def run():
#roboveroConfig()
heartbeatOff()
aeroInit()
setPID()
setAngleLimit(LIMIT_ANGLE)
toggleAltitudeControl(ALTITUDE_CONTROL)
setTargetAltitude(TARGET_ALTITUDE)
changeMew(MEW)
setLowPassU(LOW_PASS_U)
maintainConnection()
writer.writerow([P1, P2, I1, I2, D1, D2])
aeroLoopOn()
setThrottle(INIT_THROTTLE)
maintainConnection()
throttle = INIT_THROTTLE
count = 0
try:
while True:
maintainConnection()
logData(1)
maintainConnection()
c=myGetch()
maintainConnection()
if c=='s':
throttle += 3
if (throttle > TAKE_OFF_LIMIT):
throttle = TAKE_OFF_LIMIT
setThrottle(throttle)
elif c=='a':
throttle -=3
if (throttle < INIT_THROTTLE):
throttle = INIT_THROTTLE
setThrottle(throttle)
elif c=='':
pass
else:
print "killed by key press"
aeroLoopOff()
exit()
maintainConnection()
except:
print "killed due to exception"
aeroLoopOff()
def run(): # no need for roboveroConfig() heartbeatOff() pinMode(BTN, INPUT) pinMode(LED, OUTPUT) while True: digitalWrite(LED, digitalRead(BTN))
def run():
heartbeatOff();
roboveroConfig()
MCPWM_Init(LPC_MCPWM)
channelsetup=[]
for i in range(3):
channelsetup.append(MCPWM_CHANNEL_CFG_Type())
channelsetup[0].channelType = MCPWM_CHANNEL_EDGE_MODE
channelsetup[0].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO
channelsetup[0].channelDeadtimeEnable = FunctionalState.DISABLE
channelsetup[0].channelDeadtimeValue = 0
channelsetup[0].channelUpdateEnable = FunctionalState.ENABLE
channelsetup[0].channelTimercounterValue = 0
channelsetup[0].channelPeriodValue = 900
channelsetup[0].channelPulsewidthValue = 450
channelsetup[1].channelType = MCPWM_CHANNEL_EDGE_MODE
channelsetup[1].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO
channelsetup[1].channelDeadtimeEnable = FunctionalState.DISABLE
channelsetup[1].channelDeadtimeValue = 0
channelsetup[1].channelUpdateEnable = FunctionalState.ENABLE
channelsetup[1].channelTimercounterValue = 0
channelsetup[1].channelPeriodValue = 900
channelsetup[1].channelPulsewidthValue = 200
channelsetup[2].channelType = MCPWM_CHANNEL_EDGE_MODE
channelsetup[2].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO
channelsetup[2].channelDeadtimeEnable = FunctionalState.DISABLE
channelsetup[2].channelDeadtimeValue = 0
channelsetup[2].channelUpdateEnable = FunctionalState.ENABLE
channelsetup[2].channelTimercounterValue = 0
channelsetup[2].channelPeriodValue = 900
channelsetup[2].channelPulsewidthValue = 200
MCPWM_ConfigChannel(LPC_MCPWM, 0, channelsetup[0].ptr)
MCPWM_ConfigChannel(LPC_MCPWM, 1, channelsetup[1].ptr)
MCPWM_ConfigChannel(LPC_MCPWM, 2, channelsetup[2].ptr)
#DC Mode
MCPWM_DCMode(LPC_MCPWM, FunctionalState.ENABLE, FunctionalState.DISABLE, (0))
MCPWM_Start(LPC_MCPWM, FunctionalState.ENABLE, FunctionalState.ENABLE, FunctionalState.ENABLE)
try:
while True:
#MCPWM_WriteToShadow(LPC_MCPWM, 0, channelsetup[0].ptr) #Change the speed
for i in range(6):
BLDC_commutate(i)
except:
MCPWM_Stop(LPC_MCPWM, FunctionalState.ENABLE, FunctionalState.ENABLE, FunctionalState.ENABLE)
heartbeatOn()
print "you broke it"
def run():
roboveroConfig()
pinMode(LED, OUTPUT)
heartbeatOff()
# Initialize script
myscript=Script([["GPIO_ClearValue", 3, 2000000],
["delay",10000000],
["GPIO_SetValue", 3, 2000000]])
print "script added"
try:
while True:
raw_input("Press Enter to run script")
print myscript.run()
print "script done"
# append to script
myscript.append("delay",10000000)
myscript.append("GPIO_ClearValue", 3, 2000000)
myscript.append("delay",10000000)
myscript.append("GPIO_SetValue",3, 2000000)
except:
heartbeatOn()
print "goodbye"
def run(): # control the LED manually heartbeatOff() pinMode(LED, OUTPUT) # setup EINT0 on pin 2.10 PinCfg = PINSEL_CFG_Type() PinCfg.Funcnum = 1 PinCfg.OpenDrain = 0 PinCfg.Pinmode = 0 PinCfg.Pinnum = 10 PinCfg.Portnum = 2 PINSEL_ConfigPin(PinCfg.ptr) EXTI_Init() # register the callback registerCallback(IRQn_Type.EINT0_IRQn, EINT0Callback) # enable EINT0 NVIC_EnableIRQ(IRQn_Type.EINT0_IRQn) # the callback does everything from here while True: sleep(1)
"I'm afraid I can't let you do that, Dave. Also,", "Hammer says")
def EINT0Callback():
"""Callback function for EINT0.
"""
while not digitalRead(BTN):
sleep(0)
print "%s don't touch that!" % choice(responses)
state = digitalRead(LED)
digitalWrite(LED, state ^ 1)
EXTI_ClearEXTIFlag(0)
# control the LED manually
heartbeatOff()
pinMode(LED, OUTPUT)
# setup EINT0 on pin 2.10
PinCfg = PINSEL_CFG_Type()
PinCfg.Funcnum = 1
PinCfg.OpenDrain = 0
PinCfg.Pinmode = 0
PinCfg.Pinnum = 10
PinCfg.Portnum = 2
PINSEL_ConfigPin(PinCfg.ptr)
EXTI_Init()
# register the callback
registerCallback(IRQn_Type.EINT0_IRQn, EINT0Callback)
"""Control the LED with the pushbutton using the Arduino API. """ from robovero.arduino import pinMode, digitalWrite, digitalRead, BTN, LED from robovero.arduino import INPUT, OUTPUT from robovero.extras import heartbeatOff __author__ = "Neil MacMunn" __email__ = "*****@*****.**" __copyright__ = "Copyright 2010, Gumstix Inc." __license__ = "BSD 2-Clause" __version__ = "0.1" # no need for roboveroConfig() heartbeatOff() pinMode(BTN, INPUT) pinMode(LED, OUTPUT) while True: digitalWrite(LED, digitalRead(BTN))
