def main():
#vehicle = connect('udp:192.168.1.177:14554', baud=57600, wait_ready=True)
#vehicle = connect('udp:10.42.0.1:14555', baud=57600, wait_ready=True)
#vehicle = connect('udp:127.0.0.1:14553', baud=57600, wait_ready=True)
arduino = PyMata("/dev/ttyUSB0")
arduino.sonar_config(3, 4)
arduino.sonar_config(5, 6)
arduino.sonar_config(7, 8)
def signal_handler(signal, frame):
if arduino != None:
arduino.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
while True:
arduino.digital_write(13, 1)
data = arduino.get_sonar_data()
sonarS = data[3][1]
sonarL = data[5][1]
sonarR = data[7][1]
print sonarS, sonarR, sonarL
time.sleep(.05)
#vehicle.mode = VehicleMode("LAND")
#vehicle.close()
arduino.close()
class ArduinoBoard(object):
""" Represents an Arduino board. """
def __init__(self, port):
from PyMata.pymata import PyMata
self._port = port
self._board = PyMata(self._port, verbose=False)
def set_mode(self, pin, direction, mode):
""" Sets the mode and the direction of a given pin. """
if mode == 'analog' and direction == 'in':
self._board.set_pin_mode(pin,
self._board.INPUT,
self._board.ANALOG)
elif mode == 'analog' and direction == 'out':
self._board.set_pin_mode(pin,
self._board.OUTPUT,
self._board.ANALOG)
elif mode == 'digital' and direction == 'in':
self._board.set_pin_mode(pin,
self._board.OUTPUT,
self._board.DIGITAL)
elif mode == 'digital' and direction == 'out':
self._board.set_pin_mode(pin,
self._board.OUTPUT,
self._board.DIGITAL)
elif mode == 'pwm':
self._board.set_pin_mode(pin,
self._board.OUTPUT,
self._board.PWM)
def get_analog_inputs(self):
""" Get the values from the pins. """
self._board.capability_query()
return self._board.get_analog_response_table()
def set_digital_out_high(self, pin):
""" Sets a given digital pin to high. """
self._board.digital_write(pin, 1)
def set_digital_out_low(self, pin):
""" Sets a given digital pin to low. """
self._board.digital_write(pin, 0)
def get_digital_in(self, pin):
""" Gets the value from a given digital pin. """
self._board.digital_read(pin)
def get_analog_in(self, pin):
""" Gets the value from a given analog pin. """
self._board.analog_read(pin)
def get_firmata(self):
""" Return the version of the Firmata firmware. """
return self._board.get_firmata_version()
def disconnect(self):
""" Disconnects the board and closes the serial connection. """
self._board.reset()
self._board.close()
class ArduinoBoard(object):
""" Represents an Arduino board. """
def __init__(self, port):
self._port = port
self._board = PyMata(self._port, verbose=False)
def set_mode(self, pin, direction, mode):
""" Sets the mode and the direction of a given pin. """
if mode == 'analog' and direction == 'in':
self._board.set_pin_mode(pin,
self._board.INPUT,
self._board.ANALOG)
elif mode == 'analog' and direction == 'out':
self._board.set_pin_mode(pin,
self._board.OUTPUT,
self._board.ANALOG)
elif mode == 'digital' and direction == 'in':
self._board.set_pin_mode(pin,
self._board.OUTPUT,
self._board.DIGITAL)
elif mode == 'digital' and direction == 'out':
self._board.set_pin_mode(pin,
self._board.OUTPUT,
self._board.DIGITAL)
elif mode == 'pwm':
self._board.set_pin_mode(pin,
self._board.OUTPUT,
self._board.PWM)
def get_analog_inputs(self):
""" Get the values from the pins. """
self._board.capability_query()
return self._board.get_analog_response_table()
def set_digital_out_high(self, pin):
""" Sets a given digital pin to high. """
self._board.digital_write(pin, 1)
def set_digital_out_low(self, pin):
""" Sets a given digital pin to low. """
self._board.digital_write(pin, 0)
def get_digital_in(self, pin):
""" Gets the value from a given digital pin. """
self._board.digital_read(pin)
def get_analog_in(self, pin):
""" Gets the value from a given analog pin. """
self._board.analog_read(pin)
def get_firmata(self):
""" Return the version of the Firmata firmware. """
