def input_counter():
print "counter thread"
pulsetime = 0
global counter
while(1):
#if pfio.digital_read(4):
if pigpio.input(ECI):
#While HIGHT increment time counter
pulsetime = pulsetime + 1
else:
#If the signal stay HIGH at least 50msec it's a good pulse
if pulsetime >= 5:
counter = counter + 1
#pfio.digital_write(0,1)
pigpio.output(ECO, False)
f = open("/var/log/iMeter/counter.dat","w")
f.write(str(counter))
f.close()
print "Counter = %i" % counter
time.sleep(0.1)
pigpio.output(ECO, True)
pulsetime = 0
#wait for 10msec
time.sleep(0.01)
def motor6_forward():
gpio.output(m6in1, True)
gpio.output(m6in2, False)
print("M6 FORWARD")
def motor6_reverse():
gpio.output(m6in1, False)
gpio.output(m6in2, True)
print("M6 REVERSED")
def motor5_forward():
gpio.output(m5in1, True)
gpio.output(m5in2, False)
print("M5 FORWARD")
def motor5_reverse():
gpio.output(m5in1, False)
gpio.output(m5in2, True)
print("M5 REVERSED")
def motor4_forward():
gpio.output(m4in1, True)
gpio.output(m4in2, False)
print("M4 FORWARD")
def motor4_reverse():
gpio.output(m4in1, False)
gpio.output(m4in2, True)
print("M4 REVERSED")
def motor3_forward():
gpio.output(m3in1, True)
gpio.output(m3in2, False)
print("M3 FORWARD")
def motor3_reverse():
gpio.output(m3in1, False)
gpio.output(m3in2, True)
print("M3 REVERSED")
def motor2_forward():
gpio.output(m2in1, True)
gpio.output(m2in2, False)
print("M2 FORWARD")
def motor2_reverse():
gpio.output(m2in1, False)
gpio.output(m2in2, True)
print("M2 REVERSED")
def motor1_forward():
gpio.output(m1in1, True)
gpio.output(m1in2, False)
print("M1 FORWARD")
def motor1_reverse():
gpio.output(m1in1, False)
gpio.output(m1in2, True)
print("M1 REVERSED")
def reset():
gpio.cleanup()
gpio.setmode(gpio.BCM)
#Motor1
gpio.setup(m1in1, gpio.OUT)
gpio.setup(m1in2, gpio.OUT)
gpio.output(m1in1, True)
gpio.output(m1in2, False)
gpio.setup(m1en, gpio.OUT)
m1 = gpio.PWM(m1en, 1000)
m1.start(0)
#Motor2
gpio.setup(m2in1, gpio.OUT)
gpio.setup(m2in2, gpio.OUT)
gpio.output(m2in1, True)
gpio.output(m2in2, False)
gpio.setup(m2en, gpio.OUT)
m2 = gpio.PWM(m2en, 1000)
m2.start(0)
#Motor3
gpio.setup(m3in1, gpio.OUT)
gpio.setup(m3in2, gpio.OUT)
gpio.output(m3in1, True)
gpio.output(m3in2, False)
gpio.setup(m3en, gpio.OUT)
m3 = gpio.PWM(m3en, 1000)
m3.start(0)
#Motor4
gpio.setup(m4in1, gpio.OUT)
gpio.setup(m4in2, gpio.OUT)
gpio.output(m4in1, True)
gpio.output(m4in2, False)
gpio.setup(m4en, gpio.OUT)
m4 = gpio.PWM(m4en, 1000)
m4.start(0)
#Motor5
gpio.setup(m5in1, gpio.OUT)
gpio.setup(m5in2, gpio.OUT)
gpio.output(m5in1, True)
gpio.output(m5in2, False)
gpio.setup(m5en, gpio.OUT)
m5 = gpio.PWM(m5en, 1000)
m5.start(0)
#Motor6
gpio.setup(m6in1, gpio.OUT)
gpio.setup(m6in2, gpio.OUT)
gpio.output(m6in1, True)
gpio.output(m6in2, False)
gpio.setup(m6en, gpio.OUT)
m6 = gpio.PWM(m6en, 1000)
m6.start(0)
#Sol orta servo
gpio.setup(ss1, gpio.OUT)
s1 = gpio.PWM(ss1, 100)
#Sağ Orta Servo
gpio.setup(ss2, gpio.OUT)
s2 = gpio.PWM(ss2, 100)
print("reset")
m1in2 = int(config.get("MOTORS", "m1in2"))
m2in2 = int(config.get("MOTORS", "m2in2"))
m3in2 = int(config.get("MOTORS", "m3in2"))
m4in2 = int(config.get("MOTORS", "m4in2"))
m5in2 = int(config.get("MOTORS", "m5in2"))
m6in2 = int(config.get("MOTORS", "m6in2"))
ss1 = int(config.get("MOTORS", "s1"))
ss2 = int(config.get("MOTORS", "s2"))
gpio.setmode(gpio.BCM)
#Motor1
gpio.setup(m1in1, gpio.OUT)
gpio.setup(m1in2, gpio.OUT)
gpio.output(m1in1, True)
gpio.output(m1in2, False)
gpio.setup(m1en, gpio.OUT)
m1 = gpio.PWM(m1en, 1000)
m1.start(0)
#Motor2
gpio.setup(m2in1, gpio.OUT)
gpio.setup(m2in2, gpio.OUT)
gpio.output(m2in1, True)
gpio.output(m2in2, False)
gpio.setup(m2en, gpio.OUT)
m2 = gpio.PWM(m2en, 1000)
m2.start(0)
#pfio.digital_write(0,1)
pigpio.output(ECO, False)
f = open("/var/log/iMeter/counter.dat","w")
f.write(str(counter))
f.close()
print "Counter = %i" % counter
time.sleep(0.1)
pigpio.output(ECO, True)
pulsetime = 0
#wait for 10msec
time.sleep(0.01)
#pfio.init()
pigpio.setup(ECI, pigpio.IN)
pigpio.setup(ECO, pigpio.OUT)
pigpio.output(ECO, True)
logging.basicConfig()
log = logging.getLogger()
log.setLevel(logging.DEBUG)
counter = load_counter()
print "Initial counter is ", str(counter)
Thread(target=input_counter).start()
csv_log()
