def run(self):
self.on = True
i = 0
j = 0
while (self.on):
j = i
i = (pz.readInput(2) + pz.readInput(3)) / 2
if i != j:
self.value = self.value + 1
time.sleep(0.01)
def run(self):
self.on = True
i = 0
j = 0
while (self.on):
j = i
i = pz.readInput(2)
if i != j:
self.value = self.value + 1
print(self.value)
time.sleep(0.01)
def speedrun():
pz.stop()
mylcd.lcd_display_string("Speed Run ", 1)
mylcd.lcd_display_string("Press E to End ", 2)
time.sleep(2)
speed = 100
GO = 1
PREP = 1
while PREP == 1: #get ready to go
for event in get_key():
mylcd.lcd_display_string("Press G to GO ", 1)
mylcd.lcd_display_string("Press E to End ", 2)
if event.code == "KEY_G":
PREP = 0
elif event.code == "KEY_E":
pz.stop
GO = 0
PREP = 0
while GO == 1: #new simple quit - works perfectly
if button.is_pressed:
pz.stop()
GO = 0
else:
RIGHTIR = pz.readInput(0)
LEFTIR = pz.readInput(1)
if RIGHTIR == 0:
pz.spinLeft(75)
mylcd.lcd_display_string("Right IR on ", 1)
mylcd.lcd_display_string("Use switch=STOP ", 2)
elif LEFTIR == 0:
pz.spinRight(75)
mylcd.lcd_display_string("left IR on ", 1)
mylcd.lcd_display_string("Use switch=STOP ", 2)
elif RIGHTIR == 1 and LEFTIR == 1:
pz.forward(100)
mylcd.lcd_display_string("No IR on ", 1)
mylcd.lcd_display_string("Use switch=STOP ", 2)
def linefollower(): #works perfectly on a new set of batteries
mylcd.lcd_display_string("Line Follower ", 1)
mylcd.lcd_display_string("Press E to End ", 2)
PREP = 1
GO = 1
LFSPEED = 75 #only changes cornering speed
pz.stop()
while PREP == 1: #setup ready for line following
for event in get_key():
mylcd.lcd_display_string("Press G to GO ", 1)
mylcd.lcd_display_string("Press E to End ", 2)
if event.code == "KEY_G":
PREP = 0
elif event.code == "KEY_E":
GO = 0
PREP = 0
while GO == 1: #new simple quit - works perfectly
if button.is_pressed:
pz.stop()
GO = 0
else:
mylcd.lcd_display_string("GO!!!!!!!!!!! ", 1)
mylcd.lcd_display_string("Switch = stop ", 2)
LEFTLINE = pz.readInput(2) #assign right line sensor to a variable
RIGHTLINE = pz.readInput(3) #assign left line sensor to a variable
if RIGHTLINE == 1:
pz.spinRight(LFSPEED)
#time.sleep(0.5)
elif LEFTLINE == 1:
pz.spinLeft(LFSPEED)
#time.sleep(0.5)
elif LEFTLINE == 0 and RIGHTLINE == 0:
pz.forward(15)
#time.sleep(0.5)
elif LEFTLINE == 1 and RIGHTLINE == 1:
pz.reverse(15)
def run(self):
tick = False
tickp = False
count = 0
self.continueLoop = False #encoder tick counter loop flag
while self.encoderLoop:
self.event.wait(
) #reduce threading cpu resource by only looping when necessary
if not self.q.empty(): #Test for new commands in the queue
#self.continueLoop = True
data = self.q.get(
) #get command tuple from queue and parse data
pwm = data[0]
cmd = data[1]
self.continueLoop = True
motor(self.servo_port, pwm)
else:
self.event.clear()
while self.continueLoop: #position control feedback loop
#print(str(self.threshold))
val = pz.readInput(self.analog_port)
if (val < self.threshold):
tick = True
else:
tick = False
if (tick != tickp):
count = count + 1
tickp = tick
if ((cmd - count) < 0
): #get next command after completion of previous command
count = 0
tick = False