return self._board.get_firmata_version()
def disconnect(self):
""" Disconnects the board and closes the serial connection. """
self._board.reset()
self._board.close()
class ArduinoFirmata(Board, AnalogInputCapable, PwmOutputCapable):
def __init__(self, port=None):
try:
from PyMata.pymata import PyMata as PyMata # noqa
except ImportError:
msg = 'pingo.arduino.Arduino requires PyMata installed'
raise ImportError(msg)
super(ArduinoFirmata, self).__init__()
self.port = port
self.firmata_client = PyMata(self.port, verbose=VERBOSE)
self.firmata_client.capability_query()
time.sleep(10) # TODO: Find a small and safe value
capability_query_results = self.firmata_client.get_capability_query_results()
capability_dict = pin_list_to_board_dict(capability_query_results)
self._add_pins(
[DigitalPin(self, location)
for location in capability_dict['digital']] +
[PwmPin(self, location)
for location in capability_dict['pwm']] +
[AnalogPin(self, 'A%s' % location, resolution=10)
for location in capability_dict['analog']]
)
def cleanup(self):
# self.firmata_client.close() has sys.exit(0)
if hasattr(self, 'PyMata'):
try:
self.firmata_client.transport.close()
except AttributeError:
pass
def __repr__(self):
cls_name = self.__class__.__name__
return '<{cls_name} {self.port!r}>'.format(**locals())
def _set_digital_mode(self, pin, mode):
self.firmata_client.set_pin_mode(
pin.location,
PIN_MODES[mode],
self.firmata_client.DIGITAL
)
def _set_analog_mode(self, pin, mode):
pin_id = int(pin.location[1:])
self.firmata_client.set_pin_mode(
pin_id,
self.firmata_client.INPUT,
self.firmata_client.ANALOG
)
def _set_pwm_mode(self, pin, mode):
pin_id = int(pin.location)
self.firmata_client.set_pin_mode(
pin_id,
self.firmata_client.PWM,
self.firmata_client.DIGITAL
)
def _get_pin_state(self, pin):
_state = self.firmata_client.digital_read(pin.location)
if _state == self.firmata_client.HIGH:
return pingo.HIGH
return pingo.LOW
def _set_pin_state(self, pin, state):
self.firmata_client.digital_write(
pin.location,
PIN_STATES[state]
)
def _get_pin_value(self, pin):
pin_id = int(pin.location[1:])
return self.firmata_client.analog_read(pin_id)
def _set_pwm_duty_cycle(self, pin, value):
pin_id = int(pin.location)
firmata_value = int(value * 255)
return self.firmata_client.analog_write(pin_id, firmata_value)
def _set_pwm_frequency(self, pin, value):
raise NotImplementedError
signal.signal(signal.SIGINT, signal_handler)
# set pin modes
board.set_pin_mode(GREEN_LED, board.OUTPUT, board.DIGITAL)
board.set_pin_mode(RED_LED, board.PWM, board.DIGITAL)
board.set_pin_mode(PUSH_BUTTON, board.INPUT, board.DIGITAL)
board.set_pin_mode(POTENTIOMETER, board.INPUT, board.ANALOG)
board.set_analog_latch(POTENTIOMETER, board.ANALOG_LATCH_GTE, 1000)
# do nothing loop - program exits when latch data event occurs for potentiometer
while 1:
count += 1
if count == 300:
print('bye bye')
board.close()
analog = board.analog_read(POTENTIOMETER)
board.analog_write(RED_LED, analog // 4)
digital = board.digital_read(PUSH_BUTTON)
board.digital_write(GREEN_LED, digital)
latch = board.get_analog_latch_data(POTENTIOMETER)
if latch[1] == board.LATCH_LATCHED:
board.analog_write(RED_LED, 0)
board.digital_write(GREEN_LED, 0)
print('Latching Event Occurred at: ' + time.asctime(time.gmtime(latch[3])))
board.close()
sys.exit(0)
from PyMata.pymata import PyMata
from time import sleep
# Define channels to be used
tastes = [2, 3] # Enter DIO board port numbers
# How long to leave valves open (seconds)
duration = 20
board = PyMata('/dev/ttyACM0') # USB port identifier
# Board is a generic variable name and must be changed everywhere in the code if changed here.
for i in tastes:
board.digital_write(tastes[i],1)
sleep(duration)
for i in tastes:
board.digital_write(tastes[i],0)
print 'The purge is complete. This was the most sucessful purge yet!'
