def etchAsketch():
global matrix_data
running = True
last_key = 1
key = 0
while running:
x = encoder.get(2)
y = encoder.get(3)
x = enc_to_screen(x)
y = enc_to_screen(y)
if GPIO.input(pause) == 0:
running = False
else:
pass #running = False
if x < 0:
x = 0
if x > 7:
x = 7
if y < 0:
y = 0
if y > 7:
y = 7
#print(x, key, last_key)
if x - key > 0 and last_key < 0:
last_key = 1
handle_shake()
elif x - key < 0 and last_key > 0:
last_key = -1
handle_shake()
key = x
write_to_matrix(y, x)
# print(matrix_data)
# print(x, y)
bus.write_i2c_block_data(matrix, 0, matrix_data)
sleep(0.1)
def test1():
N = 5
# set to 10
encoder.set(1, 10)
assert encoder.get(1) == 10
encoder.set(2, 10)
assert encoder.get(2) == 10
encoder.set(3, 10)
assert encoder.get(3) == 10
encoder.set(4, 10)
assert encoder.get(4) == 10
# default to zero
encoder.set(1)
assert encoder.get(1) == 0
encoder.set(2)
assert encoder.get(2) == 0
encoder.set(3)
assert encoder.get(3) == 0
encoder.set(4)
assert encoder.get(4) == 0
print('\n ENC #1 | ENC #2 | ENC #3 | ENC #4')
for i in range(N):
e1 = encoder.get(1)
e2 = encoder.get(2)
e3 = encoder.get(3)
e4 = encoder.get(4)
print('\r{:7d} | {:7d} | {:7d} | {:7d}'.format(e1, e2, e3, e4), end='')
time.sleep(1)
delay = 1; # Delay between images in s
bus.write_byte_data(matrix, 0x21, 0) # Start oscillator (p10)
bus.write_byte_data(matrix, 0x81, 0) # Disp on, blink off (p11)
bus.write_byte_data(matrix, 0xe7, 0) # Full brightness (page 15)
game = [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
]
x = 0x01
y = 0
while 1:
e1_base = encoder.get(1) # read the encoders
e2_base = encoder.get(2)
time.sleep(.5)
if encoder.get(1) > e1_base:
if x > 0x01: x = x >> 1
if encoder.get(1) < e1_base:
if x < 0x80: x = x << 1
if encoder.get(2) < e2_base:
if y < 14: y += 2
if encoder.get(2) > e2_base:
if y > 0: y -= 2
if not GPIO.input(clear):
game = [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
stage = 0
motorset = 5
motor_pwm = [
0, 0.05, 0.10, 0.15, 0.20, 0.25, 0.30, 0.35, 0.40, 0.45, 0.50, 0.55, 0.60,
0.65, 0.70, 0.75, 0.80, 0.85, 0.90, 0.95, 1
]
motor_spd = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
old_enc = 0
Ts = 1
for i in motor_pwm:
for j in range(0, 10):
if motorset != i:
print('New Stage Setted')
motorset = i
motor.set(i)
print(f'PWM = {i},Timers = {j}')
ne = encoder.get()
spd = (ne - old_enc) / Ts
old_enc = ne
time.sleep(Ts)
motor_spd[stage] = spd
print(f'stage = {stage}')
stage += 1
time.sleep(Ts)
print(motor_spd)
motor.free_spin()
with open('test.txt', 'w') as f:
f.write(json.dumps(motor_pwm))
f.write(json.dumps(motor_spd))
# import python libraries
import time
# import rcpy library
# This automatically initizalizes the robotics cape
import rcpy
import rcpy.encoder as encoder
rcpy.set_state(rcpy.RUNNING)
print("Press Ctrl-C to exit")
# header
print(' E1 | E2')
try:
# keep running
while True:
# running
if rcpy.get_state() == rcpy.RUNNING:
e1 = encoder.get(1) # read the encoders
e2 = encoder.get(2)
print('\r {:+6d} | {:+6d}'.format(e1,e2), end='')
time.sleep(.5) # sleep some
except KeyboardInterrupt:
# Catch Ctrl-C
pass
finally:
print("\nBye BeagleBone!")
