def encoder_run(self):
GPIO.add_event_detect(self.encoder_pinA,
GPIO.BOTH,
callback=self.encoder_A)
GPIO.add_event_detect(self.encodef_pinB,
GPIO.BOTH,
callback=self.encoder_B)
def main():
# Set our GPIO numbering to BCM
GPIO.setmode(GPIO.BCM)
# Define the GPIO pin that we have our digital output from our sensor connected to
channel = 17
# Set the GPIO pin to an input
GPIO.setup(channel, GPIO.IN)
# This line tells our script to keep an eye on our gpio pin and let us know when the pin goes HIGH or LOW
GPIO.add_event_detect(channel, GPIO.BOTH, bouncetime=300)
# This line asigns a function to the GPIO pin so that when the above line tells us there is a change on the pin, run this function
GPIO.add_event_callback(channel, callback)
while True:
time.sleep(600)
def initialize(self):
# Turn Everything off
for key in self.rf_transmit_keys.keys():
self.switch_off(key)
# Initialize Buttons
for key in self.rf_transmit_keys.keys():
# Setup Button
GPIO.setup(self.rf_transmit_keys[key]['ButtonGPIO'], GPIO.IN, pull_up_down=GPIO.PUD_UP)
# Setup LED
GPIO.setup(self.rf_transmit_keys[key]['LEDGPIO'], GPIO.OUT)
GPIO.output(self.rf_transmit_keys[key]['LEDGPIO'], GPIO.HIGH)
GPIO.output(self.rf_transmit_keys[key]['LEDGPIO'], GPIO.LOW)
# Set Interrupts for Button Presses
GPIO.add_event_detect(self.rf_transmit_keys['VentFan']['ButtonGPIO'], GPIO.FALLING,
callback=self.vent_fan_callback, bouncetime=300)
GPIO.add_event_detect(self.rf_transmit_keys['Heater']['ButtonGPIO'], GPIO.FALLING,
callback=self.heater_callback, bouncetime=300)
GPIO.add_event_detect(self.rf_transmit_keys['GrowLight']['ButtonGPIO'], GPIO.FALLING,
callback=self.grow_light_callback, bouncetime=300)
GPIO.add_event_detect(self.rf_transmit_keys['StandFan']['ButtonGPIO'], GPIO.FALLING,
callback=self.stand_fan_callback, bouncetime=300)
class WallStop():
def __init__(self):
self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
self.goahead_param = 500
self.back_param = 1000
self.sensor_values = LightSensorValues()
rospy.Subscriber('/lightsensors', LightSensorValues, self.callback)
self.M = 0.10
self.M1 = 0.00
self.e = 0.00
self.e1 = 0.00
self.e2 = 0.00
self.goal = 600
self.Kp = 0.0002
self.Ki = 0.000025
self.Kd = 0.00010
def callback(self, messages):
self.sensor_values = messages
def callBackTest(channel):
print("callback")
GPIO.setup(pin, GPIO.IN, GPIO.PUD_UP)
GPIO.add_event_detect(pin,
GPIO.FALLING,
callBack=callBackTest,
bouncetime=300)
try:
while (Trure):
time.sleep(1)
except KeyboardInterrpt:
print("break")
GPIO.cleanup()
def run(self):
rate = rospy.Rate(10)
data = Twist()
data.linear.x = 0.00
while not rospy.is_shutdown():
key = ord(getch())
if key == 65:
data.linear.x = 0.1
elif key == 66:
data.linear.x = -0.1
elif key == 67:
data.linear.y = 0.1
elif key == 68:
data.linear.y = -0.1
elif key == 13:
print("Enter")
break
else:
pause()
"""self.M1 = self.M
self.e2 = self.e1
self.e1 = self.e
self.e = self.goal - self.sensor_values.sum_all
#self.M = self.M1 + self.Kp * (self.e-self.e1)
#self.M = self.M1 + self.Kp * (self.e-self.e1) + self.Kd * ((self.e-self.e1) - (self.e1-self.e2))
self.M = self.M1 + self.Kp * (self.e-self.e1) + self.Ki * self.e + self.Kd * ((self.e-self.e1) - (self.e1-self.e2))
if self.sensor_values.sum_all < self.goahead_param:
data.linear.x = 0.2
elif self.sensor_values.sum_all > self.back_param:
data.linear.x = -0.2
else: data.linear.x = 0.0
if self.M < 0.25 and self.M > -0.25:
data.linear.x = self.M
#else: data.linear.x = 0.0
#print('move param_____________' + str(self.M))"""
self.cmd_vel.publish(data)
rate.sleep()
# ***********************************************************************************************************
# Timer Interrupt Setup End
# ***********************************************************************************************************
# External Interrupt Setup for left and right encoders
# Each interrupt (L and R) will execute at the rising edge of the incoming signal
# Define our motor pins as outputs
GPIO.setup(pin1, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(pin2, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(pin3, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(pin4, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.add_event_detect(pin1, GPIO.RISING, callback=ei_r)
GPIO.add_event_Detect(pin2, GPIO.RISING, callback=ei_l)
def ei_l():
if GPIO.INPUT(pin3):
counter_L+=1
elif GPIO.INPUT(pin3)==GPIO.LOW:
counter_L-=1
def ei_r():
if GPIO.INPUT(pin4):
counter_R+=1
elif GPIO.INPUT(pin4)==GPIO.LOW:
counter_R-=1
# TC4_IRQn where 4 is the timer number * timer channels (3) + the channel number (=(1*3)+1) for timer1 channel1
NVIC_EnableIRQ(TC1_IRQn)
# ***********************************************************************************************************
# Timer Interrupt Setup End
# ***********************************************************************************************************
# External Interrupt Setup for left and right encoders
# Each interrupt (L and R) will execute at the rising edge of the incoming signal
# Define our motor pins as outputs
GPIO.setup(pin1, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(pin2, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(pin3, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(pin4, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.add_event_detect(pin1, GPIO.RISING, callback=EI_R)
GPIO.add_event_Detect(pin2, GPIO.RISING, callback=ei_l)
def ei_l():
if GPIO.INPUT(pin3):
counter_L += 1
elif GPIO.INPUT(pin3) == GPIO.LOW:
counter_L -= 1
def ei_r():
if GPIO.INPUT(pin4):
counter_R += 1
elif GPIO.INPUT(pin4) == GPIO.LOW:
counter_R -= 1
# -*- coding: utf-8 -*-
"""
Created on Mon Mar 19 08:30:36 2018
@author: Paulo Augusto
"""
"""
USE SU TO RUN THIS SCRIPT
"""
import RPI.GPIO as GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setup(23, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.add_event_detect(23, GPIO.FALLING, callback=my_callback, bouncetime=300)
def my_callback(channel):
print "Got something"
RPIO.wait_for_interrupts(threaded=True)
while True:
GPIO.clean_up()