tickp = False
self.continueLoop = False
def automaze():
pz.stop()
mylcd.lcd_display_string("Auto Maze ", 1)
mylcd.lcd_display_string("Press E to End ", 2)
time.sleep(2)
MSPEED = 20
MTURN = 90
GO = 1
PREP = 1
STEP = 0 # start step count
while PREP == 1: #get ready to go
for event in get_key():
mylcd.lcd_display_string("Press G to GO ", 1)
mylcd.lcd_display_string("Press E to End ", 2)
if event.code == "KEY_G":
PREP = 0
elif event.code == "KEY_E":
GO = 0
PREP = 0
while GO == 1: #new simple quit - works perfectly
if button.is_pressed:
pz.stop()
GO = 0
else:
RIGHTIR = pz.readInput(0) #assign right IR to a variable
LEFTIR = pz.readInput(1) #assign left IR to a variable
RANGE = hcsr04.getDistance() #assign HC-SR04 range to variable
mylcd.lcd_display_string("Range = %d %%" % RANGE, 1)
mylcd.lcd_display_string("Step = %d %%" % STEP, 2)
pz.forward(MSPEED)
#steps to follow to complete the maze
if RANGE < 25 and STEP == 0: #first right turn
pz.stop()
pz.spinRight(MTURN)
time.sleep(0.5)
pz.stop()
pz.forward(MSPEED)
time.sleep(1)
STEP = 1
mylcd.lcd_display_string("Range = %d %%" % RANGE, 1)
mylcd.lcd_display_string("Step = %d %%" % STEP, 2)
RANGE = hcsr04.getDistance() #assign HC-SR04 range to variable
if RANGE < 25 and STEP == 1: #second right turn
pz.stop()
pz.spinRight(MTURN)
time.sleep(0.5)
pz.stop()
pz.forward(MSPEED)
time.sleep(1)
STEP = 2
mylcd.lcd_display_string("Range = %d %%" % RANGE, 1)
mylcd.lcd_display_string("Step = %d %%" % STEP, 2)
RANGE = hcsr04.getDistance() #assign HC-SR04 range to variable
if RANGE < 25 and STEP == 2: #third right
pz.stop()
pz.spinRight(MTURN)
time.sleep(0.5)
pz.stop()
pz.forward(MSPEED)
time.sleep(1)
STEP = 3
mylcd.lcd_display_string("Range = %d %%" % RANGE, 1)
mylcd.lcd_display_string("Step = %d %%" % STEP, 2)
RANGE = hcsr04.getDistance() #assign HC-SR04 range to variable
if RANGE < 25 and STEP == 3: #first left
pz.stop()
pz.spinLeft(MTURN)
time.sleep(0.5)
pz.stop()
pz.forward(MSPEED)
time.sleep(1)
STEP = 4
mylcd.lcd_display_string("Range = %d %%" % RANGE, 1)
mylcd.lcd_display_string("Step = %d %%" % STEP, 2)
RANGE = hcsr04.getDistance() #assign HC-SR04 range to variable
if RANGE < 25 and STEP == 4: #second left
pz.stop()
pz.spinLeft(MTURN)
time.sleep(0.5)
pz.stop()
pz.forward(MSPEED)
time.sleep(1)
STEP = 5
mylcd.lcd_display_string("Range = %d %%" % RANGE, 1)
mylcd.lcd_display_string("Step = %d %%" % STEP, 2)
RANGE = hcsr04.getDistance() #assign HC-SR04 range to variable
if RANGE < 25 and STEP == 5: #third left
pz.stop()
pz.spinLeft(MTURN)
time.sleep(0.5)
pz.stop()
pz.forward(MSPEED)
time.sleep(1)
STEP = 6
mylcd.lcd_display_string("Range = %d %%" % RANGE, 1)
mylcd.lcd_display_string("Step = %d %%" % STEP, 2)
RANGE = hcsr04.getDistance() #assign HC-SR04 range to variable
#emergency wall avoidance protocol
if LEFTIR == 0:
pz.spinRight(100)
time.sleep(0.01)
elif RIGHTIR == 0:
pz.spinLeft(100)
time.sleep(0.01)
