self._cb.cancel()
if __name__ == "__main__":
import time
import pigpio
import read_RPM
RPM_GPIO = 22
RUN_TIME = 60.0
SAMPLE_TIME = 2.0
pi = pigpio.pi()
p = read_RPM.reader(pi, RPM_GPIO)
start = time.time()
# while (time.time() - start) < RUN_TIME:
while True:
# time.sleep(SAMPLE_TIME)
RPM = p.RPM()
print("RPM={}".format(int(RPM + 0.5)))
p.cancel()
pi.stop()
import time
import pigpio
import read_RPM
RPM_GPIO = 17
RUN_TIME = 60.0
SAMPLE_TIME = 2.0
print("RPM GPIO= " + str(RPM_GPIO) + ", RUN_TIME= " + str(RUN_TIME) + ", SAMPLE_TIME= " + str(SAMPLE_TIME))
pi = pigpio.pi()
p = read_RPM.reader(pi, RPM_GPIO)
print("min period " + str(p._min_period))
start = time.time()
while (time.time() - start) < RUN_TIME:
time.sleep(SAMPLE_TIME)
RPMstr = p.getUpdate()
print('RPM= ' + RPMstr)
p.cancel()
def acquire_data(main_queue, killer, pi, i2c_handle_6b, i2c_handle_69,
i2c_handle_ADS7828, reporting_interval): #new_data_event):
#target data string:
#timestamp ,lat, ,lon ,el ,press , temp , level, qual,rpm
#2016-03-16T16:15:04Z,32.758,-97.448,199.700,32.808,63.722,26.887,2.144,0.000
PWM_GPIO = 24 # to pin 18 on pi, mistakenly labeled "5" on rev c of the interface PCB
RPM_GPIO = 17 # to pin 11 on the pi.
#for reference, the ups uses gpio 27 (pin 13) to shutdown the pi (FSSD) and 22 (pin 15) is use for pulse train output to the ups (watchdog), 4 is used by the GPS PPS output, STACounter enable on 25 (pin 22)
led_state = 0
analog_sensors = ADS7828.ADS7828(pi, i2c_handle_ADS7828)
oil_sensor = read_PWM.reader(pi, PWM_GPIO)
rpm_sensor = read_RPM.reader(pi, RPM_GPIO)
UPS_Pico_run_prior = 0
UPS_Pico_run_temp = 0
UPS_Pico_run_read_count = 0
UPS_Pico_run_read_errors = 0
UPS_PICO_RUN_MAX_READ_ERRORS = 5
if (reporting_interval == 0):
reporting_interval = 5
gps_sensor = GPS_AdafruitSensor(interface='/dev/ttyAMA0')
time_format_str = '%Y-%m-%dT%H:%M:%SZ'
system_clock_set_from_gps = False
while not killer.kill_now:
try:
logging.debug('acquire_data process launched...')
while not killer.kill_now:
#---------verifying that the Pico UPS is running properly -------------
UPS_Pico_run_now = pi.i2c_read_word_data(
i2c_handle_69,
0x0e) #rolling vale, should change after each read.
if (UPS_Pico_run_now == UPS_Pico_run_prior):
UPS_Pico_run_read_errors += 1
if (UPS_Pico_run_read_errors >=
UPS_PICO_RUN_MAX_READ_ERRORS):
raise TimeoutError(
'The UPS Pico_run register (UPS Pico module status register 69 0x0E) has returend the same value ('
+ str(UPS_Pico_run_now) + ') ' +
str(UPS_Pico_run_read_errors) +
' times, which most likely indicates that the UPS is not running (either shutdown or locked up). The number of successful reads prior to error: '
+ str(UPS_Pico_run_read_count))
else:
UPS_Pico_run_read_errors = 0
UPS_Pico_run_read_count += 1
UPS_Pico_run_prior = UPS_Pico_run_now
time.sleep(reporting_interval)
#---------begin data colection -------------
timestamp = gps_sensor.timestamp
timestamp_str = timestamp.strftime(time_format_str)
pressure_str = analog_sensors.getUpdate()
oil_str = oil_sensor.getUpdate()
rpm_str = rpm_sensor.getUpdate()
#---------concatenating, checking minimum number of fields and date validity -------------
