def __init__(self):
self.voltage_publisher = rospy.Publisher(
'CurrentSensor/battery_voltage_draw', Float64, queue_size=10)
self._hz = 10
ch1 = VoltageInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 1
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch1.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch1.setHubPort(channelInfo.hubPort)
ch1.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch1.setChannel(channelInfo.channel)
ch1.setOnAttachHandler(self.onAttachHandler)
ch1.setOnDetachHandler(self.onDetachHandler)
ch1.setOnErrorHandler(self.onErrorHandler)
ch1.setOnVoltageChangeHandler(self.onVoltageChangeHandler)
ch1.setOnSensorChangeHandler(self.onSensorChangeHandler)
print("\nOpening and Waiting for Attachment...")
try:
ch1.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch1)
raise EndProgramSignal("Program Terminated: Open Failed")
def __init__(self, HUB_SERIAL_NUM, PORT_NUM):
# voltage to direction mapping when connect to a 10k 5v pull up
self.v_d_tuples_raw = [
(3.84, 0.0),
(1.98, 22.5),
(2.25, 45.0),
(0.41, 67.5),
(0.45, 90.0),
(0.32, 112.5),
(0.90, 135.0),
(0.62, 157.5),
(1.40, 180.0),
(1.19, 202.5),
(3.08, 225.0),
(2.93, 247.5),
(4.62, 270.0),
(4.04, 292.5),
(4.33, 315.0),
(3.43, 337.5),
]
self.v_d_tuples = []
self.init_voltage_range_map()
self.ch = VoltageInput()
self.ch.setDeviceSerialNumber(HUB_SERIAL_NUM)
self.ch.setHubPort(PORT_NUM)
super(WindDirectionDevice, self).__init__(self.ch)
def __init__(self,channel,sensor_name,topic_name,modo):
self.channel = channel
self.sensor_name = sensor_name
self.topic_name = topic_name
self.modo = modo
self.pub = rospy.Publisher(self.topic_name, DeviceInfo, queue_size=10)
self.msg = DeviceInfo()
self.modo = modo
if modo == 'ANALOG':
self.ch = VoltageInput()
elif modo == 'DIGITAL':
self.ch = DigitalInput()
def __init__(self):
# Name of the controller
self.name = "PAUL controller for Raspberry Pi"
# Current Speed of the robot
self.speed = 0
# Speed that the robot will travel up (note negative speed goes up)
self.up_speed = -70
#Speed that the robot will travel down (note negative speed goes down)
self.down_speed = 70
# Threshold reading on top distance sensors before triggering
self.top_threshold = 1.9
# Threshold reading on bottom distance sensors before triggering
self.bottom_threshold = 2.6
# Note: The following should only be set if distance sensors are not attached,
# they should be set to 0 if sensors are attached.
self.top_ds_reading = 0
self.bottom_ds_reading = 0
# Create an instance of the Motors class used in SDP
self.mc = Motors()
#Sensors
#define array of digital inputs to store readings from the bump sensors
self.bump_sensors = [DigitalInput() for i in range (0,6)]
#addressing the channels for the bump sensors
#0-2 are top sensors
#3-5 are bottom channels
for i in range(0,6):
self.bump_sensors[i].setChannel(i)
self.bump_sensors[i].openWaitForAttachment(5000)
#define array of analogue inputs to store readings from the ir sensors
self.ir_sensors = [VoltageInput() for i in range (0,6)]
#addressing the channels for the ir sensors
#0-2 are top sensors
#3-5 are bottom channels
for i in range(0,6):
self.ir_sensors[i].setChannel(i)
#this line will basically call the event handler when the readings change
self.ir_sensors[i].openWaitForAttachment(5000)
