def t3():
global t3_reset, t3_count, t3_on, t3_off
pw=[500.0, 1500.0, 2500.0]
dc=[0.2, 0.4, 0.6, 0.8]
print("PWM/Servo pulse accuracy tests.")
t3cb = pigpio.callback(GPIO, pigpio.EITHER_EDGE, t3cbf)
t = 0
for x in pw:
t += 1
pigpio.set_servo_pulsewidth(GPIO, x)
time.sleep(1)
t3_reset = True
time.sleep(4)
c = t3_count
on = t3_on
off = t3_off
CHECK(3, t, int((1E3*(on+off))/on), int(2E7/x), 1, "set servo pulsewidth")
pigpio.set_servo_pulsewidth(GPIO, 0)
pigpio.set_PWM_frequency(GPIO, 1000)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(3, 4, f, 1000, 0, "set/get PWM frequency")
rr = pigpio.set_PWM_range(GPIO, 100)
CHECK(3, 5, rr, 200, 0, "set PWM range")
t = 5
for x in dc:
t += 1
pigpio.set_PWM_dutycycle(GPIO, x*100)
time.sleep(1)
t3_reset = True
time.sleep(2)
c = t3_count
on = t3_on
off = t3_off
CHECK(3, t, int((1E3*on)/(on+off)), int(1E3*x), 1, "set PWM dutycycle")
pigpio.set_PWM_dutycycle(GPIO, 0)
def t2():
global t2_count
print("PWM dutycycle/range/frequency tests.")
pigpio.set_PWM_range(GPIO, 255)
pigpio.set_PWM_frequency(GPIO, 0)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 1, f, 10, 0, "set PWM range, set/get PWM frequency")
t2cb = pigpio.callback(GPIO, pigpio.EITHER_EDGE, t2cbf)
pigpio.set_PWM_dutycycle(GPIO, 0)
time.sleep(0.5) # allow old notifications to flush
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 2, f, 0, 0, "set PWM dutycycle, callback")
pigpio.set_PWM_dutycycle(GPIO, 128)
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 3, f, 40, 5, "set PWM dutycycle, callback")
pigpio.set_PWM_frequency(GPIO, 100)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 4, f, 100, 0, "set/get PWM frequency")
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 5, f, 400, 1, "callback")
pigpio.set_PWM_frequency(GPIO, 1000)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 6, f, 1000, 0, "set/get PWM frequency")
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 7, f, 4000, 1, "callback")
r = pigpio.get_PWM_range(GPIO)
CHECK(2, 8, r, 255, 0, "get PWM range")
rr = pigpio.get_PWM_real_range(GPIO)
CHECK(2, 9, rr, 200, 0, "get PWM real range")
pigpio.set_PWM_range(GPIO, 2000)
r = pigpio.get_PWM_range(GPIO)
CHECK(2, 10, r, 2000, 0, "set/get PWM range")
rr = pigpio.get_PWM_real_range(GPIO)
CHECK(2, 11, rr, 200, 0, "get PWM real range")
pigpio.set_PWM_dutycycle(GPIO, 0)
def t2():
global t2_count
print("PWM dutycycle/range/frequency tests.")
pigpio.set_PWM_range(GPIO, 255)
pigpio.set_PWM_frequency(GPIO,0)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 1, f, 10, 0, "set PWM range, set/get PWM frequency")
t2cb = pigpio.callback(GPIO, pigpio.EITHER_EDGE, t2cbf)
pigpio.set_PWM_dutycycle(GPIO, 0)
time.sleep(0.5) # allow old notifications to flush
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 2, f, 0, 0, "set PWM dutycycle, callback")
pigpio.set_PWM_dutycycle(GPIO, 128)
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 3, f, 40, 5, "set PWM dutycycle, callback")
pigpio.set_PWM_frequency(GPIO,100)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 4, f, 100, 0, "set/get PWM frequency")
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 5, f, 400, 1, "callback")
pigpio.set_PWM_frequency(GPIO,1000)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 6, f, 1000, 0, "set/get PWM frequency")
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 7, f, 4000, 1, "callback")
r = pigpio.get_PWM_range(GPIO)
CHECK(2, 8, r, 255, 0, "get PWM range")
rr = pigpio.get_PWM_real_range(GPIO)
CHECK(2, 9, rr, 200, 0, "get PWM real range")
pigpio.set_PWM_range(GPIO, 2000)
r = pigpio.get_PWM_range(GPIO)
CHECK(2, 10, r, 2000, 0, "set/get PWM range")
rr = pigpio.get_PWM_real_range(GPIO)
CHECK(2, 11, rr, 200, 0, "get PWM real range")
pigpio.set_PWM_dutycycle(GPIO, 0)
def t4():
print("Pipe notification tests.")
