)s - %(levelname)s - %(message)s'
logging.basicConfig(format=format_config,
level=logging.INFO,
filename='run.log')
logger = logging.getLogger()
try:
PWM = pigpio.pi()
except Exception as e:
logger.error("Error starting PWM" + str(e))
updater = Updater(token=config['TELEGRAM']['ACCESS_TOKEN'], use_context=True)
dispatcher = updater.dispatcher
def angle_to_duty_cycle(angle=0):
duty_cycle = int((500 * PWM_FREQ + (1900 * PWM_FREQ * angle / 180)))
return duty_cycle
def unchanging(chat_id):
global USERSTATUS, SCHEDULECHANGING
if chat_id in USERSTATUS:
#GPIO.output(spark_pin,GPIO.LOW)
print("Ignition Stoped")
def open_valve():
GPIO.output(valve_pin,GPIO.HIGH)
print("Valve Open")
def close_valve():
GPIO.output(valve_pin,GPIO.LOW)
print("Valve Closed")
pi = pigpio.pi()#Neccessary Preamble for the thermocouple
if not pi.connected:
exit(0)
######Infinite While Loop "Main Code"#######
while 1:
valvefile=open("valvestat.txt", "r")#Checking the valve remote status
valve=float(valvefile.read())
if valve == 1: #Global Variable Changed in the shell, initiates ignition sequence
open_valve()
print ("Valve Open")
#!/usr/bin/env python
import pigpio
import sys
from time import sleep
try:
thePinNum = int(sys.argv[1])
except IndexError:
print("Missing Pin Num")
else:
pi = pigpio.pi() # Connect to local Pi.
pi.set_mode(thePinNum, pigpio.OUTPUT)
GPIOstatus = pi.read(thePinNum)
if GPIOstatus == 1:
print("Switching pin " + str(thePinNum) + " to 0")
pi.write(thePinNum, 0)
pi.stop()
else:
print("Switching pin " + str(thePinNum) + " to 1")
pi.write(thePinNum, 1)
pi.stop()
def log_data(self):
# pigpio
self.ioif = pigpio.pi()
# software i2c
try:
self.ioif.bb_i2c_open(P_SDA, P_SCK, P_BAUD)
except:
logging.error("bus already open")
self.ioif.bb_i2c_close(P_SDA)
self.ioif.bb_i2c_open(P_SDA, P_SCK, P_BAUD)
logging.info("Data Logger started")
log = 0
data_fast = np.zeros(8)
data_perm = np.zeros(8)
n_fast = 1
n_perm = 1
while logging:
logging.debug("Data Logger logging")
columns = list(("time", ))
for i in range(SENSOR_BASEID, SENSOR_BASEID + 8):
(count, data) = self.ioif.bb_i2c_zip(P_SDA, [
I2C_SET_ADDR, i, I2C_START, I2C_READ, SENSOR_DATALEN,
I2C_STOP, I2C_END
])
columns.append(str(i))
if count > 1:
read = ((data[0] << 8) & 0xFF00) + (data[1])
read = read / 256.0
if read > 127:
read -= 256
data_fast[i - SENSOR_BASEID] += read
data_perm[i - SENSOR_BASEID] += read
else:
data_fast[i - SENSOR_BASEID] = np.nan
data_perm[i - SENSOR_BASEID] = np.nan
time.sleep(0.05)
infoline = np.empty((1, 9), dtype=object)
if n_fast % 10 == 0:
infoline[0, 1:9] = data_fast[0:8] / n_fast
n_fast = 0
infoline[0, 0] = dt.datetime.now()
pdataline = pa.DataFrame.from_records(infoline,
columns=columns)
self.savetofile(False, pdataline)
data_fast = np.zeros(8)
if n_perm % 100 == 0:
infoline[0, 1:9] = data_perm[0:8] / n_perm
n_perm = 0
infoline[0, 0] = dt.datetime.now()
pdataline = pa.DataFrame.from_records(infoline,
columns=columns)
self.savetofile(True, pdataline)
data_perm = np.zeros(8)
n_fast += 1
n_perm += 1
""" Ollie Langhorst Robotics Research for Dr. Krauss 1/5/2016 Before this script is run, it is necessary to start the pigpio daemon. Do this by: sudo pigpiod """ from matplotlib.pyplot import * from scipy import * import time import pigpio import serial_utils pi1 = pigpio.pi() channel = 0 bps = 1000000 mode = 3 h = pi1.spi_open(channel, bps, mode) #~ n = 100 n = 10 t1 = time.time() responses = [] ilist = range(1, n) testbyte = 0 sendindex_list = [] allbytes = []
def exe_sunset():
#Hier werden die GPIO Pins als Variable deklariert.