#Light
# connect to pin 12(slot PWM)
PIN = 18
# For Grove - WS2813 RGB LED Strip Waterproof - 30 LED/m
# there is 30 RGB LEDs.
COUNT = 60
self.strip = GroveWS2813RgbStrip(PIN, COUNT)
def attachSensor(self):
'''
Connects the sensor to the application
'''
self.channel = VoltageInput()
self.channel.setDeviceSerialNumber(self.deviceSN)
self.channel.setChannel(self.channelNo)
self.channel.openWaitForAttachment(100)
print("\n***** {} Sensor Attached *****".format(self.sensorName))
self.attached = True
self.channel.setSensorType(self.sensorType)
self.channel.setDataInterval(self.dataInterval)
self.sensorUnits=self.channel.getSensorUnit().symbol
def main():
snd1 = SoundSensor()
snd2 = SoundSensor()
temp = VoltageRatioInput()
hum = VoltageRatioInput()
light = VoltageInput()
openChannels(snd1, snd2, temp, hum, light)
for i in range(10):
print(getJSONSensorValues(snd1, snd2, temp, hum, light))
print('')
time.sleep(1)
snd1.close()
snd2.close()
temp.close()
hum.close()
light.close()
def main():
voltageInput0 = VoltageInput()
voltageInput1 = VoltageInput()
voltageInput2 = VoltageInput()
voltageInput3 = VoltageInput()
voltageInput4 = VoltageInput()
voltageInput5 = VoltageInput()
voltageInput6 = VoltageInput()
voltageInput7 = VoltageInput()
voltageInput0.setChannel(0)
voltageInput1.setChannel(1)
voltageInput2.setChannel(2)
voltageInput3.setChannel(3)
voltageInput4.setChannel(4)
voltageInput5.setChannel(5)
voltageInput6.setChannel(6)
voltageInput7.setChannel(7)
voltageInput0.setOnVoltageChangeHandler(onVoltageChange)
voltageInput1.setOnVoltageChangeHandler(onVoltageChange)
voltageInput2.setOnVoltageChangeHandler(onVoltageChange)
def _publish(self):
"""
* Allocate a new Phidget Channel object
"""
try:
try:
ch = VoltageInput()
except PhidgetException as e:
sys.stderr.write(
"Runtime Error -> Creating VoltageInput: \n\t")
DisplayError(e)
raise
except RuntimeError as e:
sys.stderr.write(
"Runtime Error -> Creating VoltageInput: \n\t" + e)
raise
def signal_handler(signal, frame):
print("exiting...")
raise EndProgramSignal("Program Terminated")
signal.signal(signal.SIGINT, signal_handler)
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 0
channelInfo.isHubPortDevice = 1
channelInfo.channel = 0
ch.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch.setHubPort(channelInfo.hubPort)
ch.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch.setChannel(channelInfo.channel)
"""
* Add event handlers before calling open so that no events are missed.
"""
print(channelInfo.deviceSerialNumber)
print(channelInfo.hubPort)
ch.setOnAttachHandler(onAttachHandler)
ch.setOnDetachHandler(onDetachHandler)
ch.setOnErrorHandler(onErrorHandler)
ch.setOnVoltageChangeHandler(onVoltageChangeHandler)
ch.setOnSensorChangeHandler(onSensorChangeHandler)
print("\nOpening and Waiting for Attachment...")
try:
ch.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch)
raise EndProgramSign00al("Program Terminated: Open Failed")
print("running...")
rate = rospy.Rate(self._hz)
while True:
self.current_publisher.publish(str(current[0]))
if current[0] > 14:
playsound('/home/mars/Downloads/torture.wav')
rate.sleep()
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
traceback.print_exc()
print("Cleaning up...")
ch.setOnVoltageChangeHandler(None)
ch.setOnSensorChangeHandler(None)
ch.close()
return 1
except EndProgramSignal as e:
print(e)
print("Cleaning up...")
ch.setOnVoltageChangeHandler(None)
ch.setOnSensorChangeHandler(None)
ch.close()
return 1
except KeyboardInterrupt:
ch.setOnVoltageChangeHandler(None)
ch.setOnSensorChangeHandler(None)
ch.close()
return 1
#!/usr/bin/env python
# license removed for brevity
import rospy
import sys
import time
from std_msgs.msg import Float32
from Phidget22.Devices.VoltageInput import *
from Phidget22.PhidgetException import *
from Phidget22.Phidget import *
from Phidget22.Net import *
try:
pub = rospy.Publisher('obstacle_distance', Float32, queue_size=10)
rospy.init_node('phidgets_sharp', anonymous=True)
ch1 = VoltageInput()
except RuntimeError as e:
print("Runtime Exception %s" % e.details)
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
def VoltageInputAttached(self):
try:
attached = self
print("\nAttach Event Detected (Information Below)")
print("===========================================")
#print("Library Version: %s" % attached.getLibraryVersion())
#print("Serial Number: %d" % attached.getDeviceSerialNumber())
print("Channel: %d" % attached.getChannel())
def main():
global current, voltage, app, serverUpdateThread, hadPhidgetException, sessionFile
hadPhidgetException = False
voltage_sensor = None
current_sensor = None
serverUpdateThread = StoppableThread()
sessionNum = 0
with open("numSessions.txt", "r+") as numSessionsFile:
sessionNum = int(numSessionsFile.read()) + 1
