def _poll(self):
device = self.sensor.device
pin = self.sensor.pin
value = None
grovepilib.pinMode(pin,"INPUT")
if device == 'GroveButton':
value = grovepilib.digitalRead(pin)
elif device == 'GroveLight':
raw = grovepilib.analogRead(pin)
if raw == 0:
value = 0
else:
coefficient = ((1023.0-raw) * 10.0/raw) * 15.0
exponent = 4.0/3.0
value = 10000.0/pow(coefficient, exponent)
elif device == 'GroveRotaryAngle':
adc_ref = 5
full_angle = 300
grove_vcc = 5
sensor_value = grovepilib.analogRead(pin)
voltage = round((float)(sensor_value) * adc_ref / 1023, 2)
degrees = round((voltage * full_angle) / grove_vcc, 2)
value = degrees
elif device == 'GroveSound':
value = grovepilib.analogRead(pin)
elif device == 'GroveTemperature':
value = grovepilib.temp(pin,'1.1')
elif device == 'GroveTouch':
value = grovepilib.digitalRead(pin)
return SensorReading(self.sensor, value)
def read_buttons(): startTime = datetime.now() while (datetime.now() - startTime).seconds < 1: button1 = grovepi.digitalRead(BUTTON1_PIN) if button1: print "button 1 down" buttonTime = datetime.now() while grovepi.digitalRead(BUTTON1_PIN) and (datetime.now() - buttonTime).seconds < 1: time.sleep(.001) downTime = (datetime.now() - buttonTime).microseconds if downTime > 120000: print "Returning 1, down time " + str(downTime) return 1 else: print "Phantom press, down time " + str(downTime) button2 = grovepi.digitalRead(BUTTON2_PIN) if button2: print "button 2 down" buttonTime = datetime.now() while grovepi.digitalRead(BUTTON2_PIN) and (datetime.now() - buttonTime).seconds < 1: time.sleep(.001) downTime = (datetime.now() - buttonTime).microseconds if downTime > 120000: print "Returning 2, down time " + str(downTime) return 2 else: print "Phantom press, down time " + str(downTime) return 0
def io_actions(sock):
if 1 == grovepi.digitalRead(input):
time.sleep(0.05)
if 1 == grovepi.digitalRead(input):
print "HIGH"
grovepi.digitalWrite(speaker, 1)
sock.send("action")
time.sleep(3)
grovepi.digitalWrite(speaker, 0)
def menu():
while grovepi.digitalRead(button) == True:
pass
if alm["set"] == "":
set_alarm_time()
else:
items = float(len(menu_items))
val = int(grovepi.analogRead(rotary) / (1023 / items))
old_val = val
lcd.text("Select option:\n" + menu_items[val])
while True:
lcd.text
try:
val = int(grovepi.analogRead(rotary) / (1023 / items))
if val == items:
val = items - 1
if val <> old_val:
lcd.text("Select option:\n" + menu_items[val])
old_val = val
if grovepi.digitalRead(button) == True:
break
except IOError:
pass
if val == 0:
lcd.text("Alarm set for:\n%02d:%02d" % (alm["hour"], alm["minute"]))
sleep(2)
lcd.text("")
elif val == 1:
set_alarm_time()
elif val == 2:
alm["set"] = ""
lcd.text("Alarm cancelled.")
sleep(2)
lcd.text("")
else:
lcd.text("")
#Ensure button has been released:
while True:
try:
if grovepi.digitalRead(button) == False:
break
except IOError:
pass
def main():
cfg = {
"consumer_key":'9iHdYDCrzpNefQqtUyDh7tScN',
"consumer_secret":'pYP8c8njj3vtJqeoDNZpR2kMwuNi0LQKmiGnBlL1Dg5sylEUyI',
"access_token":'756129972075556864-8G9mT1j8RxOx7cgrTbWsQ9CqrK3f0iG',
"access_token_secret":'ZmjDVFHZgYKNvI0Cr2bKQfSYue2tOh4R6uLBWblRUndvN'
}
grovepi.pinMode(button, "INPUT")
print "Waiting for button to be pressed"
while True:
try:
# get value of button status
button_status = grovepi.digitalRead(button)
# if button pressed
if button_status == 1:
api = get_api(cfg)
print "I am posting a tweet via GrovePi!"
