class Controls:
def __init__(self):
self.motor = PWM(0)
self.servo = PWM(1)
self.motor.export()
self.servo.export()
self.motor.period = 20000000
self.servo.period = 20000000
self.motor.enable = True
self.servo.enable = True
self.neutral()
def move(self, speed):
"""
0 <= speed <= 1
where 0 is stopped
1 is full speed
"""
speed = interpolate_01(STOP_DUTY, FASTEST_DUTY, speed)
self.motor.duty_cycle = int(speed)
def turn(self, angle):
"""
-1 <= angle <= +1
where -1 is left
0 is center
+1 is right
"""
# -angle because LEFT_DUTY > RIGHT_DUTY but want -1 to mean LEFT
angle = interpolate_pm1(LEFT_DUTY, RIGHT_DUTY, -angle)
self.servo.duty_cycle = int(angle)
def neutral(self):
self.move(STOP)
self.turn(CENTER)
def test(self):
self.neutral()
self.turn(LEFT)
time.sleep(.5)
self.turn(RIGHT)
time.sleep(.5)
self.turn(CENTER)
time.sleep(.5)
self.move(.15)
time.sleep(1)
self.move(STOP)
def tracer_grille(grille, agrandissement, angle, origine):
n = 4000
calibre = 0.1
pwm_X = PWM(0)
pwm_Y = PWM(
1) # il n'existe que 2 canaux pour implementer les PWMs (0 et 1)
pwm_X.export()
pwm_Y.export()
pwm_X.period = 100000 # les unites sont en nanosecondes, ainsi dans cet exemple la periode vaut 100000*1ns = 100 us
pwm_Y.period = 100000
GPIO.setmode(
GPIO.BOARD) # On lit les pattes dans l'ordre classique en électronique
GPIO.setup(35, GPIO.OUT) # La broche 35 est configurée en sortie
##La fréquence max du lever/baisser de stylo et 4Hz. Donc 250ms.
### Ecriture de la grille
for i in range(0, len(grille)):
for j in range(0, len(grille[0])):
if (grille[i][j] != 0):
seq_chiffre = choix(grille[i][j], i, j, agrandissement, angle)
x = seq_chiffre[0]
y = seq_chiffre[1]
haut = seq_chiffre[2]
for k in range(0, len(x)):
x[k] += origine[0] * calibre
y[k] += origine[1] * calibre
stylo_haut()
for k in range(0, len(x)):
if (k != 0):
lever_stylo(haut[k], haut[k - 1])
pwm_X.duty_cycle = int(x[k] * pwm_X.period / 3.3)
pwm_Y.duty_cycle = int(y[k] * pwm_Y.period / 3.3)
pwm_X.enable = True
pwm_Y.enable = True
stylo_haut()
#Lorsque l'on a termine avec la table tracante
pwm_X.enable = False # On desactive la PWM
pwm_Y.enable = False
pwm_X.unexport()
pwm_Y.unexport()
GPIO.cleanup(
) # A la fin du programme on remet à 0 les broches du Rasberry PI
return (0)
def calibrage():
GPIO.setmode(
GPIO.BOARD) # On lit les pattes dans l'ordre classique en électronique
GPIO.setup(35, GPIO.OUT) # La broche 35 est configurée en sortie
pwm_X = PWM(0)
pwm_Y = PWM(
1) # il n'existe que 2 canaux pour implementer les PWMs (0 et 1)
pwm_X.export()
pwm_Y.export()
pwm_X.period = 100000 # les unites sont en nanosecondes, ainsi dans cet exemple la periode vaut 100000*1ns = 100 us
pwm_Y.period = 100000
GPIO.output(35, GPIO.HIGH)
for i in range(0, int(pwm_Y.period / 5)):
pwm_Y.duty_cycle = 5 * i
pwm_Y.enable = True
for i in range(0, int(pwm_X.period / 5)):
pwm_X.duty_cycle = 5 * i
pwm_X.enable = True
for i in range(0, int(pwm_Y.period / 5)):
pwm_Y.duty_cycle = pwm_Y.period - 5 * i
pwm_Y.enable = True
for i in range(0, int(pwm_X.period / 5)):
pwm_X.duty_cycle = pwm_X.period - 5 * i
pwm_X.enable = True
pwm_X.enable = False
pwm_Y.enable = False
stylo_haut()
time.sleep(1)
pwm_X.duty_cycle = int(pwm_X.period / 2)
pwm_X.enable = True
time.sleep(1)
camera = picamera.PiCamera()
camera.capture('calibrage.jpg')
time.sleep(1)
pwm_X.enable = False
pwm_X.unexport()
pwm_Y.unexport()
GPIO.cleanup()
return 1
class Motion:
_enabledPin = 6
def __init__(self):
self._speed = 0
self._direction = 0
self._enabled = False
self._enabledOutput = DigitalOutputDevice(self._enabledPin)
self._speedPwm = PWM(0) # pin 12
self._directionPwm = PWM(1) # pin 13
self._speedPwm.export()
self._directionPwm.export()
time.sleep(1) # wait till pwms are exported
self._speedPwm.period = 20_000_000
self._directionPwm.period = 20_000_000
def enable(self):
self._updatePwm()
self._speedPwm.enable = True
self._directionPwm.enable = True
self._enabledOutput.value = 1
def disable(self):
self._enabledOutput.value = 0
self._speedPwm.enable = False
self._directionPwm.enable = False
def set_values(self, speed=None, direction=None):
self._speed = speed if speed is not None else self._speed
self._direction = direction if direction is not None else self._direction
self._updatePwm()
def _updatePwm(self):
self._speedPwm.duty_cycle = _translate_duty_cycle(
self._speed, speed_offset, speed_scale)
self._directionPwm.duty_cycle = _translate_duty_cycle(
self._direction, direction_offset, direction_scale)
class Servo:
duty_min = 900000
duty_max = 2790000
duty_range = []
pwm = []
def __init__(self):
self.duty_scale = (self.duty_max - self.duty_min) / 100
self.pwm = PWM(0)
self.pwm.export()
self.pwm.inversed = False
self.pwm.period = 20000000
self.pwm.duty_cycle = 2000000
self.pwm.enable = True
def set_value(self, value):
value = numpy.clip(value, 0, 100)
scaled = int(value * self.duty_scale) + self.duty_min
self.pwm.duty_cycle = scaled
def disable(self):
self.pwm.enable = False
from pwm import PWM pwm0 = PWM(0) pwm1 = PWM(1) pwm0.export() pwm1.export() pwm0.period = 20000000 pwm1.period = 20000000 pwm0.duty_cycle = 1000000 pwm0.enable = False pwm1.duty_cycle = 1465000 pwm1.enable = False