class Mqtt_Pymata:
def __init__(self, name, broker, port, keepalive, state_topic, command_topic, qos, retain,
payload_on, payload_off, optimistic, value_template,serial_port,switch_pin):
self._switch_pin = switch_pin
self._board = PyMata(serial_port,False,verbose=True)
self._board.set_pin_mode(self._switch_pin,self._board.OUTPUT,self._board.DIGITAL)
A0 = 7
def pin_callback(data):
print("Analog Data: ",
" Pin: ", data[PIN_NUMBER],
" Pin Mode: ", data[PIN_MODE],
" Data Value: ", data[DATA_VALUE])
self._board.set_analog_latch(A0,self._board.ANALOG_LATCH_GT,500,pin_callback)
# self._board.set_pin_mode(A0, self._board.INPUT, self._board.ANALOG)
# self._board.set_sampling_interval(100)
# self._board.set_analog_latch(A0,self._board.ANALOG_LATCH_GT,500,pin_callback)
# while True:
# time.sleep(0.1)
# value = self._board.analog_read(A0)
# print(value)
self._mqtt = mqtt.Client()
self._switch = None
self._state_topic = state_topic
self._command_topic = command_topic
self._qos = qos
self._retain = retain
self._payload_on = payload_on
self._payload_off = payload_off
self._optimistic = optimistic
self._state = False
def on_message( _mqtt, userdata, msg):
topic = msg.topic,
qos = msg.qos,
payload = msg.payload.decode('utf-8'),
payload = payload[0]
print(msg.topic+" "+payload)
if payload == payload_on:
self.turn_on()
elif payload == payload_off:
self.turn_off()
self._mqtt.on_message = on_message
self._mqtt.connect(broker, port, keepalive)
self._mqtt.subscribe(command_topic,qos)
self._mqtt.loop_forever()
def turn_on(self):
self._state = True
self.apply_state()
self.report_state()
def turn_off(self):
self._state = False
self.apply_state()
self.report_state()
def apply_state(self):
self._board.digital_write(self._switch_pin,self._board.HIGH if self._state else self._board.LOW)
def report_state(self):
self._mqtt.publish( self._state_topic, self._payload_on if self._state else self._payload_off,
self._qos, self._retain)
# Pin 13 has an LED connected on most Arduino boards.
# give it a name:
LED = 13
# Create an instance of PyMata.
SERIAL_PORT = "/dev/ttyACM0"
firmata = PyMata( SERIAL_PORT, max_wait_time=10, firmata_type=PyMata.STANDARD_FIRMATA )
