def turn_left(angle, vel):
"""
Turns to the left according to angle (delay)
"""
Arduino.digitalWrite(dirA, Arduino.HIGH)
Arduino.digitalWrite(dirB, Arduino.LOW)
Arduino.analogWrite(speedA, vel)
Arduino.analogWrite(speedB, Arduino.LOW)
Arduino.delay(angle)
def reverse(dist, vel):
"""
Move backwards for dist (time) at vel (motor speed)
"""
Arduino.digitalWrite(dirA, Arduino.LOW)
Arduino.digitalWrite(dirB, Arduino.LOW)
Arduino.analogWrite(speedA, vel)
Arduino.analogWrite(speedB, vel)
Arduino.delay(dist)
def forward(dist, vel):
"""
Move forward for dist (time) at vel (motor speed)
"""
Arduino.digitalWrite(dirA, Arduino.HIGH)
Arduino.digitalWrite(dirB, Arduino.HIGH)
Arduino.analogWrite(speedA, vel)
Arduino.analogWrite(speedB, vel)
Arduino.delay(dist)
def read_sensors():
"""
Reads each of the Sharp sensors are returns a list of analog readings
in order: front, right, left, rear
"""
reading = []
for i in [FrontBump, RightBump, LeftBump, RearBump]:
reading.append(Arduino.analogRead(i))
Arduino.delay(1)
return reading
def rot_ccw(angle, vel):
"""
Spins to the left according to angle (delay),
then stops the motors
"""
Arduino.digitalWrite(dirA, Arduino.HIGH)
Arduino.digitalWrite(dirB, Arduino.LOW)
Arduino.analogWrite(speedA, vel)
Arduino.analogWrite(speedB, vel)
Arduino.delay(angle)
def __fetchAddress(self):
ds_address = self.__ds.search()
if ds_address == "1":
return False
self.__ds.reset()
self.__ds.select(ds_address)
self.__ds.write(0x44, 1)
Arduino.delay(700)
present = self.__ds.reset()
self.__ds.select(ds_address)
self.__ds.write(0xBE)
return True
def debug():
"""
If lock switch is in the locked position stop motors and give sensor feedback instead
"""
stop()
reading = read_sensors()
Arduino.delay(5)
if reading[0] > frontTrigger:
print "Front bump detected!"
elif reading[1] > sideTrigger:
print "Right bump detected!"
elif reading[2] > sideTrigger:
print "Left bump detected!"
elif reading[3] > rearTrigger:
print "Rear bump detected!"
else:
print "Front:", reading[0], " | Right:", reading[1], " | Left:", reading[2], " | Rear:", reading[3]
sleep(0.1)
def get_pots(): """ Grab a reading from each of the pot pins and send it to a tuple to be read by the colour mixer """ r = Arduino.analogRead(pot_r_Pin) / 4 Arduino.delay(1) g = Arduino.analogRead(pot_g_Pin) / 4 Arduino.delay(1) b = Arduino.analogRead(pot_b_Pin) / 4 Arduino.delay(1) return r, g, b
def get_pots(): """ Grab a reading from each of the pot pins and send it to a tuple to be read by the colour mixer """ r = Arduino.analogRead(pot_r_Pin) / 4 Arduino.delay(1) g = Arduino.analogRead(pot_g_Pin) / 4 Arduino.delay(1) b = Arduino.analogRead(pot_b_Pin) / 4 Arduino.delay(1) return r, g, b
#!/usr/bin/env python
# Author: Andrea Stagi <*****@*****.**>
# Description: keeps your led blinking
# Dependencies: None
from nanpy import Arduino
Arduino.pinMode(13, Arduino.OUTPUT)
for i in range(10000):
Arduino.digitalWrite(13, (i + 1) % 2)
Arduino.delay(200)
if bump > sideTrigger:
return True
else:
return False
def rear_bump():
bump = Arduino.analogRead(RearBump)
if bump > rearTrigger:
return True
else:
return False
def read_sensors():
"""
Reads each of the Sharp sensors are returns a list of analog readings
in order: front, right, left, rear
"""
reading = []
for i in [FrontBump, RightBump, LeftBump, RearBump]:
reading.append(Arduino.analogRead(i))
Arduino.delay(1)
return reading
while DEBUG: # for sensor debugging purposes only
reading = read_sensors()
Arduino.delay(1)
print "Front:", reading[0], " | Right:", reading[1], " | Left:", reading[2], " | Rear:", reading[3]
A.digitalWrite(4, A.LOW)
# LOOP
while True:
sensorVal = A.analogRead(SENSOR_PIN_A0)
voltage = (sensorVal / 1024.0) * 5.0
temperature = (voltage - 0.5) * 100
print("Sensor value: " + str(sensorVal) + ", Volts: " + str(voltage) +", Degrees C: " + str(temperature) + ".")