# captures distance between ultrasonic sensor and the closest object
distance = grovepi.ultrasonicRead(ultrasonic_ranger)
tweet = "There is currently an object " + str(distance) + " cm away from my$
status = api.update_status(status=tweet)
# immediately print tweet
print(tweet)
except IOError:
print("Error")
except KeyboardInterrupt:
exit()
def get_loopstate():
"""
Get state of loop, with whatever the system ends up being.
For now, since it's grovepi, don't call in multiple threads
"""
return grovepi.digitalRead(LOOP)
def demoButton(self):
while True:
try:
print(grovepi.digitalRead(button))
time.sleep(.5)
except IOError:
print ("Error")
except KeyboardInterrupt:
break
def isFireDected():
#GrovePi output 1 means no fire.
if (grovepi.digitalRead(flame)):
grovepi.digitalWrite(led, 0)
return "no"
#return False
#Fire detected, set fire message
else:
grovepi.digitalWrite(led, 1)
return "yes"
def sound_alarm():
type = ""
exit_flag = False
now = datetime.datetime.now()
alm_min = now.minute
now_min = now.minute
val = 10
lcd.rgb(255, 0, 0)
lcd.text(" Alarm!!!")
while alm_min == now_min:
now = datetime.datetime.now()
now_min = now.minute
grovepi.analogWrite(buzzer, val)
if grovepi.digitalRead(button) == True:
break
else:
if val == 10:
val = 70
else:
val = 10
sleep(1)
grovepi.analogWrite(buzzer, 0)
#Wait for button to be releasd
while True:
try:
if grovepi.digitalRead(button) == False:
break
except IOError:
pass
lcd.text("")
lcd.rgb(50,50,50)
alm["quiet"] = "X"
def release(self):
try:
sensor = grovepi.digitalRead(button)
if sensor == 0 or sensor == 1: # check if reads were 0 or 1 it can be 255 also because of IO Errors so remove those values
if sensor == 1:
return 1
else:
return 0
except IOError:
print("Error")
def get_motion_grove():
grovepi.pinMode(PORT, "INPUT")
MOTION = grovepi.digitalRead(PORT)
if MOTION == 0 or MOTION == 1:
if MOTION == 1:
return jsonify({'motion': MOTION, 'text': 'motion detected'})
else:
return jsonify({'motion': MOTION, 'text': 'no motion detected'})
else:
return jsonify({'text': 'error'})
def handlerequests(req):
if req.operation == 0:
pin = req.pin.split("Pin")[1]
grovepi.pinMode(int(pin), "INPUT")
try:
sensorval = grovepi.digitalRead(int(pin))
except:
sensorval = 0
msgtx = Python2Sharp(msg.isRequest, msg.watcherid, msg.syncid,
str(sensorval), msg.operation)
sys.stdout.write(json.dumps(msgtx.__dict__) + "\n")
elif req.operation == 1:
pin = req.pin.split("Pin")[1]
grovepi.pinMode(int(pin), "OUTPUT")
try:
grovepi.digitalWrite(int(pin), int(req.payload))
except:
grovepi.digitalWrite(int(pin), int(req.payload))
elif req.operation == 2:
pin = req.pin.split("Pin")[1]
grovepi.pinMode(int(pin), "INPUT")
try:
sensorval = grovepi.analogRead(int(pin))
except:
sensorval = 0
msgtx = Python2Sharp(msg.isRequest, msg.watcherid, msg.syncid,
str(sensorval), msg.operation)
sys.stdout.write(json.dumps(msgtx.__dict__) + "\n")
elif req.operation == 4:
pin = req.pin.split("Pin")[1]
try:
[temp, humidity] = grovepi.dht(int(pin), 1)
except:
temp = 0
humidity = 0
a = json.dumps({'temp': temp, 'humidity': humidity})
msgtx = Python2Sharp(msg.isRequest, msg.watcherid, msg.syncid, a,
msg.operation)
sys.stdout.write(json.dumps(msgtx.__dict__) + "\n")
elif req.operation == 5:
pin = req.pin.split("Pin")[1]
try:
sensorval = grovepi.ultrasonicRead(int(pin))
except:
sensorval = 0
msgtx = Python2Sharp(msg.isRequest, msg.watcherid, msg.syncid,
str(sensorval), msg.operation)
sys.stdout.write(json.dumps(msgtx.__dict__) + "\n")
elif req.operation == 6:
try:
setRGB(0, 128, 64)
setText(req.payload)
except:
pass
def sensorTest():
