def setupPins(pins):
# build node script to set pin direction:
mux = 7
pud = "pulldown"
script = "var b = require('bonescript');"
for (p, _) in pins:
script += " b.pinMode('%s',b.INPUT,%i,'%s','fast');" % (p, mux, pud)
command = ["node", "-e", script]
subprocess.call(command, cwd="/usr/local/lib")
# now use adafruit python lib
for (p, callback) in pins:
GPIO.setup(p, GPIO.IN)
GPIO.add_event_detect(p, GPIO.BOTH)
GPIO.add_event_callback(p, ButtonHandler(p, callback).handler)
if __name__ == '__main__':
try:
#Initialize node
rospy.init_node('encoders')
#Create publisher, to send out a String with the first joint name of every received message as an example.
pubFR = rospy.Publisher('/py_controller/front_right_wheel/encoder', JointState, queue_size=10)
pubRR = rospy.Publisher('/py_controller/rear_right_wheel/encoder', JointState, queue_size=10)
pubFL = rospy.Publisher('/py_controller/front_left_wheel/encoder', JointState, queue_size=10)
pubRL = rospy.Publisher('/py_controller/rear_left_wheel/encoder', JointState, queue_size=10)
#sets up GPIO channels
GPIO.setup("P9_23", GPIO.IN)
GPIO.setup("P9_30", GPIO.IN)
GPIO.setup("P8_17", GPIO.IN)
GPIO.setup("P8_26", GPIO.IN)
GPIO.add_event_detect("P9_23", GPIO.BOTH)
GPIO.add_event_detect("P9_30", GPIO.BOTH)
GPIO.add_event_detect("P8_17", GPIO.BOTH)
GPIO.add_event_detect("P8_26", GPIO.BOTH)
GPIO.add_event_callback("P9_23", callLeft)
GPIO.add_event_callback("P9_30", callLeft)
GPIO.add_event_callback("P8_17", callRight)
GPIO.add_event_callback("P8_26", callRight)
rospy.spin()
#If we are interrupted, catch the exception, but do nothing
except rospy.ROSInterruptException:
pass
GPIO.setup(led,GPIO.OUT)
Button = "P9_22" # UART2_RXD P9_22
GPIO.setup(Button, GPIO.IN)
GPIO.add_event_detect(Button, GPIO.FALLING)
def ButtonFunction(void):
global alertFlag
print "ButtonFunction"
if alertFlag == 0:
alertFlag = 1
alertTime = time.time()+60
GPIO.output(led,GPIO.LOW)
GPIO.add_event_callback(Button,ButtonFunction) # regist the button interrupt function
if __name__=="__main__":
bbg_grove_oled.oled_init()
bbg_grove_oled.oled_setNormalDisplay()
bbg_grove_oled.oled_clearDisplay()
while True:
# GPIO.output(led,GPIO.HIGH)
# time.sleep(1)
# GPIO.output(led,GPIO.LOW)
# time.sleep(1)
# print 'led'
temperature = sensor.read_temperature()
pressure = sensor.read_pressure()
altitude = sensor.read_altitude()
def button8_16 (pin):
GPIO.output("P8_15", GPIO.LOW) # SonyTV
GPIO.output("P8_17", GPIO.HIGH) # AppleTV
GPIO.output("P8_19", GPIO.LOW) # BBB
GPIO.output("P8_9", GPIO.LOW) # turn on SPDIF switch
GPIO.output("P8_7", GPIO.LOW) # select optical input
os.system("echo 'AppleTV_in' | nc -q .1 10.0.1.25 8194")
print "did 8_16 ATV"
time.sleep(1)
def button8_18 (pin):
GPIO.output("P8_15", GPIO.LOW) # SonyTV
GPIO.output("P8_17", GPIO.LOW) # AppleTV
GPIO.output("P8_19", GPIO.HIGH) # BBB
GPIO.output("P8_9", GPIO.HIGH) # Otto off
os.system("echo 'BBB_in' | nc -q .1 10.0.1.25 8194")
print "did 8_18 BBB"
time.sleep(1)
GPIO.add_event_callback("P8_11",button8_11)
GPIO.add_event_callback("P8_12",button8_12)
GPIO.add_event_callback("P8_14",button8_14)
GPIO.add_event_callback("P8_16",button8_16)
GPIO.add_event_callback("P8_18",button8_18)
# main function
def main():
time.sleep(.5)
if __name__=="__main__":
while True:
main()
#!/usr/bin/python
import Adafruit_BBIO.GPIO as GPIO
def callLeft(data):
#reads encoder inputs
channelA = GPIO.input("P9_23")
channelB = GPIO.input("P9_30")
print channelA, channelB
#sets up GPIO channels
GPIO.setup("P9_23", GPIO.IN)
GPIO.setup("P9_30", GPIO.IN)
GPIO.setup("P8_17", GPIO.IN)
GPIO.setup("P8_26", GPIO.IN)
#creates an event detect for each of the encoders
GPIO.add_event_detect("P9_23", GPIO.BOTH)
GPIO.add_event_detect("P9_30", GPIO.BOTH)
while 1:
#creates a callback if a change happens
GPIO.add_event_callback("P9_23", callLeft)
GPIO.add_event_callback("P9_30", callLeft)
estado_porta = GPIO.LOW
# Rotina a ser executada quando uma interrupcao for detectada
def interrupt_callback(pino_botao):
estado_porta = GPIO.input(pino_porta)
estado_porta = GPIO.HIGH if estado_porta == GPIO.LOW else GPIO.LOW
GPIO.output(pino_porta, estado_porta)
# print ("interrupt")
return None
# Configuracao do evento de interrupcao do botao
GPIO.add_event_detect(pino_botao, GPIO.FALLING)
GPIO.add_event_callback(pino_botao,
callback=interrupt_callback,
bouncetime=200)
# Inicializacao da porta serial UART1 da BB
UART.setup("UART1")
ser = serial.Serial(port="/dev/ttyS1", baudrate=9600)
ser.close()
ser.open()
sleep(0.2)
# Conexao ao banco de dados MySQL
db = mysql.connect(user=sql_user,
password=sql_pwd,
host=sql_host,
database=sql_db)
sql_cursor = db.cursor() # Get a cursor