print(sessionNum)
numSessionsFile.seek(0)
numSessionsFile.write(str(sessionNum))
numSessionsFile.truncate()
numSessionsFile.close()
timestamp = datetime.now()
sessionFile = open(
"Sessions/session" + str(sessionNum) + "_" + str(timestamp.month) +
"-" + str(timestamp.day) + "_" + str(timestamp.hour) + "-" +
str(timestamp.minute) + "-" + str(timestamp.second) + ".txt", "w+")
print("Session File created")
try:
voltage_sensor = VoltageInput()
current_sensor = VoltageRatioInput()
voltage_sensor.setHubPort(0)
voltage_sensor.setIsHubPortDevice(False)
voltage_sensor.setOnVoltageChangeHandler(on_new_voltage_reading)
current_sensor.setHubPort(1)
current_sensor.setIsHubPortDevice(True)
current_sensor.setOnVoltageRatioChangeHandler(on_new_current_reading)
voltage_sensor.openWaitForAttachment(1000)
current_sensor.openWaitForAttachment(1000)
serverUpdateThread.start()
atexit.register(exit_handler)
app.run(host='0.0.0.0')
voltage_sensor.close()
current_sensor.close()
except PhidgetException as e:
print(e)
hadPhidgetException = True
exit_handler(voltage_sensor, current_sensor)
except KeyboardInterrupt as key:
print(key)
exit_handler(voltage_sensor, current_sensor)
except IOError as e:
print(e)
exit_handler(voltage_sensor, current_sensor)
def main():
try:
"""
* Allocate a new Phidget Channel object
"""
try:
ch = VoltageInput()
except PhidgetException as e:
sys.stderr.write("Runtime Error -> Creating VoltageInput: \n\t")
DisplayError(e)
raise
except RuntimeError as e:
sys.stderr.write("Runtime Error -> Creating VoltageInput: \n\t" +
e)
raise
"""
* Set matching parameters to specify which channel to open
"""
ch.setDeviceSerialNumber(261542)
ch.setChannel(0)
"""
* Add event handlers before calling open so that no events are missed.
"""
SetAttachDetachError_Handlers(ch)
SetVoltageHandler(ch, onVoltageChangeHandler)
SetSensorHandler(ch, onSensorChangeHandler)
"""
* Open the channel with a timeout
"""
OpenPhidgetChannel_waitForAttach(ch, 5000)
print("Sampling data for 10 seconds...")
pub = rospy.Publisher('GripperForceSensor', String, queue_size=1)
rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(10)
while not rospy.is_shutdown():
talker(volts, publisher=pub)
rate.sleep()
"""
* Perform clean up and exit
"""
SetVoltageHandler(ch, None)
print("\nDone Sampling...")
print("Cleaning up...")
ClosePhidgetChannel(ch)
print("\nExiting...")
print("Press ENTER to end program.")
readin = sys.stdin.readline(1)
return 0
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
print("Press ENTER to end program.")
readin = sys.stdin.readline(1)
return 1
#invert motors
else:
#continue
#defining array of digital inputs
digitalIN = [DigitalInput() for i in range (0,8)]
#addressing the channels
for i in range(0,8):
digitalIN[i].setChannel(i)
digitalIN[i].setOnStateChangeHandler(BSonStateChange)
digitalIN[i].openWaitForAttachment(5000)
#defining array of analogue inputs
analogueIN = [VoltageInput() for i in range (0,8)]
#addressing the channels
for i in range(0,8):
analogueIN[i].setChannel(i)
#this line will basically call the event handler when the readings change
analogueIN[i].setOnVoltageChangeHandler(IRonVoltageChange)
analogueIN[i].openWaitForAttachment(5000)
#creating an average of the IR sensors
top_ds_reading = (analogueIN[0] + analogueIN[1] + analogueIN[2])/3
bottom_ds_reading = (analogueIN[3] + analogueIN[4] + analogueIN[5])/3
#closing channels
for i in range (0, 8):
analogueIN[i].close()
def __init__(self, channel):
self.volts = None
self.device = VoltageInput()
self.channel = channel
this = self
def main():
try:
"""
* Allocate a new Phidget Channel object
"""
try:
ch = VoltageInput()
except PhidgetException as e:
sys.stderr.write("Runtime Error -> Creating VoltageInput: \n\t")
DisplayError(e)
raise
except RuntimeError as e:
sys.stderr.write("Runtime Error -> Creating VoltageInput: \n\t" + e)
raise
"""
* Set matching parameters to specify which channel to open
"""
#You may remove this line and hard-code the addressing parameters to fit your application
channelInfo = AskForDeviceParameters(ch)
ch.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch.setHubPort(channelInfo.hubPort)
ch.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch.setChannel(channelInfo.channel)
if(channelInfo.netInfo.isRemote):
ch.setIsRemote(channelInfo.netInfo.isRemote)
if(channelInfo.netInfo.serverDiscovery):
try:
Net.enableServerDiscovery(PhidgetServerType.PHIDGETSERVER_DEVICEREMOTE)
except PhidgetException as e:
PrintEnableServerDiscoveryErrorMessage(e)
raise EndProgramSignal("Program Terminated: EnableServerDiscovery Failed")
else:
Net.addServer("Server", channelInfo.netInfo.hostname,
channelInfo.netInfo.port, channelInfo.netInfo.password, 0)
"""
* Add event handlers before calling open so that no events are missed.
