def serialWrite(*sendData):
webiopi.setDebug()
webiopi.debug("####################")
#ttyACM0
com = Serial(port="/dev/ttyACM0",
baudrate=9600,
bytesize=8,
parity='N',
stopbits=1,
timeout=1,
xonxoff=0,
rtscts=0,
writeTimeout=1000,
dsrdtr=None)
#print(com.portstr)
webiopi.debug(sendData)
webiopi.debug(com.portstr)
time.sleep(2)
for bt in sendData:
#com.write(str(bt).encode())
com.write(bytes(chr(int(bt)).encode()))
#com.write(bytes(sendData))
#com.write(sendData)
#com.write(b"\x04")
#com.write("asdfghj")
#com.write(b"\x05")
readData = com.read(1000)
#print(len(readData))
webiopi.debug(len(readData))
com.close()
#f = open("data.txt", "w")
#for var in readData:
# print("%s" % str(var))
# f.write("var=" + str(var))
#f.close()
webiopi.debug(sendData)
#return [10, 20, 30, 40, 50]
#return readData
return ','.join(str(n) for n in readData)
#return np.array(readData)
#return 123
#abc = [10, 20, 30, 40, 50]
#serialWrite(abc)
import webiopi
from rrb2 import *
GPIO = webiopi.GPIO
webiopi.setDebug()
robot = RRB2()
def setup():
webiopi.debug("Setup")
# GPIO.setFunction(4, GPIO.OUT)
# GPIO.setFunction(25, GPIO.OUT)
flash_lights()
flash_lights()
def destroy():
webiopi.debug("Destroy")
flash_lights()
flash_lights()
#flash_lights() flash_lights()
@webiopi.macro
def forward():
robot.reverse()
@webiopi.macro
def reverse():
robot.forward()
@webiopi.macro
def stop():
import webiopi
webiopi.setDebug()
GPIO = webiopi.GPIO
class DCMotor:
_pin1 = 0
_pin2 = 0
def __init__(self, pin1, pin2):
self._pin1 = pin1
self._pin2 = pin2
GPIO.setFunction(self._pin1, GPIO.PWM)
GPIO.setFunction(self._pin2, GPIO.PWM)
def __del__(self):
self.write(0.0) # stop
def write(self, ratio):
if 1.0 < ratio: # saturation
ratio = 1.0
if -1.0 > ratio: # saturation
ratio = -1.0
if 0.01 > ratio and -0.01 < ratio: # stop
GPIO.pwmWrite(self._pin1, 0.0)
GPIO.pwmWrite(self._pin2, 0.0)
elif 0 < ratio: # Normal rotation
GPIO.pwmWrite(self._pin1, ratio)
GPIO.pwmWrite(self._pin2, 0.0)
def __init__(self):
self.__setProperties()
self.__configurePins()
# Enable debug output
webiopi.setDebug()
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# Imports
import webiopi
from webiopi.utils.types import str2bool
BLINKPERIOD = 0.5
BLINKING = False
# ----- Enable debug output -----
webiopi.setDebug() #optional, can be omitted
# ----- WebIOPi predefined functions -----
# Called by WebIOPi at script loading
def setup():
webiopi.debug("Looptest script - Setup") #optional, can be omitted
# Looped by WebIOPi
def loop():
webiopi.debug("Looptest script - Loop") #optional, can be omitted
if BLINKING:
print("B-L-I-N-K")
webiopi.sleep(BLINKPERIOD)
print("---------")
webiopi.sleep(BLINKPERIOD)
def __init__(self):
webiopi.setDebug()
webiopi.debug('The test robot has been activated')