#Das ist einfacher und übersichtlicher.
RED = 17
GREEN = 22
BLUE = 24
WHITE = 23
pi = pigpio.pi()
#Hier werden die Farbwerte festgelegt.
r = 155.4
g = 147.12
b = 256.05
w = 255
durchlauf = 0
while durchlauf == 0:
ticks1 = 0
ticks2 = 0
ticks3 = 0
ticks4 = 0
while ticks1 <= 101:
#erste Schleife
r = r - 0
g = g - 0
b = b - 1
w = w - 2.5
pi.set_PWM_dutycycle(RED, r)
pi.set_PWM_dutycycle(GREEN, g)
pi.set_PWM_dutycycle(BLUE, b)
pi.set_PWM_dutycycle(WHITE, w)
time.sleep(8)
ticks1 = ticks1 + 1
print("erste Schleife")
print(r)
print(g)
print(b)
print(w)
while ticks2 <= 37:
#zweite Schleife
r = r - 0.05
g = g - 1.5
b = b - 1.6
w = w - 0
pi.set_PWM_dutycycle(RED, r)
pi.set_PWM_dutycycle(GREEN, g)
pi.set_PWM_dutycycle(BLUE, b)
pi.set_PWM_dutycycle(WHITE, w)
time.sleep(8)
ticks2 = ticks2 + 1
print("zweite Schleife")
print(r)
print(g)
print(b)
print(w)
while ticks3 <= 40:
#dritte Schleife
r = r - 1
g = g - 1.32
b = b - 2
w = w - 0
pi.set_PWM_dutycycle(RED, r)
pi.set_PWM_dutycycle(GREEN, g)
pi.set_PWM_dutycycle(BLUE, b)
pi.set_PWM_dutycycle(WHITE, w)
time.sleep(8)
ticks3 = ticks3 + 1
print("dritte Schleife")
print(r)
print(g)
print(b)
print(w)
while ticks4 <= 44:
#vierte Schleife
r = r - 2.5
g = g - 0.76
b = b - 0.2
w = w - 0
pi.set_PWM_dutycycle(RED, r)
pi.set_PWM_dutycycle(GREEN, g)
pi.set_PWM_dutycycle(BLUE, b)
pi.set_PWM_dutycycle(WHITE, w)
time.sleep(8)
ticks4 = ticks4 + 1
print("vierte Schleife")
print(r)
print(g)
print(b)
print(w)
durchlauf = +1
print("Jetzt ist Nacht")
import pigpio
import time
pi = pigpio.pi('doggo-control')
pi.set_servo_pulsewidth(22, 1500)
time.sleep(1)
pi.set_servo_pulsewidth(22, 1200)
time.sleep(1)
pi.set_servo_pulsewidth(22, 1500)
time.sleep(1)
pi.set_servo_pulsewidth(22, 0)
#calculation of the temperature based on
#the first word and the first byte
# !!! not tested for negative temperatures !!!!
#last 4 bits of the word0
l4b = (word0 & 0b1111000000000000)>>12
temperature = ((byte0<<4) | l4b) * 0.0625
return temperature
#i2c bus of the Raspberry Pi 3
i2c_bus = 1
#TMP 102 address on the i2c bus
addr = 0x48
dev_pi = pigpio.pi()
dev_tmp = dev_pi.i2c_open(i2c_bus, addr, 0)
register_n = 0
try:
while True:
t_byte = dev_pi.i2c_read_byte_data(dev_tmp, 0)
t_word = dev_pi.i2c_read_word_data(dev_tmp, 0)
t = tmp102_reading(t_byte, t_word)
print(' Temperature: {} C'.format(t))
time.sleep(1)
except KeyboardInterrupt:
pass
print('Exiting the loop');
r = dev_pi.i2c_close(dev_tmp)
def setup():
# set up board
pi = pigpio.pi()
# set pins
pi.set_mode(led_pin, pigpio.OUTPUT)
return pi
GPIOA = 18 # Port A bits register.
portABits = 0
changedABits = 0
def IntA(gpio, level, tick):
global portABits, changedABits
# Read port A, clear interrupt.
now = pi.i2c_read_byte_data(chip, GPIOA)
changedABits = now ^ portABits
portABits = now
print("port A is {:08b} changed {:08b}".format(portABits, changedABits))
pi = pigpio.pi("tom") # Connect to tom.
pi.set_mode(gpioA7, pigpio.OUTPUT)
chip = pi.i2c_open(0, 0x20) # tom is a Rev.1 board.
pi.i2c_write_byte_data(chip, DEFVALA, 0)
pi.i2c_write_byte_data(chip, INTCONA, 0)
pi.i2c_write_byte_data(chip, INTENA, 0xFF) # Interrupt on any PORTA change.