# initialize the digital pin as an output.
firmata.set_pin_mode( LED, firmata.OUTPUT, firmata.DIGITAL )
try:
# run in a loop over and over again forever:
while True:
firmata.digital_write( LED, firmata.HIGH ) # turn the LED on (HIGH is the voltage level)
time.sleep( 1.0 ); # wait for a second
firmata.digital_write( LED, firmata.LOW ) # turn the LED off by making the voltage LOW
time.sleep( 1.0 ); # wait for a second
except KeyboardInterrupt:
# Catch exception raised by using Ctrl+C to quit
pass
# close the interface down cleanly
firmata.close()
class Motors(Thread):
MOTOR_1_PWM = 2
MOTOR_1_A = 3
MOTOR_1_B = 4
MOTOR_2_PWM = 5
MOTOR_2_A = 6
MOTOR_2_B = 7
MOTOR_3_PWM = 8
MOTOR_3_A = 9
MOTOR_3_B = 10
def __init__(self):
Thread.__init__(self)
self.daemon = True
self.board = PyMata()
def signal_handler(sig, frame):
self.stop_motors()
self.board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
self.board.set_pin_mode(self.MOTOR_1_PWM, self.board.PWM, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_1_A, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_1_B, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_2_PWM, self.board.PWM, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_2_A, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_2_B, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_3_PWM, self.board.PWM, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_3_A, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_3_B, self.board.OUTPUT, self.board.DIGITAL)
self.dx, self.dy = 0, 0
def stop_motors(self):
self.board.digital_write(self.MOTOR_1_B, 0)
self.board.digital_write(self.MOTOR_1_A, 0)
self.board.digital_write(self.MOTOR_2_B, 0)
self.board.digital_write(self.MOTOR_2_A, 0)
self.board.digital_write(self.MOTOR_3_B, 0)
self.board.digital_write(self.MOTOR_3_A, 0)
def run(self):
while True:
# Reset all direction pins to avoid damaging H-bridges
# TODO: USE dx,dy now in (-1,1)+(None,None) range
self.stop_motors()
dist = abs(self.dx)
if dist > 0.2: #was 2
if self.dx > 0:
print("Turning left")
self.board.digital_write(self.MOTOR_1_B, 1)
self.board.digital_write(self.MOTOR_2_B, 1)
self.board.digital_write(self.MOTOR_3_B, 1)
else:
print("Turning right")
self.board.digital_write(self.MOTOR_1_A, 1)
self.board.digital_write(self.MOTOR_2_A, 1)
self.board.digital_write(self.MOTOR_3_A, 1)
self.board.analog_write(self.MOTOR_1_PWM, int(dist ** 0.7 + 25))
self.board.analog_write(self.MOTOR_2_PWM, int(dist ** 0.7 + 25))
self.board.analog_write(self.MOTOR_3_PWM, int(dist ** 0.7 + 25))
# elif self.dy > 30:
else:
print("Going forward")
self.board.digital_write(self.MOTOR_1_B, 1)
self.board.digital_write(self.MOTOR_3_A, 1)
self.board.analog_write(self.MOTOR_1_PWM, int(self.dy ** 0.5 )+30)
self.board.analog_write(self.MOTOR_2_PWM, 0)
self.board.analog_write(self.MOTOR_3_PWM, int(self.dy ** 0.5 )+30)
sleep(0.03)
@description: Blink Arduino mediante Firmata
@url: http://www.aprendiendoarduino.com/
'''
import time
import sys
from PyMata.pymata import PyMata
BOARD_LED = 13
port = input("Puerto Serie Arduino: ")
try:
arduino = PyMata(port, verbose=True)
for x in range(10):
print(x + 1)
# Set the output to 1 = High
arduino.digital_write(BOARD_LED, 1)
# Wait a half second between toggles.
time.sleep(.5)
# Set the output to 0 = Low
arduino.digital_write(BOARD_LED, 0)
time.sleep(.5)
# Close PyMata when we are done
arduino.close()
except: # catch *all* exceptions
e = sys.exc_info()[0]
print("Puerto no válido. %s" % e)
class Firmata(Adaptor):
def __init__(self, options):
super(Firmata, self).__init__(options)
if 'port' not in options:
raise self.ParameterRequired(
'A port must be specified for Firmata connection.'