motion_sensor_value = grovepi.digitalRead(pir_sensor)
motion = False
if motion_sensor_value==0 or motion_sensor_value==1:
if motion_sensor_value==1:
motion = True
else:
motion = False
return jsonify({
'motion': motion
})
def run(self):
t = time.time()
while t + self.temps > time.time():
try:
e = grovepi.digitalRead(button1)
if e == 1:
self._return = True
return
time.sleep(0.5)
except IOError:
print("Problème lecture bouton 1")
def calculateOverride(): isButtonPressed = grovepi.digitalRead( iButtonPort ) if isButtonPressed: client.iOverride = client.iOverride + 1 logging.info( "Button depressed current state: TRUE Override has increased to: " + str( client.iOverride ) + "\n" ) else: logging.debug( "Button depressed current state: FALSE" ) if client.iOverride == 0: logging.debug( "Override value cannot fall below zero") else: client.iOverride = client.iOverride - 1 logging.info( "Override value invoked but decreased to: " + str( client.iOverride ) + "\n" )
def checkButtons(in_button_pin, out_button_pin):
try:
in_button = grovepi.digitalRead(in_button_pin)
except IOError:
print "In button error"
return -1
try:
out_button = grovepi.digitalRead(out_button_pin)
except IOError:
print "Out button error"
return -1
print "%s In button (3) : %d , Out button (4) : %d" % (
datetime.now().strftime("%Y/%m/%d %H:%M:%S"), in_button, out_button)
if in_button == 0 and out_button == 0:
return 0
if in_button == 0 and out_button == 1:
return 2
if in_button == 1 and out_button == 0:
return 1
if in_button == 1 and out_button == 1:
return 3
def get_input():
if grovepi.digitalRead(2) == 1:
return {
'clientname': clientname,
'tappedkey': 2,
'timestamp': str(datetime.now())
}
if grovepi.digitalRead(3) == 1:
return {
'clientname': clientname,
'tappedkey': 3,
'timestamp': str(datetime.now())
}
if grovepi.digitalRead(4) == 1:
return {
'clientname': clientname,
'tappedkey': 4,
'timestamp': str(datetime.now())
}
if grovepi.digitalRead(5) == 1:
return {
'clientname': clientname,
'tappedkey': 5,
'timestamp': str(datetime.now())
}
if grovepi.digitalRead(6) == 1:
return {
'clientname': clientname,
'tappedkey': 6,
'timestamp': str(datetime.now())
}
if grovepi.digitalRead(7) == 1:
return 'end'
def affichageInstru() :
test = True
instru = int
ecran.resetEcran()
ecran.setRGB(0,250,130)
time.sleep(0.3)
bouton = False
ecran.setText_norefresh("Choississez votre instrument")
time.sleep(2)
ecran.resetEcran()
time.sleep(.5)
while test :
# Si la distance est entre 3 et 20 l'utilisateur choisit la guitare
while 3 <= distance() <= 20 :
ecran.setText_norefresh("Tu choisis \nla guitare")
time.sleep(.02)
# Si on apuie sur le bouton on sort de la boucle et on renvoie instru = 1
if grovepi.digitalRead(button) == 1 :
instru = 1
test = False
# Si la distance est entre 21 et 30 l'utilisateur choisit le piano
while 21 <= distance() <= 30 :
ecran.setText_norefresh("Tu choisis \nle piano")
time.sleep(.02)
# Si on apuie sur le bouton on sort de la boucle et on renvoie instru = 2
if grovepi.digitalRead(button) == 1 :
instru = 2
test = False
# Si la distance est entre 31 et 40 l'utilisateur choisit la batterie
while 31 <= distance() <= 40 :
ecran.setText_norefresh("Tu choisis \nla batterie")
time.sleep(.02)
# Si on apuie sur le bouton on sort de la boucle et on renvoie instru = 3
if grovepi.digitalRead(button) == 1 :
instru = 3
test = False
print(instru)
return instru
def greengrass_sensor_run():
try:
temp_value = 0.1
mois_value = 0
light_value = 0
switch_status = 0
lastTemp = 0.1
lastMois = 0
# Get value from temperature sensor
temp_value = grovepi.temp(temp_sensor, "1.2")
#temp_value = random.uniform(22.0, 23.9)
