def moveup():
global panVal,step,pz,pan
try:
panVal = max (65, panVal + step)
pz.setOutput (pan, panVal)
except KeyboardInterrupt:
print "quit"
def movedown():
global panVal,step,pz,pan
try:
panVal = min (160, panVal - step)
pz.setOutput (pan, panVal)
except KeyboardInterrupt:
print "quit"
def moveright():
global tiltVal,step,pz,tilt
try:
tiltVal = max (20, tiltVal - step)
pz.setOutput (tilt, tiltVal)
except KeyboardInterrupt:
print "quit"
def moveleft():
global tiltVal,step,pz,tilt
try:
tiltVal = min (160, tiltVal + step)
pz.setOutput (tilt, tiltVal)
except KeyboardInterrupt:
print "quit"
def __init__(self, pin, value=90, min=0, max=180):
self.pin = pin
self.value = value
self.min = min
self.max = max
pz.setOutputConfig(self.pin, 2)
pz.setOutput(self.pin, self.value)
def movex(x):
global pz,tilt
try:
xx = x
xx = min (140, xx)
xx = max (40, xx)
pz.setOutput (tilt, xx)
except KeyboardInterrupt:
print "quit"
def movey(y):
global pz,pan
try:
yy = y
yy = max (70, yy)
yy = min (150, yy)
pz.setOutput (pan, yy)
except KeyboardInterrupt:
print "quit"
def __init__(self):
pz.init()
# 1= 2 place, 1 = PWM output channel
pz.setOutputConfig(1, 1)
# 2= 3 place, 1 = PWM output channel
pz.setOutputConfig(2, 1)
# Set initial state as off
pz.setOutput(1, 0)
pz.setOutput(2, 0)
# Create a lock to syncronize access to hardware from multiple threads.
self._lock = threading.Lock()
def smoothMotion(channel, stop):
if (stop > limMax[channel]) or (stop < limMin[channel]):
print("Operational range exceeded")
return 0
while positions[channel] > stop:
positions[channel] -= 1
pz.setOutput(channel, positions[channel])
time.sleep(0.02) # time.sleep(...) prevents rapid rotation
while positions[channel] < stop:
positions[channel] += 1
pz.setOutput(channel, positions[channel])
time.sleep(0.02)
return 0
def initPZ():
pz.init()
# Set output mode to Servo
pz.setOutputConfig(pan, 2)
pz.setOutputConfig(tilt, 2)
# set output 5 to WS2812
pz.setOutputConfig(pixel, 3)
hcsr04.init()
# Centre all servos
panVal = 90
tiltVal = 90
pz.setOutput(pan, panVal)
pz.setOutput(tilt, tiltVal)
def set_led(self, value):
global light_status
if value is True:
pz.setOutput(1, 100)
pz.setOutput(2, 100)
light_status = 1
else:
pz.setOutput(1, 0)
pz.setOutput(2, 0)
light_status = 0
def hook(side):
if side == ServGrap.UP:
ServGrap.panVal = min(180, ServGrap.panVal + 90) # up
elif side == ServGrap.DOWN:
ServGrap.panVal = ServGrap.tiltVal = ServGrap.gripVal = 90 # down
pz.setOutput(0, ServGrap.panVal)
pz.setOutput(1, ServGrap.tiltVal)
pz.setOutput(2, ServGrap.gripVal)
def checkTick(nowTick=0, pan=None, weight=10):
global futureTick
#for servo
global panValue
#for motor
global speed
#not even error checking yet
if nowTick >= futureTick + panDelay:
#then check pan, possibilities are L,R,C (Left, Right, Center) (todo: change to bits)
#!! switch statement is faster also...