"""
print("\n--------------------------------------")
print("\nSetting OnAttachHandler...")
ch.setOnAttachHandler(onAttachHandler)
print("Setting OnDetachHandler...")
ch.setOnDetachHandler(onDetachHandler)
print("Setting OnErrorHandler...")
ch.setOnErrorHandler(onErrorHandler)
#This call may be harmlessly removed
PrintEventDescriptions()
print("\nSetting OnVoltageChangeHandler...")
ch.setOnVoltageChangeHandler(onVoltageChangeHandler)
print("\nSetting OnSensorChangeHandler...")
ch.setOnSensorChangeHandler(onSensorChangeHandler)
"""
* Open the channel with a timeout
"""
print("\nOpening and Waiting for Attachment...")
try:
ch.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch)
raise EndProgramSignal("Program Terminated: Open Failed")
print("Sampling data for 10 seconds...")
print("You can do stuff with your Phidgets here and/or in the event handlers.")
time.sleep(10)
"""
* Perform clean up and exit
"""
#clear the VoltageChange event handler
ch.setOnVoltageChangeHandler(None)
#clear the SensorChange event handler
ch.setOnSensorChangeHandler(None)
print("\nDone Sampling...")
print("Cleaning up...")
ch.close()
print("\nExiting...")
return 0
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
traceback.print_exc()
print("Cleaning up...")
ch.setOnVoltageChangeHandler(None)
ch.setOnSensorChangeHandler(None)
ch.close()
return 1
except EndProgramSignal as e:
print(e)
print("Cleaning up...")
ch.setOnVoltageChangeHandler(None)
ch.setOnSensorChangeHandler(None)
ch.close()
return 1
finally:
print("Press ENTER to end program.")
readin = sys.stdin.readline()
def __init__(self):
self.motor_current_publisher = rospy.Publisher(
'phidgetsensor/motor_current_draw', Float64, queue_size=10)
self.voltage_publisher = rospy.Publisher(
'phidgetsensor/battery_voltage', Float64, queue_size=10)
self.battery_current_publisher = rospy.Publisher(
'phidgetsensor/battery_current_draw', Float64, queue_size=10)
self._hz = 10
#Channel 1 will be the motor_current_draw
ch1 = CurrentInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 2
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch1.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch1.setHubPort(channelInfo.hubPort)
ch1.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch1.setChannel(channelInfo.channel)
ch1.setOnAttachHandler(self.onAttachHandler)
ch1.setOnDetachHandler(self.onDetachHandler)
ch1.setOnErrorHandler(self.onErrorHandler)
ch1.setOnCurrentChangeHandler(self.onCurrentChangeHandler_m)
try:
ch1.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch1)
raise EndProgramSignal("Program Terminated: Open ch1 failed")
#channel 2 will be the battery voltage
ch2 = VoltageInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 1
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch2.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch2.setHubPort(channelInfo.hubPort)
ch2.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch2.setChannel(channelInfo.channel)
ch2.setOnAttachHandler(self.onAttachHandler)
ch2.setOnDetachHandler(self.onDetachHandler)
ch2.setOnErrorHandler(self.onErrorHandler)
ch2.setOnVoltageChangeHandler(self.onVoltageChangeHandler)
try:
ch2.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch2)
raise EndProgramSignal("Program Terminated: Open ch2 failed")
#channel 3 will be the battery current
ch3 = CurrentInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 0
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch3.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch3.setHubPort(channelInfo.hubPort)
ch3.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch3.setChannel(channelInfo.channel)
ch3.setOnAttachHandler(self.onAttachHandler)
ch3.setOnDetachHandler(self.onDetachHandler)
ch3.setOnErrorHandler(self.onErrorHandler)
ch3.setOnCurrentChangeHandler(self.onCurrentChangeHandler_b)
try:
ch3.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch3)
raise EndProgramSignal("Program Terminated: Open ch3 failed")