async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
pwm = await c.acquire('PWMs')
n = await pwm.num_pins()
print("# PWM-capable pins:", n)
frequency = 50 # Hz
for pin_index in range(n):
print('Running on pin #', pin_index)
await pwm.enable(pin_index, frequency)
for i in range(10):
for duty in range(5, 10):
await pwm.set_duty(pin_index, duty)
await asyncio.sleep(0.1)
await asyncio.sleep(2)
await pwm.disable(pin_index)
await c.release(pwm)
await c.close()
async def run13():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
pwm = await c.acquire('PWMs')
frequency = 20000 # Hz
await pwm.enable(1, frequency)
await pwm.enable(3, frequency//2)
for j in range(100):
for i in range(41):
await pwm.set_duty(1, 15+i)
await pwm.set_duty(3, 40+i)
await asyncio.sleep(0.1)
for i in range(40, -1, -1):
await pwm.set_duty(1, 15+i)
await pwm.set_duty(3, 40+i)
await asyncio.sleep(0.1)
#await asyncio.sleep(100)
await pwm.disable(1)
await pwm.disable(3)
await c.release(pwm)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
enc = await c.acquire('Encoders')
enc_index = 1 # the _second encoder
n = await enc.num_encoders()
print('# encoders:', n)
await enc.enable(enc_index)
def fmt(val):
return "{:6d}".format(val)
for i in range(100000):
counts = await enc.read_counts(enc_index)
counts_str = ''.join([fmt(c) for c in counts])
timing = await enc.read_timing(enc_index)
timing_str = ''.join([fmt(t) for t in timing])
print(counts_str + timing_str)
await asyncio.sleep(0.1)
await enc.disable(enc_index)
await c.release(enc)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
b = await c.acquire('Buzzer')
await asyncio.sleep(2)
#await b.play() # defaults to the 'on' sound
#await b.play('o4l16ceg>c8') # the 'on' sound (explicit this time)
#await b.play('v10>>g16>>>c16') # the soft reset sound
#await b.play('>E>E>E R >C>E>G')
#await b.play('!L16 V12 cdefgab>cbagfedc') # C-major scale up and down
print(await b.is_currently_playing())
await b.play('!T240 L8 agafaea dac+adaea fa<aa<bac#a dac#adaea f4') # "Bach's fugue in D-minor"
print(await b.is_currently_playing())
await b.wait()
await asyncio.sleep(2)
await c.release(b)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
fd = c.fd
await eeprom_store(fd, 0xA0, b'0000')
buf = await eeprom_query(fd, 0xA0, 4)
print(buf)
assert buf == b'0000'
await eeprom_store(fd, 0xA0, b'1234')
buf = await eeprom_query(fd, 0xA1, 3)
print(buf)
assert buf == b'234'
buf = await eeprom_query(fd, 0xA2, 2)
print(buf)
assert buf == b'34'
buf = await eeprom_query(fd, 0xA3, 1)
print(buf)
assert buf == b'4'
buf = await eeprom_query(fd, 0xA0, 4)
print(buf)
assert buf == b'1234'
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
camera = await c.acquire('Camera')
frame = await camera.capture()
await c.release(camera)
await c.close()
print(frame)
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
iface = await c.acquire('VersionInfo')
name = await iface.name()
version = await iface.version()
await c.release(iface)
await c.close()
print(name, version)
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
loop = await c.acquire('LoopFrequency')
for i in range(50):
print(await loop.read())
await asyncio.sleep(0.05)
await c.release(loop)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
p = await c.acquire('Photoresistor')
for i in range(1000):
print(await p.read(), await p.read_millivolts(), await p.read_ohms())
await asyncio.sleep(0.1)
await c.release(p)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
accel = await c.acquire('Accelerometer')
for i in range(1000):
fmt(await accel.read())
await asyncio.sleep(0.05)
await c.release(accel)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
ahrs = await c.acquire('AHRS')
for i in range(10000):
fmt(await ahrs.read())
await asyncio.sleep(0.05)
await c.release(ahrs)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
power = await c.acquire('Power')
for i in range(1000):
mv = await power.millivolts()
mi = await power.estimate_remaining()
sd = await power.should_shut_down()
print(mv, mi, sd)
await asyncio.sleep(0.1)
await c.release(power)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
motors = await c.acquire('CarMotors')
await motors.set_params(
top=40000,
steering_left=3600,
steering_mid=3000,
steering_right=2400,
steering_millis=1000,
throttle_forward=4000,
throttle_mid=3000,
throttle_reverse=2000,
throttle_millis=1000,
)
await motors.save_params()
await motors.on()
await asyncio.sleep(1)
for i in range(2):
for v in range(-45, 45):
print(v)
await motors.set_steering(v)
await motors.set_throttle(20)
await asyncio.sleep(0.02)
for v in range(45, -45, -1):
print(v)
await motors.set_steering(v)
await motors.set_throttle(20)
await asyncio.sleep(0.02)
await motors.off()
await asyncio.sleep(3)
await c.release(motors)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
b = await c.acquire('PushButtons')
print('There are', await b.num_buttons(), 'buttons.')
bi, action = await b.wait_for_action('released')
print("Button", bi, "was", action)
while True:
event = await b.wait_for_event()
pprint(event)
await c.release(b)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
gyro = await c.acquire('Gyroscope')
gyro_accum = await c.acquire('Gyroscope_accum')
for i in range(500):
fmt(await gyro.read())
fmt(await gyro_accum.read())
print()
if i % 50 == 0:
await gyro_accum.reset()
await asyncio.sleep(0.1)
await c.release(gyro)
await c.release(gyro_accum)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
leds = await c.acquire('LEDs')
mode_map = await leds.mode_map()
print(mode_map)
for mode, _ in mode_map.items():
print('Setting to mode', mode)
await leds.set_mode(mode)
await asyncio.sleep(3)
print('Clearing the mode...')
await leds.set_mode(None)
led_map = await leds.led_map()
print(led_map)
print('Turning on red...')
await leds.set_led('red', True)
await asyncio.sleep(2)
print('Turning off red...')
await leds.set_led('red', False)
await asyncio.sleep(1)
for i in range(8):
binary = "{0:{fill}3b}".format(i, fill='0')
print('Showing binary:', binary)
red, green, blue = [int(b) for b in binary]
await leds.set_many_leds(
zip(['red', 'green', 'blue'], [red, green, blue]))
await asyncio.sleep(1)
await c.release(leds)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
print('Acquiring PID_steering and CarMotors...')
pid = await c.acquire('PID_steering')
motors = await c.acquire('CarMotors')
p, i, d = 1.0, 0.1, 0.1
await pid.set_pid(p, i, d)
await pid.set_point(0.0)
print('Enabling PID loop...')
await pid.enable()
await asyncio.sleep(5)
print('Turning on CarMotors and setting throttle...')
await motors.on()
await motors.set_throttle(25)
await asyncio.sleep(10)
print('Disabling PID loop...')
await pid.disable()
await asyncio.sleep(5)
print('Turning off CarMotors...')
await motors.off()
await asyncio.sleep(5)
print('Releasing PID_steering and CarMotors...')
await c.release(pid)
await c.release(motors)
await c.close()
async def run():
c = controller.CioRoot()
caps = await c.init()
pprint(caps)
iface = await c.acquire('VersionInfo')
n = 0
start = time.time()
while True:
_ = await iface.version()
n += 1
now = time.time()
if (now - start) >= 1.0:
print(n)
start = now
n = 0
await c.release(iface)
await c.close()