import I2C_LCD_driver #I2C LCD driver from http://www.circuitbasics.com/raspberry-pi-i2c-lcd-set-up-and-programming/ #____________________________________________________________________________________ #hardware setup mylcd = I2C_LCD_driver.lcd() #assign LCD to variable for ease of use pz.init() #initiate hardware pz.setInputConfig(0, 0) #right IR sensor is input 0 and digital pz.setInputConfig(1, 0) #left IR sensor is input 1 and digital pz.setInputConfig(2, 0) #right line sensor is input 2 and digital pz.setInputConfig(3, 0) #left line is input 3 and digital RIGHTIR = pz.readInput(0) #assign right IR to a variable LEFTIR = pz.readInput(1) #assign left IR to a variable RIGHTLINE = pz.readInput(2) #assign right line sensor to a variable LEFTLINE = pz.readInput(3) #assign left line sensor to a variable hcsr04.init() #initiate hardware RANGE = hcsr04.getDistance() #assign HC-SR04 range to variable button = Button(22) #end of hardware setup #______________________________________________________________________________ #____________________________________________________________________________________ #functions for individual tasks
import piconzero as pz
import time
pz.setInputConfig(2, 0)
pz.init()
try:
while True:
if pz.readInput(2):
print "IR droite : Black"
pz.stop()
time.sleep(1)
break
else:
print "IR droite : White"
time.sleep(1)
pz.reverse(35)
if pz.readInput(3):
print "IR gauche : Black"
pz.stop()
time.sleep(1)
break
else:
print "IR gauche : White"
pz.reverse(35)
time.sleep(1)
except KeyboardInterrupt:
print
finally:
pz.cleanup()
# GNU GPL V3
# Test code for 4tronix Picon Zero
import piconzero as pz, time
pz.init()
pz.setInputConfig(0, 0, True) # request pullup on input
vsn = pz.getRevision()
if (vsn[1] == 2):
print "Board Type:", "Picon Zero"
else:
print "Board Type:", vsn[1]
print "Firmware version:", vsn[0]
print
try:
while True:
switch = pz.readInput(0)
if (switch == 0):
print "Switch Pressed", switch
else:
print "Switch Released", switch
time.sleep(5)
except KeyboardInterrupt:
print
finally:
pz.cleanup()
# Test code for 4tronix Picon Zero
from __future__ import absolute_import
from __future__ import print_function
import piconzero as pz, time
pz.init()
pz.setInputConfig(0, 0, True) # request pullup on input
vsn = pz.getRevision()
if (vsn[1] == 2):
print("Board Type:", "Picon Zero")
else:
print("Board Type:", vsn[1])
print("Firmware version:", vsn[0])
print()
try:
while True:
switch = pz.readInput(0)
if (switch == 0):
print("Switch Pressed", switch)
else:
print("Switch Released", switch)
time.sleep(5)
except KeyboardInterrupt:
print()
finally:
pz.cleanup()
# requires picon zero hardware plus software library
# see circuitry in article at rbnrpi.wordpress.com
import piconzero as pz, time
pz.init()
pz.setInputConfig(
1, 0, True
) # used for push button digital input (normally high using internal resistor)
pz.setOutputConfig(5, 3) # set output 5 to WS2812
pz.setInputConfig(0, 1) # set to Analogue used to sample audio
try:
pz.setAllPixels(128, 0, 128) #set an initial pixel state
pz.setPixel(15, 0, 255, 0, False) #eye
pz.setPixel(16, 0, 255, 0) #other eye
pz.setPixel(14, 0, 0, 255) #nose
while True:
v = pz.readInput(0) # read adc value from audio input
print(v) #print to terminal
pz.setBrightness(v) #update brightness
pz.updatePixels() #update all pixels