# all of the fields have leading commas.
data_str = timestamp_str + gps_sensor.data_str(
) + pressure_str + oil_str + rpm_str
if (len(data_str.split(',')) < 10):
logging.debug(
'Invalid data length, < 10 after split on comma, ACTUAL DATA: '
+ data)
continue
if (timestamp.year < 2016):
logging.debug(
'Discarding sample with an invalid timestamp: ' +
timestamp_str)
continue
else:
if not system_clock_set_from_gps: #only done once at startup
logging.debug('Setting date according to GPS')
os.system('sudo date -s ' + timestamp_str)
system_clock_set_from_gps = True
filename = gps_sensor.timestamp.strftime(
"%Y-%m-%d_%H.csv") #change log file every hour
main_queue.put(('new data', filename, data_str))
# print(data_str)
led_state = 1 - led_state
pi.i2c_write_byte_data(
i2c_handle_6b, 0x0D, led_state
) #toggle the red LED to show data is being processed
except Exception as ex:
logging.error('acquire_data: ' + traceback.format_exc())
main_queue.put(('quit', ))
finally:
logging.debug('DAQ thread caught stop signal.')
try:
pi.i2c_write_byte_data(i2c_handle_6b, 0x0D,
0) #turn off the red LED
r.cancel() #stop the call backs
p.cancel()
except:
pass
main_queue.put(('DAQ thread stopped', ))
logging.debug('DAQ thread is exiting.')
#################### ##SETUP RPM MEASURING RPM_GPIO = 4 RPM_GPIO_2 = 17 RUN_TIME = 60.0 SAMPLE_TIME = 2.0 pi = pigpio.pi() pi2 = pigpio.pi() ################### ##SETUP ENCODERS encoder_1 = read_RPM.reader(pi, RPM_GPIO) encoder_2 = read_RPM.reader(pi2, RPM_GPIO_2) ################### ### SETUP MOTORS BCM PINS (EN, IN1, IN2) ### motor_1 = Setup_robo(25,24,23) motor_1.set_motors() #### SET MOTOR 2 ### motor_2 = Setup_robo(6,16,26) motor_2.set_motors() controle = Control_robo(encoder_1, encoder_2, SAMPLE_TIME, motor_1, motor_2)
def acquire_data(main_queue, killer, pi, i2c_handle_6b, i2c_handle_69, i2c_handle_ADS7828, reporting_interval): #new_data_event):
#target data string:
#timestamp ,lat, ,lon ,el ,press , temp , level, qual,rpm
#2016-03-16T16:15:04Z,32.758,-97.448,199.700,32.808,63.722,26.887,2.144,0.000
PWM_GPIO = 24 # to pin 18 on pi, mistakenly labeled "5" on rev c of the interface PCB
RPM_GPIO = 17 # to pin 11 on the pi.
#for reference, the ups uses gpio 27 (pin 13) to shutdown the pi (FSSD) and 22 (pin 15) is use for pulse train output to the ups (watchdog), 4 is used by the GPS PPS output, STACounter enable on 25 (pin 22)
led_state = 0
analog_sensors = ADS7828.ADS7828(pi, i2c_handle_ADS7828)
oil_sensor = read_PWM.reader(pi, PWM_GPIO)
rpm_sensor = read_RPM.reader(pi, RPM_GPIO)
UPS_Pico_run_prior = 0
UPS_Pico_run_temp = 0
UPS_Pico_run_read_count = 0
UPS_Pico_run_read_errors = 0
UPS_PICO_RUN_MAX_READ_ERRORS = 5
if(reporting_interval == 0):
reporting_interval = 5
gps_sensor = GPS_AdafruitSensor(interface='/dev/ttyAMA0')
time_format_str = '%Y-%m-%dT%H:%M:%SZ'
system_clock_set_from_gps = False
while not killer.kill_now:
try:
logging.debug('acquire_data process launched...')