pigpio.set_PWM_frequency(GPIO, 0)
pigpio.set_PWM_dutycycle(GPIO, 0)
pigpio.set_PWM_range(GPIO, 100)
h = pigpio.notify_open()
e = pigpio.notify_begin(h, (1 << 4))
CHECK(4, 1, e, 0, 0, "notify open/begin")
time.sleep(1)
with open("/dev/pigpio" + str(h), "rb") as f:
pigpio.set_PWM_dutycycle(GPIO, 50)
time.sleep(4)
pigpio.set_PWM_dutycycle(GPIO, 0)
e = pigpio.notify_pause(h)
CHECK(4, 2, e, 0, 0, "notify pause")
e = pigpio.notify_close(h)
CHECK(4, 3, e, 0, 0, "notify close")
n = 0
s = 0
seq_ok = 1
toggle_ok = 1
while True:
chunk = f.read(12)
if len(chunk) == 12:
S, fl, t, v = struct.unpack("HHII", chunk)
if s != S:
seq_ok = 0
L = v & (1 << 4)
if n:
if l != L:
toggle_ok = 0
if L:
l = 0
else:
l = 1 << 4
s += 1
n += 1
# print(S, fl, t, hex(v))
else:
break
f.close()
CHECK(4, 4, seq_ok, 1, 0, "sequence numbers ok")
CHECK(4, 5, toggle_ok, 1, 0, "gpio toggled ok")
CHECK(4, 6, n, 80, 10, "number of notifications")
def init_servo(pin):
pigpio.set_PWM_frequency(pin, 50) # 50Hz pulses
pigpio.set_PWM_range(
pin, 20000) # 1,000,000 / 50 = 20,000us for 100% duty cycle
move_servo(pin, CENTER, 5)
if sum < -50:
sum = -50
#print("actualTemp %4.2f TempDiff %4.2f pDiff %4.2f iDiff %4.2f fanSpeed %5d" % (actualTemp,diff,pDiff,iDiff,fanSpeed))
pigpio.set_PWM_dutycycle(gpiochan, fanSpeed)
return ()
def fanOFF():
pigpio.set_PWM_dutycycle(gpiochan, 0) # switch fan off
return ()
def signalHandler(_signo, _stack_frame):
fanOFF()
sys.exit(0)
try:
signal.signal(signal.SIGTERM, signalHandler)
pigpio = pigpio.pi()
pigpio.set_PWM_frequency(gpiochan, 23000)
print(pigpio.get_PWM_frequency(gpiochan))
pigpio.set_PWM_range(gpiochan, 100)
fanOFF()
while True:
handleFan()
sleep(3) # Read the temperature every 3 sec
except KeyboardInterrupt: # trap a CTRL+C keyboard interrupt
fanOFF()
# GPIO.cleanup() # resets all GPIO ports used by this program
def pigpio_init_pwm(self):
pigpio.set_PWM_frequency(self.pin, 50) # 50Hz pulses
pigpio.set_PWM_range(self.pin, 20000) # 1,000,000 / 50 = 20,000us for 100% duty cycle
self.logger.info("PWM cycle frequency: %dHz" % pigpio.get_PWM_frequency(self.pin))
# For TS-51: 600, 1400, 2200
servMax = 2200
servMid = 1400
servMin = 600
delayTime1 = 0.01
servStep = 20
servPin1 = 18 #GPIO 18
#Reset pigpio
pigpio.stop()
time.sleep(.5)
pigpio.start()
#Initialize PWM values
pigpio.set_PWM_frequency(servPin1, 50)
pigpio.set_PWM_range(servPin1, servMax)
pigpio.set_servo_pulsewidth(servPin1, servMin) #pulsewidth sets position - start at minimum
### END SERVO SETUP
### MAIN LOOP ###
try:
while True:
print "Play sound"
os.system('mpg321 "./sounds/Sci Fi Beep 02.mp3" &')
setDir("fwd")
1210) #front motor speed initialised at 1210 ms pulse width
motor2 = motor(pin2,
1230) #back motor speed initialised at 1230 ms pulse width
motors = [] #array of motors to be controlled
motors.append(motor1)
motors.append(motor2)
if pigpio.start(''): # must run notification test on localhost
print("Connected to pigpio daemon.")