# Get value from moisture sensor
mois_value = grovepi.analogRead(mois_sensor)
#mois_value = random.randint(150,350)
# Get value from light sensor
light_value = grovepi.analogRead(light_sensor)
#light_value = random.randint(590,620)
moment = "D" if light_value > 200 else "N"
# Get status from relay
switch_status = grovepi.digitalRead(relay)
#switch_status = random.randint(0,1)
# Set temperature and moisture to LCD
if (abs(temp_value - lastTemp) >= 0.1) or (mois_value != lastMois):
lastTemp = temp_value
lastMois = mois_value
bgList = calcBG(mois_value)
setRGB(bgList[0], bgList[1], bgList[2])
setText("Temp: %.1f C *%s\nMoisture: %d " %
(temp_value, moment, mois_value))
# build the message to be sent
message = {
"clientId": "sensor001",
"timestamp": int(datetime.now(timezone.utc).timestamp() * 1000),
"temp": format(temp_value, '0.1f'),
"moisture": mois_value,
"light": light_value,
"switch": switch_status
}
logger.info('Triggering publish to topic ' + sensor_topic + ' with ' +
json.dumps(message))
client.publish(topic=sensor_topic,
queueFullPolicy='AllOrException',
payload=json.dumps(message))
except IOError:
logger.error('IO Error')
except Exception as e:
logger.error('Failed to publish message: ' + repr(e))
# Asynchronously schedule this function to be run again in 5 seconds
Timer(5, greengrass_sensor_run).start()
def readData():
try:
json_obj = json.dumps({
'temp' : grovepi.dht(DHT_pin,1)[0],
'hum' : grovepi.dht(DHT_pin,1)[1],
'lum' : grovepi.analogRead(0),
'dist' : grovepi.ultrasonicRead(US_pin),
'pot' : grovepi.analogRead(1),
'pir' : grovepi.digitalRead(PIR_pin)
})
return json_obj
except IOError:
print "Erreur d'entrée/sortie"
def getMotion():
while True:
try:
# Sense motion, usually human, within the target range
motion = grovepi.digitalRead(pir_sensor)
if motion == 0 or motion == 1: # check if reads were 0 or 1
if motion == 1:
print("Motion Detected")
grovepi.analogWrite(buzzer,
100) # Make a sound on the Buzzer
return grovepi.digitalRead(pir_sensor)
time.sleep(.1)
else:
print("-")
grovepi.analogWrite(buzzer, 0) # Turn off the Buzzer
#return grovepi.digitalRead(pir_sensor)
return grovepi.digitalRead(pir_sensor)
time.sleep(5)
except KeyboardInterrupt:
break
except IOError:
print "IOError happened"
def read_distance(): try: # Sensor returns LOW and onboard LED lights up when the # received infrared light intensity exceeds the calibrated level if grovepi.digitalRead(sensor) == 0: return True else: return False time.sleep(.5) except IOError: return "Error distance"
def check(self):
try:
val = grovepi.digitalRead(self.pin)
print(val)
if val == 0:
return True
time.sleep(.5)
except IOError:
print("Error")
return False
def changerEtat(self):
"""
Change d'état l'actionneur, fonction basculement (toggle).
Lit l'état logique présent à l'entrée de l'actionneur puis envoie
l'état logique opposé pour faire changer d'état l'actionneur.
Les attributs m_isActionneurActif et m_niveauActuel sont mis à jour
"""
self.m_niveauActuel = not grovepi.digitalRead(self.m_pinActionneur)
grovepi.digitalWrite(self.m_pinActionneur, self.m_niveauActuel)
if self.m_niveauActuel == self.s_ACTIF:
self.m_isActionneurActif = self.s_ACTIF # Actionneur activé
else:
self.m_isActionneurActif = not self.s_ACTIF # Actionneur désactivé
def read_start_stop_switch(self, q):
while True:
try:
button = grovepi.digitalRead(self.digital_port)
if button == 1:
# print("Button pressed!")
q.queue.clear()
q.put(1)
time.sleep(1)
except IOError:
print("Error")
def handle(self):
grovepi.pinMode(self.port, "INPUT")
while True:
try:
value = grovepi.digitalRead(self.port)
if value: # GOAL!!