)
self.port = options.get('port')
self.board = PyMata('/dev/ttyACM0', verbose=True)
signal.signal(signal.SIGINT, self.signal_handler)
self.pins = {
'digital': [],
'analog': [],
'pwm': [],
'servo': [],
'i2c': [],
}
def analog_write(self, pin_number, value):
if pin_number not in self.pins['analog']:
self.pins['analog'].append(pin_number)
self.board.set_pin_mode(
pin_number,
self.board.OUTPUT,
self.board.ANALOG
)
self.board.analog_write(pin_number, value)
def analog_read(self, pin_number):
if pin_number not in self.pins['analog']:
self.pins['analog'].append(pin_number)
self.board.set_pin_mode(
pin_number,
self.board.INPUT,
self.board.ANALOG
)
return self.board.analog_read(pin_number)
def digital_write(self, pin_number, value):
if pin_number not in self.pins['digital']:
self.pins['digital'].append(pin_number)
self.board.set_pin_mode(
pin_number,
self.board.OUTPUT,
self.board.DIGITAL
)
self.board.digital_write(pin_number, value)
def digital_read(self, pin_number):
if pin_number not in self.pins['digital']:
self.pins['digital'].append(pin_number)
self.board.set_pin_mode(
pin_number,
self.board.INPUT,
self.board.DIGITAL
)
return self.board.analog_write(pin_number)
def pwm_write(self, pin_number, value):
if pin_number not in self.pins['pwm']:
self.pins['pwm'].append(pin_number)
self.board.set_pin_mode(
pin_number,
self.board.PWM,
self.board.DIGITAL
)
return self.board.analog_write(pin_number, value)
def pwm_read(self, pin_number):
if pin_number not in self.pins['pwm']:
self.pins['pwm'].append(pin_number)
self.board.set_pin_mode(
pin_number,
self.board.PWM,
self.board.DIGITAL
)
return self.board.analog_read(pin_number)
def servo_write(self, pin_number, value):
if pin_number not in self.pins['servo']:
self.pins['servo'].append(pin_number)
self.board.servo_config(pin_number)
self.board.analog_write(pin_number, value)
def disconnect(self):
# Close the firmata interface down cleanly
self.board.close()
def signal_handler(self, sig, frame):
print('Ctrl+C pressed')
if self.board is not None:
self.board.reset()
sys.exit(0)
class ParameterRequired(Exception):
def __init__(self, message='A required parameter was not provided.'):
super(Firmata.ParameterRequired, self).__init__(message)
def __str__(self):
return self.message
# The PyMata constructor will print status to the console and will return
# when PyMata is ready to accept commands or will exit if unsuccessful
firmata = PyMata("/dev/ttyACM0")
# Retrieve and print Arduino Firmware version information
firmata.refresh_report_firmware()
print firmata.get_firmata_firmware_version()
# Set the pin mode for a digital output pin
firmata.set_pin_mode(RED_LED, firmata.OUTPUT, firmata.DIGITAL)
# Turn on the RED LED
firmata.digital_write(RED_LED, 1)
# Wait 3 seconds and turn it off
time.sleep(3)
firmata.digital_write(RED_LED, 0)
# Set the white led for pwm operation
firmata.set_pin_mode(WHITE_LED, firmata.PWM, firmata.DIGITAL)
# Set the white led to full brightness (255) for 1 second
firmata.analog_write(WHITE_LED, 255)
time.sleep(1)
# now set it to half brightness for 1 second
firmata.analog_write(WHITE_LED, 128)
time.sleep(1)
# create a PyMata instance
firmata = PyMata("/dev/ttyACM0")
def signal_handler(sig, frame):
print('You pressed Ctrl+C!!!!')
if firmata is not None:
firmata.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# set digital pin 13 to be an output port
firmata.set_pin_mode(BOARD_LED, firmata.OUTPUT, firmata.DIGITAL)
time.sleep(5)
print("Blinking LED on pin 13")
# blink for 10 times
for x in range(10):
print(x + 1)
firmata.digital_write(BOARD_LED, 1)
