def __init__(self):
rospy.init_node('controller')
rospy.Subscriber("cmd_vel", Twist, self.twist_callback)
rospy.Subscriber("joy", Joy, self.joy_callback)
self.volt_it = 0.009375
self.volt_min = 4.8
self.volt_max = 7.2
self.adc = ADS1x15(ic=0x01)
self.set_reference()
self.dac_spd = MCP4725(0x062)
self.dac_dir = MCP4725(0x063)
scale = self.middle
scale = scale / 4095 * 9.9
scale = scale - 0.25
scale = scale / 9.9 * 4095
self.dac_spd.setVoltage(int(scale))
self.dac_dir.setVoltage(int(scale))
self.safe = False
self.num_unsafe = 0
self.N = 5
self.old_axes = 0
#rospy.Timer(rospy.Duration(0.1), self.runstop_callback)
rospy.spin()
#!/usr/bin/env python
from Adafruit_MCP4725 import MCP4725
import SocketServer
import sys
import RPi.GPIO as GPIO
from math import fabs
from threading import Thread
HOST = ''
PORT = 31092
BUFFERSIZE = 4096
dac = MCP4725(0x60)
GPIO.setmode(GPIO.BCM)
GPIO.setup(18, GPIO.OUT)
class TCPHandler(SocketServer.BaseRequestHandler):
def handle(self):
while True:
try:
data = float(self.request.recv(4096))
except:
pass
print str(data)
if (data < 0):
data = -data
GPIO.output(18, GPIO.HIGH)
else:
GPIO.output(18, GPIO.LOW)
def __init__(self):
self.LightSensor = TSL2561b.Adafruit_TSL2561()
self.LightSensor.enableAutoGain(True)
# Initialise the DAC using the default address
self.dac = MCP4725(0x62)
if val < 0: val = 0
if val > 100: val = 100
volts = BASE_SPEED + int(SPEED_RANGE * val / 100)
# stop if val==0
if val == 0: volts = 0
if __last_volts != volts:
print(f'fan level: {volts}/4096')
DAC.set_voltage(volts)
__last_volts = volts
if __name__ == "__main__":
DAC = MCP4725(address=0x61, busnum=1)
temp = sense_temp()
print(f'temp: {temp}')
if len(sys.argv) < 2:
print(f'USAGE:\n\t{sys.argv[0]} fanspeed_out_of_100')
sys.exit()
speed = int(sys.argv[1])
fan_speed(speed)
exit()
2048, 2148, 2248, 2348, 2447, 2545, 2642, 2737, 2831, 2923, 3013, 3100, 3185, 3267, 3346, 3423, 3495, 3565, 3630, 3692, 3750, 3804, 3853, 3898, 3939, 3975, 4007, 4034, 4056, 4073, 4085, 4093, 4095, 4093, 4085, 4073, 4056, 4034, 4007, 3975, 3939, 3898, 3853, 3804, 3750, 3692, 3630, 3565 ] # SETUP THE LIBRARY FOR THE 1015 (12-bit ADC) ADS1015 = 0x00 # FIRE UP THE ADCS adc1 = ADS1x15(address=0x49, ic=ADS1015) adc2 = ADS1x15(address=0x48, ic=ADS1015) # FIRE UP THE DACS dac1 = MCP4725(0x60) dac2 = MCP4725(0x61) # NAP TIMINGS nap1 = 1 nap2 = 5 # SET BOTH DACS TO FULL TO GET MAX OUTPUT VOLTAGE print "----Calibrating----" dac1.setVoltage(4095) dac2.setVoltage(4095) time.sleep(0.5) maxV1 = adc1.readADCSingleEnded(0, gain, sps) / 1000 maxV2 = adc2.readADCSingleEnded(0, gain, sps) / 1000 print "DAC 1 Max = %.3f" % (maxV1)
import os, sys
import time
import datetime
import sys
sys.path.append(
'/home/pi/cloned/Adafruit-Raspberry-Pi-Python-Code/Adafruit_I2C')
sys.path.append(
'/home/pi/cloned/Adafruit-Raspberry-Pi-Python-Code/Adafruit_MCP4725')
sys.path.append('/home/pi/raspberrypi')
sys.path.append('/home/pi/raspberrypi_python')
from Adafruit_MCP4725 import MCP4725
import time
DAC_RESOLUTION = 12
# Initialise the DAC using the default address
dac = MCP4725(0x62)
if len(sys.argv) == 0:
print 'Must supply a value 0->5 V'
sys.exit(1)
# make sure input is between 0 and 5 V
value = min(float(sys.argv[1]), 5)
value = max(value, 0)
print "Output %.1f V" % value
val = int((value / 5.0) * 2**DAC_RESOLUTION)
dac.setVoltage(val)
# 2x Sapphire epoxy x center 2-26
centerY = 2.3458
#
#EXPANDED
#centerY = 2.956;
#centerX = 2.53;
voltageToPositionX = 4.12
# mm/V
voltageToPositionY = 3.52
# mm/V
laserSpotRadius = 0.949
#mm unexpanded
dac = MCP4725(0x62)
dacY = MCP4725(0x63)
x = 0
try:
if mode == 1:
# Goes from 0,0 to a point (x,y) in one move, then waits, then moves back
#1) generate list of points (this will change depending on what we want to do)
#xlist
#xlist=[lev(centerX-0.50),lev(centerX-0.25),lev(centerX),lev(centerX+0.25),lev(centerX+0.50)]
xlist = []
for b in range(-4, 5):
xlist.append(lev(centerX + b / 2.0))
print(centerX + b / 2.0)
#ylist
def getError(self):
return self.error
def getIntegrator(self):
return self.Integrator
def getDerivator(self):
return self.Derivator
#breakout board addresses
adc_address1 = 0x6A #address of ADC CH1-CH4
adc_address2 = 0x6B #address of ADC CH5-CH8
dac = MCP4725(0x62) #address of DAC board
DAC_RESOLUTION = 12 #DAC Resolution
# create byte array and fill with initial values to define size
adcreading = bytearray()
adcreading.append(0x00)
adcreading.append(0x00)
adcreading.append(0x00)
adcreading.append(0x00)
varDivisior = 64 # from pdf sheet on adc addresses and config
varMultiplier = (2.4705882/varDivisior)/1000
# detect i2C port number and assign to i2c_bus
for line in open('/proc/cpuinfo').readlines():