#print "gooooool!!!!!", value
for s in self.subscribers: # notify
s.notify(1)
time.sleep(.2)
except TypeError:
print ("Error")
except IOError:
print ("Error")
def handlerequests(req):
if req.operation==0:
pin = req.pin.split("Pin")[1]
grovepi.pinMode(int(pin), "INPUT")
try:
sensorval = grovepi.digitalRead(int(pin))
except:
sensorval =0
msgtx = Python2Sharp(msg.isRequest, msg.watcherid, msg.syncid, str(sensorval), msg.operation)
sys.stdout.write(json.dumps(msgtx.__dict__)+"\n")
elif req.operation == 1:
pin = req.pin.split("Pin")[1]
grovepi.pinMode(int(pin), "OUTPUT")
try:
grovepi.digitalWrite(int(pin), int(req.payload))
except:
grovepi.digitalWrite(int(pin), int(req.payload))
elif req.operation == 2:
pin = req.pin.split("Pin")[1]
grovepi.pinMode(int(pin), "INPUT")
try:
sensorval = grovepi.analogRead(int(pin))
except:
sensorval = 0
msgtx = Python2Sharp(msg.isRequest, msg.watcherid, msg.syncid, str(sensorval), msg.operation)
sys.stdout.write(json.dumps(msgtx.__dict__)+"\n")
elif req.operation ==4:
pin = req.pin.split("Pin")[1]
try:
[temp,humidity] = grovepi.dht(int(pin),1)
except:
temp=0
humidity =0
a= json.dumps({'temp':temp,'humidity':humidity})
msgtx = Python2Sharp(msg.isRequest,msg.watcherid,msg.syncid,a,msg.operation)
sys.stdout.write(json.dumps(msgtx.__dict__)+"\n")
elif req.operation == 5:
pin = req.pin.split("Pin")[1]
try:
sensorval=grovepi.ultrasonicRead(int(pin))
except:
sensorval=0
msgtx = Python2Sharp(msg.isRequest, msg.watcherid, msg.syncid, str(sensorval), msg.operation)
sys.stdout.write(json.dumps(msgtx.__dict__)+"\n")
elif req.operation == 6:
try:
setRGB(0,128,64)
setText(req.payload)
except:
pass
def goStraight():
lineSensor = grovepi.digitalRead(8)
#a function to ignore the left line and go straight to pass a dropoff site
if lineSensor == 1:
leftMotorSpeed = -15
rightMotorSpeed = -80*1.12
else:
leftMotorSpeed = -80
rightMotorSpeed = -15 * 1.12
BP.set_motor_power(BP.PORT_B, leftMotorSpeed) #update motor speeds
BP.set_motor_power(BP.PORT_C, rightMotorSpeed)
#time.sleep(0.1)
return()
def set_relay(port, settings):
try:
if settings['relay_mode'] == 'on':
grovepi.digitalWrite(port, 1)
elif settings['relay_mode'] == 'off':
grovepi.digitalWrite(port, 0)
elif settings['relay_mode'] == 'switch':
state = grovepi.digitalRead(port)
if state == 1:
grovepi.digitalWrite(port, 0)
elif state == 0:
grovepi.digitalWrite(port, 1)
except ValueError:
return "Not found"
def set_relay(port, settings):
try:
if settings['relay_mode'] == 'on':
grovepi.digitalWrite(port, 1)
elif settings['relay_mode'] == 'off':
grovepi.digitalWrite(port, 0)
elif settings['relay_mode'] == 'switch':
state = grovepi.digitalRead(port)
if state == 1:
grovepi.digitalWrite(port, 0)
elif state == 0:
grovepi.digitalWrite(port, 1)
except ValueError:
return "Not found"
def buttonF():
time.sleep(0.10)
try:
#switch turn on/off
pressed =(grovepi.digitalRead(button))
if pressed==True:
#grovepi.digitalWrite(led1,1)
time.sleep(0.20)
client.publish("takePicture", 1)
client.publish("motion", 1)
except (IOError,TypeError) as ex:
error="Error: " + str(ex)
def button():
# Connect the Grove Button to digital port D3
# SIG,NC,VCC,GND
button = 3
grovepi.pinMode(button,"INPUT")
press = 0
while True:
try:
press = grovepi.digitalRead(button)