# wait a half second between toggles.
time.sleep(.5)
firmata.digital_write(BOARD_LED, 0)
time.sleep(.5)
# close PyMata when we are done
firmata.close()
firmata.set_pin_mode(52,firmata.OUTPUT,firmata.DIGITAL)
firmata.set_pin_mode(53,firmata.OUTPUT,firmata.DIGITAL)
# configure 4 pins for 4 SONAR modules
firmata.sonar_config(6,6)
time.sleep(.1)
firmata.sonar_config(7,7)
time.sleep(.1)
firmata.sonar_config(37,37)
time.sleep(.1)
firmata.sonar_config(39,39)
time.sleep(1)
# create a forever loop that will sequentially turn on all LEDS,
# then print out the sonar data for the 4 PING devices
# then sequentially turns off all LEDS and print PING data again
print firmata.get_digital_response_table()
while 1:
for i in range(46,54):
time.sleep(.1)
firmata.digital_write(i, 1)
print firmata.get_sonar_data()
for i in range(46,54):
time.sleep(.1)
firmata.digital_write(i, 0)
print firmata.get_sonar_data()
class blech_board:
def __init__(self, port = '/dev/ttyACM0'):
#Warn experimenter that ports are going to switch on, before they are turned off again after initialization
raw_input('WARNING: Switch off your instruments, all ports are going to turn on. Press ANY KEY to continue')
self.board = PyMata(port)
#Look at pymata.py and pymata_command_handler.py if you want to follow the logic. PyMata instances have a _command_handler instance in them - this _command_handler instance has two variables - total_pins_discovered and number_of_analog_pins_discovered. This sets digital pins 0 to (total_pins_discovered - number_of analog_pins_discovered - 1) to 0
dio = self.board._command_handler.total_pins_discovered - self.board._command_handler.number_of_analog_pins_discovered
for i in range(dio):
self.board.digital_write(i, 0)
print 'It is safe to turn your instruments on now. All digital ports have been switched off'
def calibrate(self, port, on_time, repeats, iti):
for i in range(repeats):
sleep(iti)
start = time()*1000.0
self.board.digital_write(port, 1)
while True:
if (time()*1000.0 - start) >= on_time*1000.0:
self.board.digital_write(port, 0)
break
def passive_deliveries_constant(self, ports = [0, 1, 2, 3], iti = 15.0, deliveries_per_channel = 30, on_time = [0.02,0.02,0.02,0.02]):
num_tastes = len(ports)
total_deliveries = num_tastes*deliveries_per_channel
self.delivery_arr = []
for i in range(total_deliveries):
self.delivery_arr.append(i%num_tastes)
shuffle(self.delivery_arr)
for i in self.delivery_arr:
sleep(iti)
start = time()*1000.0
self.board.digital_write(ports[i], 1)
while True:
if (time()*1000.0 - start) >= on_time[i]*1000.0:
self.board.digital_write(ports[i], 0)
break
def clear_tastes(self, ports = [2,3,4,5], open_time = 200.0):
for i in ports:
self.board.digital_write(i, 1)
sleep(open_time)
for i in ports:
self.board.digital_write(port, 0)
def np_no_switch(self, poke_ports = [8, 9], taste_ports = [2, 3], deliveries_per_channel = 50, iti = 5.0, on_time = [0.02, 0.02]):
for i in poke_ports:
self.board.set_pin_mode(i, self.board.INPUT, self.board.DIGITAL)
sleep(2.0)
total_deliveries = len(poke_ports)*deliveries_per_channel
delivery_counter = 0
while (delivery_counter<total_deliveries):
sleep(iti)
for i in range(len(poke_ports)):
if self.board.digital_read(poke_ports[i]) == 0:
start = time()*1000.0
self.board.digital_write(taste_ports[i], 1)
while True:
if (time()*1000.0 - start) >= on_time[i]*1000.0:
self.board.digital_write(taste_ports[i], 0)
break
print 'Trial ', delivery_counter+1,' of ', total_deliveries, ' done'
delivery_counter += 1
print 'All done'
def np_switching(self, poke_ports = [8, 9], taste_ports = [2, 3], deliveries_per_channel = 30, iti = 15.0, switching_every = 1, on_time = [0.02, 0.02]):
for i in poke_ports:
self.board.set_pin_mode(i, self.board.INPUT, self.board.DIGITAL)
sleep(2.0)
total_deliveries = len(poke_ports)*deliveries_per_channel
self.poke_array = []
for i in range(total_deliveries):
self.poke_array.append((i/switching_every)%len(poke_ports))
delivery_counter = 0
for i in self.poke_array:
sleep(iti)
while True:
if self.board.digital_read(poke_ports[i]) == 0:
start = time()*1000.0
self.board.digital_write(taste_ports[i], 1)
while True:
if (time()*1000.0 - start) >= on_time[i]*1000.0:
self.board.digital_write(taste_ports[i], 0)
break
print 'Trial ', delivery_counter+1,' of ', total_deliveries, ' done'
delivery_counter += 1
break
print 'All done'
def signal_handler(sig, frame):
print('You pressed Ctrl+C')
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# Set digital pin 13 to be an output port
board.set_pin_mode(BOARD_LED, board.OUTPUT, board.DIGITAL)
time.sleep(2)
print("Blinking LED on pin 13 for 10 times ...")