while not killer.kill_now:
#---------verifying that the Pico UPS is running properly -------------
UPS_Pico_run_now = pi.i2c_read_word_data(i2c_handle_69, 0x0e) #rolling vale, should change after each read.
if(UPS_Pico_run_now == UPS_Pico_run_prior):
UPS_Pico_run_read_errors += 1
if(UPS_Pico_run_read_errors >= UPS_PICO_RUN_MAX_READ_ERRORS):
raise TimeoutError('The UPS Pico_run register (UPS Pico module status register 69 0x0E) has returend the same value (' + str(UPS_Pico_run_now) + ') ' + str(UPS_Pico_run_read_errors) + ' times, which most likely indicates that the UPS is not running (either shutdown or locked up). The number of successful reads prior to error: ' + str(UPS_Pico_run_read_count))
else:
UPS_Pico_run_read_errors = 0
UPS_Pico_run_read_count += 1
UPS_Pico_run_prior = UPS_Pico_run_now
time.sleep(reporting_interval)
#---------begin data colection -------------
timestamp = gps_sensor.timestamp
timestamp_str = timestamp.strftime(time_format_str)
pressure_str = analog_sensors.getUpdate()
oil_str = oil_sensor.getUpdate()
rpm_str = rpm_sensor.getUpdate()
#---------concatenating, checking minimum number of fields and date validity -------------
# all of the fields have leading commas.
data_str = timestamp_str + gps_sensor.data_str() + pressure_str + oil_str + rpm_str
if(len(data_str.split(',')) < 10):
logging.debug('Invalid data length, < 10 after split on comma, ACTUAL DATA: ' + data)
continue
if(timestamp.year < 2016):
logging.debug('Discarding sample with an invalid timestamp: ' + timestamp_str)
continue
else:
if not system_clock_set_from_gps: #only done once at startup
logging.debug('Setting date according to GPS')
os.system('sudo date -s ' + timestamp_str)
system_clock_set_from_gps = True
filename = gps_sensor.timestamp.strftime("%Y-%m-%d_%H.csv") #change log file every hour
main_queue.put(('new data', filename, data_str))
# print(data_str)
led_state = 1 - led_state
pi.i2c_write_byte_data(i2c_handle_6b, 0x0D, led_state) #toggle the red LED to show data is being processed
except Exception as ex:
logging.error('acquire_data: ' + traceback.format_exc())
main_queue.put(('quit',))
finally:
logging.debug('DAQ thread caught stop signal.')
try:
pi.i2c_write_byte_data(i2c_handle_6b, 0x0D, 0) #turn off the red LED
r.cancel() #stop the call backs
p.cancel()
except:
pass
main_queue.put(('DAQ thread stopped',))
logging.debug('DAQ thread is exiting.')
# Calibrate ESC
ESC_GPIO = 13
pi.set_servo_pulsewidth(ESC_GPIO, 2000) # Maximum throttle.
sleep(2)
pi.set_servo_pulsewidth(ESC_GPIO, 1000) # Minimum throttle.
sleep(2)
# Set up input pins for thumbwheel switch
BCD = [16, 20, 21]
for pin in BCD:
GPIO.setup(pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
# Set up RPM reader
RPM_GPIO = 14
SAMPLE_TIME = 2.0
tach = reader(pi, RPM_GPIO)
try:
while 1:
speed = 0
# Loop through pins to return value of BCD counter
for pin in BCD:
# Left shift speed then OR by negated pin value
speed = (speed << 1) | (1 ^ GPIO.input(pin))
# Set ESC speed via PWM
pi.set_servo_pulsewidth(ESC_GPIO, speed * 1000 / 7 + 1000)
# Read RPM
rpm = tach.RPM()