#initialisation
pigpio.set_mode(pin1, pigpio.OUTPUT)
pigpio.set_mode(pin2, pigpio.OUTPUT)
pigpio.set_PWM_range(pin1, 255)
pigpio.set_PWM_range(pin2, 255)
pigpio.set_PWM_frequency(pin1, 50)
pigpio.set_PWM_frequency(pin2, 50)
pigpio.set_servo_pulsewidth(pin1, 0)
pigpio.set_servo_pulsewidth(pin2, 0)
#open the serial port rfcomm1 defined in rfcomm.conf file
ser = serial.Serial('/dev/rfcomm1', 38400, timeout=.08)
print("\nConnected\n")
ser.write('Connected') #send message to the smartphone
raw = ser.readline()
while (raw != 'stop'): #message 'stop' terminates the program
raw = ser.readline()
if (raw != ''): #ignore empty messages
print(raw + '\n')
def init_channel(pin):
pigpio.set_PWM_frequency(pin, 50)
println("PWM cycle frequency: %dHz" % pigpio.get_PWM_frequency(pin))
pigpio.set_PWM_range(pin, RANGE)
def t4():
print("Pipe notification tests.")
pigpio.set_PWM_frequency(GPIO, 0)
pigpio.set_PWM_dutycycle(GPIO, 0)
pigpio.set_PWM_range(GPIO, 100)
h = pigpio.notify_open()
e = pigpio.notify_begin(h, (1<<4))
CHECK(4, 1, e, 0, 0, "notify open/begin")
time.sleep(1)
with open("/dev/pigpio"+ str(h), "rb") as f:
pigpio.set_PWM_dutycycle(GPIO, 50)
time.sleep(4)
pigpio.set_PWM_dutycycle(GPIO, 0)
e = pigpio.notify_pause(h)
CHECK(4, 2, e, 0, 0, "notify pause")
e = pigpio.notify_close(h)
CHECK(4, 3, e, 0, 0, "notify close")
n = 0
s = 0
seq_ok = 1
toggle_ok = 1
while True:
chunk = f.read(12)
if len(chunk) == 12:
S, fl, t, v = struct.unpack('HHII', chunk)
if s != S:
seq_ok = 0
L = v & (1<<4)
if n:
if l != L:
toggle_ok = 0
if L:
l = 0
else:
l = (1<<4)
s += 1
n += 1
# print(S, fl, t, hex(v))
else:
break
f.close()
CHECK(4, 4, seq_ok, 1, 0, "sequence numbers ok")
CHECK(4, 5, toggle_ok, 1, 0, "gpio toggled ok")
CHECK(4, 6, n, 80, 10, "number of notifications")
motor1 = motor(pin1, 1210) # front motor speed initialised at 1210 ms pulse width
motor2 = motor(pin2, 1230) # back motor speed initialised at 1230 ms pulse width
motors = [] # array of motors to be controlled
motors.append(motor1)
motors.append(motor2)
if pigpio.start(""): # must run notification test on localhost
print("Connected to pigpio daemon.")
# initialisation
pigpio.set_mode(pin1, pigpio.OUTPUT)
pigpio.set_mode(pin2, pigpio.OUTPUT)
pigpio.set_PWM_range(pin1, 255)
pigpio.set_PWM_range(pin2, 255)
pigpio.set_PWM_frequency(pin1, 50)
pigpio.set_PWM_frequency(pin2, 50)
pigpio.set_servo_pulsewidth(pin1, 0)
pigpio.set_servo_pulsewidth(pin2, 0)
# open the serial port rfcomm1 defined in rfcomm.conf file
ser = serial.Serial("/dev/rfcomm1", 38400, timeout=0.08)
print("\nConnected\n")
ser.write("Connected") # send message to the smartphone
raw = ser.readline()
while raw != "stop": # message 'stop' terminates the program
raw = ser.readline()
if raw != "": # ignore empty messages
print(raw + "\n")
def init_servo():
pigpio.set_PWM_frequency(PIN, 50) # 50Hz pulses
pigpio.set_PWM_range(
PIN, 20000) # 1,000,000 / 50 = 20,000us for 100% duty cycle
print 'Initializing...'
move_servo(CENTER)