# import python libraries
import time
# import rcpy library
# This automatically initizalizes the robotics cape
import rcpy
import rcpy.encoder as encoder
rcpy.set_state(rcpy.RUNNING)
print("Press Ctrl-C to exit")
# header
print(' E2 | E3')
try:
# keep running
while True:
# running
if rcpy.get_state() == rcpy.RUNNING:
e2 = encoder.get(2) # read the encoders
e3 = encoder.get(3)
print('\r {:+6d} | {:+6d}'.format(e2, e3), end='')
time.sleep(.5) # sleep some
except KeyboardInterrupt:
# Catch Ctrl-C
pass
finally:
print("\nBye BeagleBone!")
def main():
# exit if no options
if len(sys.argv) < 2:
usage()
sys.exit(2)
# Parse command line
try:
opts, args = getopt.getopt(sys.argv[1:], "he:", ["help"])
except getopt.GetoptError as err:
# print help information and exit:
print('rcpy_test_encoders: illegal option {}'.format(sys.argv[1:]))
usage()
sys.exit(2)
# defaults
channel = 0
for o, a in opts:
if o in ("-h", "--help"):
usage()
sys.exit()
elif o in "-e":
channel = int(a)
else:
assert False, "Unhandled option"
# set state to rcpy.RUNNING
rcpy.set_state(rcpy.RUNNING)
# message
print("Press Ctrl-C to exit")
# header
if channel == 0:
print(' E1 | E2 | E3 | E4')
else:
print(' E{}'.format(channel))
try:
# keep running
while True:
# running
if rcpy.get_state() == rcpy.RUNNING:
if channel == 0:
# read all encoders
e1 = encoder.get(1)
e2 = encoder.get(2)
e3 = encoder.get(3)
e4 = encoder.get(4)
print('\r {:+6d} | {:+6d} | {:+6d} | {:+6d}'.format(e1,e2,e3,e4), end='')
else:
# read one encoder
e = encoder.get(channel)
print('\r {:+6d}'.format(e), end='')
# sleep some
time.sleep(.5)
except KeyboardInterrupt:
# Catch Ctrl-C
pass
finally:
# say bye
print("\nBye Beaglebone!")
def main():
# exit if no options
if len(sys.argv) < 2:
usage()
sys.exit(2)
# Parse command line
try:
opts, args = getopt.getopt(sys.argv[1:], "he:", ["help"])
except getopt.GetoptError as err:
# print help information and exit:
print('rcpy_test_encoders: illegal option {}'.format(sys.argv[1:]))
usage()
sys.exit(2)
# defaults
channel = 0
for o, a in opts:
if o in ("-h", "--help"):
usage()
sys.exit()
elif o in "-e":
channel = int(a)
else:
assert False, "Unhandled option"
# set state to rcpy.RUNNING
rcpy.set_state(rcpy.RUNNING)
# message
print("Press Ctrl-C to exit")
# header
if channel == 0:
print(' E1 | E2 | E3 | E4')
else:
print(' E{}'.format(channel))
try:
# keep running
while True:
# running
if rcpy.get_state() == rcpy.RUNNING:
if channel == 0:
# read all encoders
e1 = encoder.get(1)
e2 = encoder.get(2)
e3 = encoder.get(3)
e4 = encoder.get(4)
print('\r {:+6d} | {:+6d} | {:+6d} | {:+6d}'.format(
e1, e2, e3, e4),
end='')
else:
# read one encoder
e = encoder.get(channel)
print('\r {:+6d}'.format(e), end='')
# sleep some
time.sleep(.5)
except KeyboardInterrupt:
# Catch Ctrl-C
pass
finally:
# say bye
print("\nBye Beaglebone!")
# import python libraries
import time
# import rcpy library
# This automatically initizalizes the robotics cape
import rcpy
import rcpy.encoder as encoder
rcpy.set_state(rcpy.RUNNING)
print("Press Ctrl-C to exit")
# header
print(' E2 | E3')
try:
# keep running
while True:
# running
if rcpy.get_state() == rcpy.RUNNING:
e2 = encoder.get(2) # read the encoders
e3 = encoder.get(3)
print('\r {:+6d} | {:+6d}'.format(e2,e3), end='')
time.sleep(.5) # sleep some
except KeyboardInterrupt:
# Catch Ctrl-C
pass
finally:
print("\nBye BeagleBone!")
def test1():
N = 5
# set to 10
encoder.set(1, 10)
assert encoder.get(1) == 10
encoder.set(2, 10)
assert encoder.get(2) == 10
encoder.set(3, 10)
assert encoder.get(3) == 10
encoder.set(4, 10)
assert encoder.get(4) == 10
# default to zero
encoder.set(1)
assert encoder.get(1) == 0
encoder.set(2)
assert encoder.get(2) == 0
encoder.set(3)
assert encoder.get(3) == 0
encoder.set(4)
assert encoder.get(4) == 0
print('\n ENC #1 | ENC #2 | ENC #3 | ENC #4')
for i in range(N):
e1 = encoder.get(1)
e2 = encoder.get(2)
e3 = encoder.get(3)
e4 = encoder.get(4)
print('\r{:7d} | {:7d} | {:7d} | {:7d}'.format(e1,e2,e3,e4),
end='')
time.sleep(1)