# Call IntA on Port A interrupt.
cb = pi.callback(gpioPortAInt, pigpio.FALLING_EDGE, IntA)
# Make sure gpio changes state when first interrupt arrives.
# Otherwise the callback won't be called and the interrupt
# won't be cleared.
def _init_gpio_spi(self):
pi = pigpio.pi()
pi.set_mode(self.intPin, pigpio.INPUT)
pi.set_mode(self.rstPin, pigpio.OUTPUT)
self.spi= pi.spi_open(0, 4000000, 0) #TODO: need to include for options?
self.pi = pi
# -*- coding: utf-8 -*-
import time
import pigpio
BUZZER = 18
gpio = pigpio.pi()
gpio.set_mode(BUZZER, pigpio.OUTPUT)
##1オクターブの周波数
scale = [523.251, 587.33, 659.255, 698.456, 783.991, 880, 987.767, 1046.502]
##ド=0、レ=1、ミ=2、ファ=3、ソ=4、ラ=5、シ=6、ド=7、4分音符（+0）、2分音符（+10）
##曲（ちょうちょ）
music = [
4, 2, 12, 3, 1, 11, 0, 1, 2, 3, 4, 4, 14, 4, 2, 2, 2, 3, 1, 1, 1, 0, 2, 4,
4, 2, 2, 12
]
try:
for note in music:
if note >= 10:
note = note - 10
gpio.hardware_PWM(BUZZER, scale[note], 500000)
time.sleep(1)
else:
gpio.hardware_PWM(BUZZER, scale[note], 500000)
time.sleep(0.5)
gpio.hardware_PWM(BUZZER, 0, 0)
time.sleep(0.1)
except KeyboardInterrupt:
gpio.hardware_PWM(BUZZER, 0, 0)
gpio.stop()
sw_blue = 21 motor_out_1 = 19 motor_out_2 = 26 # PWMの周波数 freq = 1000 # duty比の分解能 pwm_range = 100 # 初期duty比 duty = 50 # 7segledの点灯パターン num_char = [0x3f, 0x06, 0x5b, 0x4f, 0x66, 0x6d, 0x7c, 0x07, 0x7f, 0x67, 0x00] # GPIOの初期設定 pi_g = pi.pi() # 入力設定 pi_g.set_mode(sw_black, pi.INPUT) pi_g.set_mode(sw_white, pi.INPUT) pi_g.set_mode(sw_red, pi.INPUT) pi_g.set_mode(sw_orange, pi.INPUT) pi_g.set_mode(sw_yellow, pi.INPUT) pi_g.set_mode(sw_green, pi.INPUT) pi_g.set_mode(sw_blue, pi.INPUT) # プルアップ設定 pi_g.set_pull_up_down(sw_black, pi.PUD_UP) pi_g.set_pull_up_down(sw_white, pi.PUD_UP) pi_g.set_pull_up_down(sw_red, pi.PUD_UP) pi_g.set_pull_up_down(sw_orange, pi.PUD_UP)
cycle = 1 # number of cycles
if args['experiment'] == 2:
prepulse = 4 * 60 # 4 minutes
lpulse = 3 * 60 # 3 minutes
interpulse = 2 * 60
cycle = 2
if args['experiment'] == 3:
prepulse = 0
lpulse = 2 * 60
interpulse = 0
cycle = 1
#initialize handles for TTL and UDP
pi = pigpio.pi() #TTL
try:
pi.write(18, 0)
pi.write(12, 0)
pi.write(4 , 0)
print('Turned off lights')
except:
print('Lights are turned off')
#TTL write
def pulse(GPIO, dur):
pi.write(GPIO, 1) # high
time.sleep(dur) # in sec
pi.write(GPIO, 0) # low
# - - - - - - - - - - - - - - - -
GPIO.setmode(GPIO.BCM)
GPIO.setup(20, GPIO.IN) # Save button
GPIO.setup(16,GPIO.IN) # Reset button
GPIO.setup(6, GPIO.IN) # Not Used
GPIO.setup(13, GPIO.IN) # Endless Repeat switch
GPIO.setup(19, GPIO.IN) # Set Origin switch
GPIO.setup(26, GPIO.IN) # Follow switch
GPIO.setup(12, GPIO.IN) # Repeat switch
GPIO.setup(21, GPIO.OUT) # Blink LED
servoGripperPin = 24 # Servo Gripper
# - - - - - - - - - - - - - - - -
# - - - Global Objects - - - - -
# - - - - - - - - - - - - - - - -
pi = pigpio.pi('localhost', 8888)
blinkLED = BlinkLED(21)
stepperArm = StepperRobotArm(blinkLED, pi, servoGripperPin)
replicaArm = ReplicaRobotArm()