if pan == "L":
if panValue - weight >= panMin:
print("LEFT@" + str(weight) + ":" + str(panValue) + "\n")
panValue -= weight
pz.setOutput(turnServo, panValue - weight)
elif pan == "R":
if panValue + weight <= panMax:
print("RIGHT@" + str(weight) + ":" + str(panValue) + "\n")
panValue += weight
pz.setOutput(turnServo, panValue + weight)
elif pan == "C":
if panValue > panCenter:
print("CENTERING FROM RIGHT@" + str(weight) + ":" +
str(panValue) + "\n")
panValue = 90
pz.setOutput(turnServo, panValue - weight)
elif panValue < panCenter:
print("CENTERING FROM LEFT@" + str(weight) + ":" +
str(panValue) + "\n")
panValue = 90
pz.setOutput(turnServo, panValue + weight)
# else:
# print("CENTERED")
if pan == "F":
print("FORWARD")
#pz.forward(weight)
elif pan == "B":
print("REVERSE")
#pz.reverse(weight)
futureTick = nowTick + panDelay
def turnLEDoff(self):
pz.setOutput(self.pin, 0)
def center():
global angle
angle = 90
pz.setOutput(0,angle)
def pan(self, angle):
pz.setOutput(self._pan, angle)
def sensor_activated():
gpio_in = gpio.GPIO(GPIO.gpio_id("GPIO-A"), gpio.DIRECTION_INPUT)
with gpio.request_gpios(gpio_in):
in_val = gpio_in.is_high()
return in_val
pz.init()
pz.setOutputConfig(0, 2) # set output 0 to Servo
pz.setOutputConfig(1, 1) # set output 1 to PWM
pz.setOutputConfig(2, 1) # set output 2 to PWM
pz.setOutputConfig(3, 1) # set output 3 to PWM
rev = pz.getRevision()
print rev[0], rev[1]
try:
while True:
while not sensor_activated():
sleep(1)
for x in range(0, 50):
pz.setOutput(1, x)
time.sleep(0.04)
pz.setOutput(1, 0)
sleep(3)
except KeyboardInterrupt:
print
finally:
pz.cleanup()
# Set output mode to Servo pz.setOutputConfig(pan, 2) pz.setOutputConfig(tilt, 2) pz.setOutputConfig(cam, 2) pz.setInputConfig(irSen, 1) # set input 0 to Analog pz.setInputConfig(leftCounter, 0) # set input 0 to Analog pz.setInputConfig(rightCounter, 0) # set input 0 to Analog # Centre positions for all servos panVal = 90 tiltVal = 90 camVal = 90 pz.setOutput (pan, panVal) pz.setOutput (tilt, tiltVal) pz.setOutput (cam, camVal) # position for 'head down' while moving forward for collis detection fwdPan=90 fwdTilt=75 # value to monitor for sudden distance change and to stop on significant change fwdSafe=0 distance=0 ir=0 helpWin.addstr(1,1, "Tests the motors by using the arrow keys to control. num keys. 5 to stop. IJLM. K=stop") helpWin.addstr(2, 1, "Use , or < to slow down. Use . or > to speed up. V to distance scan")
pi.set_PWM_frequency(18, 240)
# Set frequency for Motor 50Hz * 25 speed = 1250RPM
#20.83_ rotations per second
pi.set_PWM_frequency(4, 50)
#max right
panMax = 180
#center pos
panCenter = 90
#max left
panMin = 0
#initially center panned, using this for PWM smooth transitions
panValue = 90
pz.setOutput(turnServo, panCenter)
#set radius of turns on tx "pressure"
heavyPan = 18
mediumPan = 9
lightPan = 5
#how quickly do we adjust the servo? 20000us = 200ms
#increase for smoother reactions decrease for more sharpness
panDelay = 15000
#int, int, string <-- needs to be bit/int eventually
def checkTick(nowTick=0, pan=None, weight=10):
global futureTick
#for servo
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
def turnLEDon(self):
pz.setOutput(self.pin, self.intensity)
def run(self):
print self.angle
pz.setOutput(0, self.angle)
time.sleep(self.delay)
#! /usr/bin/env python
# GNU GPL V3
# Test code for 4tronix Picon Zero
import piconzero as pz, time
lastPix = 0
numpixels = 8
pz.init()
pz.setOutputConfig(0, 2) # set output 0 to Servo
pz.setOutputConfig(1, 1) # set output 1 to PWM
pz.setOutputConfig(2, 1) # set output 2 to PWM
pz.setOutputConfig(3, 1) # set output 3 to PWM
rev = pz.getRevision()
print rev[0], rev[1]
try:
while True:
for channel in range(1, 4):
for x in range(0, 50):
pz.setOutput(channel, x)
time.sleep(0.04)
pz.setOutput(channel, 0)
except KeyboardInterrupt:
print
finally:
pz.cleanup()
pan = 0
tilt = 1
grip = 2
pz.init()
# Set output mode to Servo
pz.setOutputConfig(pan, 2)
pz.setOutputConfig(tilt, 2)
pz.setOutputConfig(grip, 2)
# Centre all servos
panVal = 90
tiltVal = 90
gripVal = 90
pz.setOutput (pan, panVal)
pz.setOutput (tilt, tiltVal)
pz.setOutput (grip, gripVal)
# main loop
try:
while True:
keyp = readkey()
if keyp == 'w' or ord(keyp) == 16:
panVal = max (0, panVal - 5)
print 'Up', panVal
elif keyp == 'z' or ord(keyp) == 17:
panVal = min (180, panVal + 5)
print 'Down', panVal
elif keyp == 's' or ord(keyp) == 18:
tiltVal = max (0, tiltVal - 5)
def set(self, value):
self.limit(value)
pz.setOutput(self.pin, self.value)
def motor(servoPort, speed): #activate servo hat servo motor
pz.setOutput(servoPort, speed)
def inc(self, value):
self.limit(self.value + value)
pz.setOutput(self.pin, self.value)
def run(self):
print self.rgb.red, self.rgb.green, self.rgb.blue
pz.setOutput(1, self.rgb.red)
pz.setOutput(2, self.rgb.green)
pz.setOutput(3, self.rgb.blue)
time.sleep(self.delay)
print("Halloween animation using servos")
print("Press Ctrl-C to end")
print
pz.init()
number_servos = 5
start_angle = 45
stop_angle = 135
delay_time = 0.3
# Define which pins are the servos and set their output and centre them
for s in range(number_servos):
pz.setOutputConfig(s, 2)
pz.setOutput(s, start_angle)
sleep(delay_time)
# main loop
try:
# while True:
for i in range(5):
for servo in range(number_servos):
pz.setOutput(servo, stop_angle)
sleep(delay_time)
pz.setOutput(servo, start_angle)
sleep(delay_time)
except KeyboardInterrupt:
print
def servoTilt(a):
pz.setOutput(tilt, 180 - a)
speed = 100
# Define which pins are the servos
pan = 0
tilt = 1
step = 5
pz.init()
# Set output mode to Servo
pz.setOutputConfig(pan, 2)
pz.setOutputConfig(tilt, 2)
# Centre all servos
panVal = 90
tiltVal = 90
pz.setOutput (pan, panVal)
pz.setOutput (tilt, tiltVal)
log = logging.getLogger(__name__)
@channel_session
def ws_connect(message):
# Extract the room from the message. This expects message.path to be of the
# form /chat/{label}/, and finds a Room if the message path is applicable,
# and if the Room exists. Otherwise, bails (meaning this is a some othersort
# of websocket). So, this is effectively a version of _get_object_or_404.
isCarcontrol = False
try:
prefix, label = message['path'].decode('ascii').strip('/').split('/')
if prefix == "control":
log.debug('car control mode')
def servoPan(a):
pz.setOutput(pan, a)
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
def tilt(self, angle):
pz.setOutput(self._tilt, angle)
def down():
global angle
angle += 5
angle = min(145,angle)
pz.setOutput(0,angle)
pan = 0
tilt = 1
grip = 2
pz.init()
# Set output mode to Servo
pz.setOutputConfig(pan, 2)
pz.setOutputConfig(tilt, 2)
pz.setOutputConfig(grip, 2)
# Centre all servos
panVal = 90
tiltVal = 90
gripVal = 90
pz.setOutput(pan, panVal)
pz.setOutput(tilt, tiltVal)
pz.setOutput(grip, gripVal)
# main loop
try:
while True:
keyp = readkey()
if keyp == 'w' or ord(keyp) == 16:
panVal = max(0, panVal - 5)
print('Up', panVal)
elif keyp == 'z' or ord(keyp) == 17:
panVal = min(180, panVal + 5)
print('Down', panVal)
elif keyp == 's' or ord(keyp) == 18:
tiltVal = max(0, tiltVal - 5)
def up():
global angle
angle -= 5
angle = max(40,angle)
pz.setOutput(0,angle)
# Operational angles of servos (between 0 and 180) limited by device geometry
tiltMax = 115
tiltMin = 55
rotMin = 0
rotMax = 180
liftMax = 75
liftMin = 0
gripMin = 0
gripMax = 110
# Initial position of all servos at the beginning of operation
rotVal = 90 # 90 degress = center
tiltVal = 100
liftVal = 0
gripVal = 90
pz.setOutput(rot, rotVal)
pz.setOutput(tilt, tiltVal)
pz.setOutput(lift, liftVal)
pz.setOutput(grip, gripVal)
gripDistance = 3 # the distance to sensor below which the grabbing is commenced
pz.setOutput(grip, gripMin)
time.sleep(.5)
import hcsr04
hcsr04.init()
# main loop
try:
distance = int(hcsr04.getDistance())
print "object " + str(distance) + " far"
while (distance > gripDistance) and (tiltVal > tiltMin):
global light
light = (light+1)%4
if (light == 0):
pz.setAllPixels(0,0,0)
elif (light == 1) :
pz.setAllPixels(255,255,255)
elif (light == 2) :
pz.setAllPixels(0,255,0)
elif (light == 3) :
pz.setAllPixels(255,0,0)
pz.init()
pz.setOutputConfig(0,2)
pz.setOutputConfig(5,3)
pz.setBrightness(100)
pz.setOutput(0,angle)
ultra.init()
app = Flask(__name__)
@app.route('/')
def index():
"""Video streaming home page."""
return render_template('index.html')
def gen(camera):
"""Video streaming generator function."""
while True:
frame = camera.get_frame()
yield (b'--frame\r\n'