# if the current temperature is lower than the baseline turn off all LEDs
if temperature < BASELINE_TEMP:
A.digitalWrite(2, A.LOW)
A.digitalWrite(3, A.LOW)
A.digitalWrite(4, A.LOW)
# if the temperature rises 2-4 degrees, turn an LED on
elif (temperature >= BASELINE_TEMP + 2 and temperature < BASELINE_TEMP + 4):
A.digitalWrite(2, A.HIGH)
A.digitalWrite(3, A.LOW)
A.digitalWrite(4, A.LOW)
# if the temperature rises 4-6 degrees, turn a second LED on
elif (temperature >= BASELINE_TEMP + 4 and temperature < BASELINE_TEMP + 6):
A.digitalWrite(2, A.HIGH)
A.digitalWrite(3, A.HIGH)
A.digitalWrite(4, A.LOW)
# if the temperature rises more than 6 degrees, turn all LEDs on
elif (temperature >= BASELINE_TEMP + 6):
A.digitalWrite(2, A.HIGH)
A.digitalWrite(3, A.HIGH)
A.digitalWrite(4, A.HIGH)
A.delay(1)
#!/usr/bin/env python
# Author: Andrea Stagi <*****@*****.**>
# Description: keeps your led blinking
# Dependencies: None
from nanpy import Arduino
sys.path.append('/home/pi/Desktop/nanpy-0.8/firmware/ArduinoClass.h')
Arduino.pinMode(4, Arduino.OUTPUT)
for i in range(10000):
Arduino.digitalWrite(4, (i + 1) % 2)
Arduino.delay(1000)
#!/usr/bin/env python
# Author: Scott Ellis
# Basic Digital Read
# turns on and off a light emitting diode(LED) connected to digital
# pin 13, when pressing a pushbutton attached to pin 5.
# Dependencies: nanpy 0.7
from nanpy import Arduino
sensorButton = Arduino.digitalRead(5)
Arduino.pinMode(sensorButton, Arduino.INPUT)
ledPin = 13;
Arduino.pinMode(ledPin, Arduino.OUTPUT)
while True:
sensorButton = Arduino.digitalRead(5)
print("sensor value: %d" % sensorButton)
if (sensorButton == True):
Arduino.digitalWrite(ledPin, Arduino.HIGH)
else:
Arduino.digitalWrite(ledPin, Arduino.LOW)
Arduino.delay(100)
__license__ = 'None'
from nanpy import Arduino as A
switchstate = 0
# SETUP:
A.pinMode(3, A.OUTPUT)
A.pinMode(4, A.OUTPUT)
A.pinMode(5, A.OUTPUT)
A.pinMode(2, A.INPUT)
# LOOP:
while True:
switchState = A.digitalRead(2)
if switchState == A.LOW:
A.digitalWrite(3, A.HIGH) # turn the green LED on pin 3 on
A.digitalWrite(4, A.LOW) # turn the red LED on pin 4 off
A.digitalWrite(5, A.LOW) # turn the red LED on pin 5 off
else:
A.digitalWrite(3, A.LOW); # turn the green LED on pin 3 off
A.digitalWrite(4, A.LOW); # turn the red LED on pin 4 off
A.digitalWrite(5, A.HIGH); # turn the red LED on pin 5 on
# wait for a quarter second before changing the light
A.delay(250);
A.digitalWrite(4, A.HIGH); #// turn the red LED on pin 4 on
A.digitalWrite(5, A.LOW); #// turn the red LED on pin 5 off
# wait for a quarter second before changing the light
A.delay(250);
def get_b(): b_val = Arduino.analogRead(pot_b_Pin) / 4 Arduino.delay(1) return b_val
def get_g(): g_val = Arduino.analogRead(pot_g_Pin) / 4 Arduino.delay(1) return g_val
def get_r(): r_val = Arduino.analogRead(pot_r_Pin) / 4 Arduino.delay(1) return r_val
from nanpy import Arduino as A
# setup
A.pinMode(1, A.OUTPUT)
while True:
A.digitalWrite(1, HIGH)
A.delay(400)
A.digitalWrite(1, LOW)
A.delay(400)