replayButton = Button(20, stepperArm.shortPressAction, lambda: True)
deleteButton = Button(16, stepperArm.deleteReplayList, lambda: True)
motorHoldSwitch = Switch(6, lambda: stepperArm.setMotorHold('hold'), lambda: stepperArm.setMotorHold('release'))
endlessRepeatSwitch = Switch(13, lambda: stepperArm.setEndlessReplay(True), lambda: stepperArm.setEndlessReplay(False))
setOriginSwitch = Switch(19, replicaArm.getCorrValues, lambda: True)
followSwitch = Switch(26, lambda: stepperArm.setMode('follow'), lambda: stepperArm.setMode('idle'))
repeatSwitch = Switch(12, lambda: stepperArm.setMode('replay'), lambda: stepperArm.setMode('idle'))
# - - - - - - - - - - - - - - - -
# Initialize pigpio daemon
from subprocess import call
call(["sudo", "pigpiod"])
#Importing libraries
import psutil, os
import pigpio
import chewnumber
from threading import Event
global exit
#Setting variables
exit = Event()
p = psutil.Process(os.getpid())
p.nice(-19)
pi = pigpio.pi('Dragon47')
n = 3
#pi.hardware_clock(4,4689)
pi.set_PWM_frequency(4, constants.CLOCKSPEED)
pi.set_PWM_dutycycle(4, constants.DUTYCYCLE)
pi.write(10, 1)
global send_value_bin
send_value = [0] * n
send_value_bin = [0] * n
zerostring = [0] * n
diff = [0] * n
zerolist = [0] * n
# exp setting schedule = args.schedule ratio = args.ratio sessionLength = args.sessionLength timeout = args.timeout rat1ID = args.rat1ID rat2ID = args.rat2ID rat0ID = "ratUnknown" # motor code from https://www.raspberrypi.org/forums/viewtopic.php?t=220247#p1352169 # pip3 install pigpio # git clone https://github.com/stripcode/pigpio-stepper-motor ## initiate pump motor pi = pigpio.pi() motor = StepperMotor(pi, 17, 23, 22, 24) pwma = pigpio.pi() pwma.write(18, 1) pwmb = pigpio.pi() pwmb.write(12, 1) stby = pigpio.pi() stby.write(27, 0) # Create I2C bus. i2c = busio.I2C(board.SCL, board.SDA) # Create MPR121 object. mpr121 = adafruit_mpr121.MPR121(i2c) # Initialize GPIO gpio.setwarnings(False)
from imutils.video.pivideostream import PiVideoStream
print "Initializing point tracking"
parser = argparse.ArgumentParser(
description='Cast some spells! Recognize wand motions')
parser.add_argument(
'--train',
help='Causes wand movement images to be stored for training selection.',
action="store_true")
parser.add_argument('--circles',
help='Use circles to select wand location',
action="store_true")
pi = pigpio.pi()
#pin for Powerswitch (Lumos,Nox)
switch_pin = 23
pi.set_mode(switch_pin, pigpio.OUTPUT)
#pin for Particle (Nox)
nox_pin = 24
pi.set_mode(nox_pin, pigpio.OUTPUT)
#pin for Particle (Incendio)
incendio_pin = 22
pi.set_mode(incendio_pin, pigpio.OUTPUT)
#pin for Trinket (Colovario)
trinket_pin = 12
pi.set_mode(trinket_pin, pigpio.OUTPUT)
def __init__(self, motorName, gpio):
self.name = motorName
self.gpioPin = gpio
self.pi = pigpio.pi()
self.idle()
def __init__(self, mode):
"""Constructor for the main program. Accepts the mode: RLS or ADP"""
self._pi = pigpio.pi()
self.mode = mode