time.sleep(
0.01
) #short sleep to keep repsonse time good, just enough to allow ctrl-C to get a look in
except KeyboardInterrupt:
print
finally:
pz.cleanup() #reset picon zero board
import piconzero as pz
import time
pz.setInputConfig(2, 0)
pz.init()
try:
while True:
test = pz.readInput(2)
if pz.readInput(2):
print "IR droite : Black /test ", test
time.sleep(1)
else:
print "IR droite : White /test", test
time.sleep(1)
if pz.readInput(3):
print "IR gauche : Black"
time.sleep(1)
else:
print "IR gauche : White"
time.sleep(1)
finally:
pz.cleanup()
#! /usr/bin/env python
# GNU GPL V3
# Test code for 4tronix Picon Zero
import piconzero as pz, time
pz.init()
pz.setInputConfig(0, 2) # set input 0 to DS18B20
pz.setInputConfig(2, 2) # set input 2 to DS18B20
try:
while True:
ana0 = pz.readInput(0)
if (ana0>32767):
ana0 -= 65536
ana2 = pz.readInput(2)
if (ana2>32767):
ana2 -= 65536
print ana0*0.0625, ana2*0.0625
time.sleep(1)
except KeyboardInterrupt:
print
finally:
pz.cleanup()
from __future__ import absolute_import
import piconzero as pz, time
pz.setInputConfig(0, 1) # set input 0 to Analog
pz.setOutputConfig(0, 1) # set output 0 to PWM
pz.setOutputConfig(2, 2) # set output 2 to Servo
pz.setOutputConfig(5, 3) # set output 5 to WS2812
while True:
ana0 = pz.readInput(0)
pz.setOutput(0, ana0/10)
pz.setPixel(0,0,0,ana0/4)
pz.setOutput(2, int(ana0/7))
time.sleep(0.1) # this makes 11 active lines, but can be removed
import piconzero as pz, time
pz.init()
pz.setInputConfig(0, 0) # request pullup on input
while True:
switch = pz.readInput(0) # 0 = pressed, 1 = not pressed
if (switch == 0):
print "Switch Pressed", switch
else:
print "Switch Released", switch
time.sleep(1)
def isOnLine(): # 0 on true
if pz.readInput(LineSensor.channel) == 0:
return True
else:
return False
def sensor_activated():
return pz.readInput(0)
import piconzero as pz
import time
pz.setInputConfig(2, 0)
pz.setInputConfig(3, 0)
pz.init()
try:
while True:
test = pz.readInput(2)
if (pz.readInput(2) != 1 and pz.readInput(3) != 1):
pz.reverse(100)
else:
pz.reverse(100)
finally:
pz.cleanup()
import piconzero as pz, time
pz.setInputConfig(0, 1) # set input 0 to Analog
pz.setOutputConfig(0, 1) # set output 0 to PWM
pz.setOutputConfig(2, 2) # set output 2 to Servo
pz.setOutputConfig(5, 3) # set output 5 to WS2812
while True:
ana0 = pz.readInput(0)
pz.setOutput(0, ana0/10)
pz.setPixel(0,0,0,ana0/4)
pz.setOutput(2, int(ana0/7))
time.sleep(0.1) # this makes 11 active lines, but can be removed
#! /usr/bin/env python
# GNU GPL V3
# Test code for 4tronix Picon Zero
from __future__ import absolute_import
from __future__ import print_function
import piconzero as pz, time
pz.init()
pz.setInputConfig(0, 2) # set input 0 to DS18B20
pz.setInputConfig(2, 2) # set input 2 to DS18B20
try:
while True:
ana0 = pz.readInput(0)
if (ana0 > 32767):
ana0 -= 65536
ana2 = pz.readInput(2)
if (ana2 > 32767):
ana2 -= 65536
print(ana0 * 0.0625, ana2 * 0.0625)
time.sleep(1)
except KeyboardInterrupt:
print()
finally:
pz.cleanup()
openslot = int(b /
10) #set openslot cycles according to brightness
openFlag = 1 #opening so set flag