if press == True:
return True
except IOError:
print ("Error")
def button_read():
retry = 3
while retry > 0:
try:
status = grovepi.digitalRead(button)
time.sleep(.01)
break
except:
print 'can not read button, retry again'
retry = retry - 1
time.sleep(.1)
if retry == 0:
return -1
else:
return status
def button_read():
retry = 3
while retry > 0:
try:
status = grovepi.digitalRead(button)
time.sleep(.01)
break
except:
print 'can not read button, retry again'
retry = retry - 1
time.sleep(.1)
if retry == 0:
return -1
else:
return status
def lineFollow(): # a function to follow the line
NXTLight = BP.get_sensor(BP.PORT_2)
lineSensor = grovepi.digitalRead(8)
if lineSensor == 1:
leftMotorSpeed = -300
rightMotorSpeed = 460 * 1.12
elif(NXTLight > 2400):
leftMotorSpeed = 460
rightMotorSpeed = -300*1.12
else:
leftMotorSpeed = -360
rightMotorSpeed = -360*1.12
BP.set_motor_dps(BP.PORT_C, leftMotorSpeed) #update motor speeds
BP.set_motor_dps(BP.PORT_B, rightMotorSpeed)
return()
def lcdcallback(client,userdata,msg):
freq = int(str(msg.payload, "utf-8"))
while True:
buttonpress = grovepi.digitalRead(button)
if(buttonpress):
print("buttonpressed")
for i in tones:
#if(note_produced == tones[i]):
#if(freq - 20 < tones[i] < freq + 20):
if(abs(freq - tones[i]) <= 20):
grove_rgb_lcd.setText(i)
break
client.subscribe("theduo/defaultCallback")
def read_sensor(self):
new_value = bool(False)
try:
new_value = bool(grovepi.digitalRead(self.connector))
except IOError:
self.logger.debug("Error in reading sensor at pin " +
str(self.connector))
if not self.is_equal(self.value, new_value):
self.value = new_value
self.notify_all_actuators()
self.updated_state()
self.logger.debug(
"------------------read_sensor called in ButtonResource instance"
)
def detect(self):
det = False
while True:
try:
# Sense motion, usually human, within the target range
if grovepi.digitalRead(self.pir_sensor):
print 'motion detected'
det = True
else:
print '-'
# if your hold time is less than this, you might not see as many detections
time.sleep(.8)
except IOError:
print "Error"
return det
def runLoop():
isMotionActive = False
while True:
try:
if grovepi.digitalRead(digitalPins.get('motion')):
if isMotionActive:
isMotionActive = False
else:
print('Motion detected')
getEnvironmentData()
else:
print('No motion detected')
time.sleep(1)
except IOError:
print('IO Error')
def lire(self):
"""
Lit l'état logique actuel du capteur et met à jour les attributs de
l'objet
"""
# niveau logique envoyé par capteur (0 ou 1)
# ??? BUG ??? parfois, la lecture de l'entrée du capteur retourne 255 !!!
# utilisation m_niveauPrecedent pour corriger ce bug
self.m_niveauPrecedent = self.m_niveauActuel
self.m_niveauActuel = grovepi.digitalRead(self.m_pinCapteur)
if (self.m_niveauActuel != 0 and self.m_niveauActuel != 1):
self.m_niveauActuel = self.m_niveauPrecedent
if (self.m_niveauActuel == self.m_niveauActif):
self.m_isActionneurActif = True # capteur actif
else:
self.m_isActionneurActif = False # capteur au repos
return self.m_isActionneurActif
def cozmo_program(robot: cozmo.robot.Robot):
while True:
try:
motion = grovepi.digitalRead(motion_sensor)
#überprüft, ob eine Bewegung wahrgenommen wurde mit 0 oder 1
if motion == 0 or motion == 1:
#wenn Bewegung wahgenommen (1), dann...