# Blink for 10 times
for x in range(10):
print(x + 1)
# Set the output to 1 = High
board.digital_write(BOARD_LED, 1)
# Wait a half second between toggles.
time.sleep(.5)
# Set the output to 0 = Low
board.digital_write(BOARD_LED, 0)
time.sleep(.5)
# Close PyMata when we are done
board.close()
control = vessel.control
sas = conn.add_stream(getattr, control, "sas")
gear = conn.add_stream(getattr, control, "gear")
lights = conn.add_stream(getattr, control, "lights")
brakes = conn.add_stream(getattr, control, "brakes")
# Your Application Continues Below This Point
print "We are go!"
while 1 :
s = speed()
if s > 400:
s = 400
board.analog_write(SPEEDOMETER, int(s * 255 / 400))
f = 0
mf = maxFuel()
if mf > 0 :
f = fuel() / mf
board.analog_write(FUELGAUGE, int(f * 255))
g = math.fabs(gforce()) / 40
if g > 1:
g = 1
board.analog_write(GFORCEMETER, int(g * 255))
board.digital_write(SASLAMP, sas())
board.digital_write(GEARLAMP, gear())
board.digital_write(LAMPLAMP, lights())
board.digital_write(BRAKELAMP, brakes())
time.sleep(0.05)
class ArduinoFirmata(Board, AnalogInputCapable):
def __init__(self, port=None):
try:
from PyMata.pymata import PyMata
except ImportError:
msg = 'pingo.arduino.Arduino requires PyMata installed'
raise ImportError(msg)
super(ArduinoFirmata, self).__init__()
self.port = port
self.PyMata = PyMata(self.port)
detected_digital_pins = len(self.PyMata._command_handler.digital_response_table)
detected_analog_pins = len(self.PyMata._command_handler.analog_response_table)
self._add_pins(
[DigitalPin(self, location)
for location in range(detected_digital_pins)] +
[AnalogPin(self, 'A%s' % location, resolution=10)
for location in range(detected_analog_pins)]
)
def cleanup(self):
#self.PyMata.close() has sys.exit(0)
if hasattr(self, 'PyMata'):
try:
self.PyMata.transport.close()
except AttributeError:
pass
def __repr__(self):
cls_name = self.__class__.__name__
return '<{cls_name} {self.port!r}>'.format(**locals())
def _set_pin_mode(self, pin, mode):
self.PyMata.set_pin_mode(
pin.location,
PIN_MODES[mode],
self.PyMata.DIGITAL
)
def _get_pin_state(self, pin):
_state = self.PyMata.digital_read(pin.location)
if _state == self.PyMata.HIGH:
return pingo.HIGH
return pingo.LOW
def _set_pin_state(self, pin, state):
self.PyMata.digital_write(
pin.location,
PIN_STATES[state]
)
def _set_analog_mode(self, pin, mode):
pin_id = int(pin.location[1:])
self.PyMata.set_pin_mode(
pin_id,
self.PyMata.INPUT,
self.PyMata.ANALOG
)
def _get_pin_value(self, pin):
pin_id = int(pin.location[1:])
return self.PyMata.analog_read(pin_id)
tasteduration1 = 2 # Time valve should be open in seconds
tasteduration2 = 2
iti = 5 # Set ITI
# Set mode on input channels and clear outputs
board.set_pin_mode(pokeport1, board.INPUT, board.DIGITAL)
board.set_pin_mode(pokeport2, board.INPUT, board.DIGITAL)
#board.digital_write(tasteport1, 0)
#board.digital_write(tasteport2, 0)
trial = 1
while trial < trials:
if board.digital_read(pokeport1) == 1:
board.digital_write(tasteport1, 1)
sleep(tasteduration1)
board.digital_write(tasteport1, 0)
print 'Completed trial number', trial
sleep(iti)
trial = trial+1
elif board.digital_read(pokeport2) == 1:
board.digital_write(tasteport2, 1)
sleep(tasteduration2)
board.digital_write(tasteport2, 0)
print 'Completed trial number', trial
sleep(iti)
trial = trial+1
print('It\'s all ogre now') # Shrek is love, shrek is life