change(1) #open mouth
else:
if (opencount > openslot) and (
openFlag == 1 and b < threshold - 20
): #ensures stays open for at least openslot cycles
openFlag = 0 #closing so reset flag
#shutslot=2 #doesn't change. set in intialisation
shutcount = 0 #reset shutcount
change(-1) #close mouth
#now process brigthness level
v = pz.readInput(0) # read adc value from audio input
b = min(100, 5 * (abs(v - offset)) + 5) #calcuate next brigthness
print(b) #print to terminal
#check for offset calibration button
trigger = pz.readInput(1) #check for button pressed
if trigger == 0: #normally high: 0 if pushed
offset = v #update offset value from current adc value
#now adjust brightness if changed sufficiently
if abs(
blast - b
) > 10: #check if brightness has changed by at least 10 to reduce noise
pz.setBrightness(b) #update brightness
pz.updatePixels() #update all pixels
blast = b #save brightness value
#! /usr/bin/env python
# -*- coding: utf-8 -*-
import time
import piconzero as pz
import hcsr04
pz.setInputConfig(2, 0)
pz.setInputConfig(3, 0)
pz.init()
hcsr04.init()
speed = 60
i = 0
try:
while True:
if ((pz.readInput(2) != 1) and (pz.readInput(3) != 1)):
pz.spinLeft(100)
time.sleep(0.25)
elif ((pz.readInput(2) == 1) and (pz.readInput(3) != 1)):
pz.spinRight(100)
time.sleep(0.25)
elif ((pz.readInput(2) == 1) and (pz.readInput(3) == 1)):
pz.reverse(speed)
time.sleep(0.1)
else:
pz.reverse(speed)
except KeyboardInterrupt:
print "Au revoir"
finally:
pz.cleanup()
hcsr04.cleanup()
elif keyp == 'v':
pz.stop()
pts = []
row=2
scanWin.addstr(1,1,"Distance Map" )
scanWin.addstr(2,1, "Sonar : ir")
for span in range( 39, 75, 3 ):
irLine=""
sonLine=""
for stilt in range( 150, 30, -3 ):
pz.setOutput (pan, span)
pz.setOutput (tilt, stilt)
time.sleep( 0.1)
ir = pz.readInput(irSen)
distance = int(hcsr04.getDistance())
#print "At pan,tilt: ",span,",",stilt,": ir Distance:", ir, " sonic distance: ", distance
#volts=min(1,ir*0.0048828125); # // value from sensor * (5/1024) - if running 3.3.volts then change 5 to 3.3
volts=min(1,ir*0.002929688); # // value from sensor * (5/1024) - if running 3.3.volts then change 5 to 3.3
actdist=65*pow(volts, -1.10); # // worked out from graph 65 = theretical distance / (1/Volts)S - luckylarry.co.uk
#print "ir act distance: ",actdist
# TODO: Save values and pos so build map
# rescale reading to ascii value
irLine = irLine + asciiSensor( 400, 400-min(400,ir) )
#
# Basic test of HC-SR04 ultrasonic sensor on Picon Zero
import hcsr04, time
import piconzero as pz
pz.setInputConfig(2, 0)
pz.setInputConfig(3, 0)
pz.init()
hcsr04.init()
try:
while True:
distance = int(hcsr04.getDistance())
print("Distance : "), distance
if (((pz.readInput(2) != 1) or (pz.readInput(3) != 1))
and distance > 13):
pz.reverse(60)
else:
pz.stop()
time.sleep(0.2)
pz.spinRight(50)
time.sleep(0.2)
pz.stop()
break
except KeyboardInterrupt:
print
finally:
hcsr04.cleanup()
pz.cleanup()
#! /usr/bin/env python
import piconzero as pz, time
pz.init()
i = 0
j = 0
turns = 0
while True:
j = i
i = pz.readInput(2)
if i != j:
turns = turns + 1
print(turns)
time.sleep(0.01)
