def __init__(self, gpio, address=0x29, debug=False):
# Depending on if you have an old or a new Raspberry Pi, you
# may need to change the I2C bus. Older Pis use SMBus 0,
# whereas new Pis use SMBus 1. If you see an error like:
# 'Error accessing 0x29: Check your I2C address '
# change the SMBus number in the initializer below!
# setup i2c bus and SFR address
self.i2c = smbus.SMBus(2)
self.address = 0x29
self.wanted_address = address
self.gpio = gpio
self.debug = debug
# Module identification
self.idModel = 0x00
self.idModelRevMajor = 0x00
self.idModelRevMinor = 0x00
self.idModuleRevMajor = 0x00
self.idModuleRevMinor = 0x00
self.idDate = 0x00
self.idTime = 0x00
GPIO.setup(self.gpio, GPIO.OUT)
self.deactivate() # Must be started turned off
def __init__(self, gpio=params.START_STOP_BUTTON_PIN, from_ros=False):
'''
Init routine
'''
self.from_ros = from_ros
if self.from_ros:
self.activated = False
rospy.Subscriber("button", String, self.callback)
else:
self.gpio = gpio
GPIO.setup(self.gpio, GPIO.IN)
def __init__(self, pins=params.motors_pins):
"""
pins are provided by a dictionary formatted like:
{
'fr':fr,
'fl':fl,
'rr':rr,
'rl':rl,
'dir_fr':dir_fr,
'dir_fl':dir_fl,
'dir_rr':dir_rr,
'dir_rl':dir_rl
}
"""
GPIO.setup(pins['dir_fr'], GPIO.OUT)
GPIO.setup(pins['dir_fl'], GPIO.OUT)
GPIO.setup(pins['dir_rr'], GPIO.OUT)
GPIO.setup(pins['dir_rl'], GPIO.OUT)
self.pins = pins
self.actual_l = 0
self.actual_r = 0
import sys
import os
import time
import utils.GPIO as GPIO
import subprocess
import signal
import actuators.motors as motors
import config.params as params
if __name__ == '__main__':
pin = "gpio65"
#os.system("sh /root/rsm-2017-ga/start.sh")
#os.system("sh /root/rsm-2017-ga/start_routine.sh")
os_command = "python /root/rsm-2017-ga/main.py"
GPIO.setup(pin, GPIO.IN)
m = motors.Motor(params.motors_pins)
m.stop()
pro = subprocess.Popen(os_command,
stdout=open(os.devnull, 'wb'),
shell=True,
preexec_fn=os.setsid)
print(os.getpgid(pro.pid))
print(pro.pid)
while True:
if GPIO.input(pin) == True:
started_pressing = time.time()
while GPIO.input(pin) == True:
pass
pressed_time = time.time() - started_pressing
print("OMFG, you pressed da button!")
def __init__(self, pins=params.touch_pins):
self.pins = pins
GPIO.setup(self.pins['E'], 'in')
GPIO.setup(self.pins['O'], 'in')
def __init__(self, pin= params.LED_PIN):
self.pin = pin
GPIO.setup(self.pin, GPIO.OUT)
GPIO.output(self.pin, GPIO.LOW)