if motion == 1:
print("Eine unbakannte Bewegung wurde erkannt")
#ansonsten
else:
print("Nicht erkannt")
time.sleep(0.2)
except IOError:
print("IOError")
def lineFollow(): # a function to follow the line
line = BP.get_sensor(BP.PORT_2)
lineSensor = grovepi.digitalRead(8)
if lineSensor == 1:
leftMotorSpeed = -50
rightMotorSpeed = 75 * 1.12
print(lineSensor)
elif(line > 2400):
leftMotorSpeed = 75
rightMotorSpeed = -50*1.12
print(line)
else:
leftMotorSpeed = -65
rightMotorSpeed = -65*1.12
BP.set_motor_power(BP.PORT_C, leftMotorSpeed) #update motor speeds
BP.set_motor_power(BP.PORT_B, rightMotorSpeed)
return()
def update(self, milliseconds):
if milliseconds % self.msPerRead > 0:
return
try:
motion = grovepi.digitalRead(self.motionSensorDigitalPort)
if motion == 0 or motion == 1:
self.buffer.append(motion)
mean = numpy.average(self.buffer)
if self.isOccupied and mean <= 1 / len(self.buffer):
self.isOccupied = False
elif not self.isOccupied:
self.isOccupied = bool(mean >= 0.3)
except BaseException as ex:
print("[occupation] " + str(ex), file=sys.stderr)
def run(self):
global grovepi
global exchange_sensors
while True:
try:
threadLock.acquire()
self.motion=grovepi.digitalRead(self.pir_sensor)
threadLock.release()
if self.motion==0 or self.motion==1:
if self.motion==1:
print("Motion = 1")
if self.last_motion_message==0:
now = int(round(time.time() * 1000)) # Current time in miliseconds
message = {
"value": 1,
"createdAt": now
}
message_json = json.dumps(message)
self.channel.basic_publish(exchange=exchange_sensors, routing_key=self.routing_key_motion, body=message_json)
print("---------- Sent %r:%r" % (self.routing_key_motion, message_json))
self.last_motion_message = 1
self.timer = 30
else:
self.timer = 30
else:
print("Motion = 0")
if self.last_motion_message==1:
if self.timer==0:
now = int(round(time.time() * 1000)) # Current time in miliseconds
message = {
"value": 0,
"createdAt": now
}
message_json = json.dumps(message)
self.channel.basic_publish(exchange=exchange_sensors, routing_key=self.routing_key_motion, body=message_json)
print("---------- Sent %r:%r" % (self.routing_key_motion, message_json))
self.last_motion_message = 0
if self.last_motion_message==1 and self.timer > 0:
self.timer = self.timer - 1
print("Motion timer = " + str(self.timer) + "\n")
time.sleep(1)
except:
print ("Error")
self.connection.close()
def get_value(name, max):
lcd.text("")
while True:
try:
val = int(grovepi.analogRead(rotary) / (1023 / max))
if val > (max - 1):
val = max - 1
lcd.text_norefresh("Alarm Set\nSelect %s: %02d" % (name, val))
if grovepi.digitalRead(button) == True:
break
except IOError:
pass
sleep(0.5)
return val
def buttonflag ():
button_flag = True
while button_flag:
try:
value = grovepi.digitalRead(button)
print( "Button Sensor = " + str(value))
if value==1:
button_flag=False
# Read the button value.
# If it is pressed, then stop the loop and move on.
time.sleep(.5)
except TypeError:
print(TypeError)
except IOError:
print(IOError)
print('Got button press')
def startSensor(triggerPercent, callback, callbackId):
global threshold
threshold = int(triggerPercent)
id = int(callbackId)
triggered = False
while not stop:
try:
light_value = grovepi.digitalRead(light_sensor)
if (light_value >= threshold):
if not triggered:
triggered = True
callback(id, light_value)
if (triggered and light_value < threshold):
triggered = False
time.sleep(.05)
except IOError:
stopSensor()
print("Error")
def switchF():
time.sleep(1)
try:
#switch turn on/off
pressed =(grovepi.digitalRead(switch))
if pressed==True:
#grovepi.digitalWrite(led1,1)
time.sleep(0.20)
client.publish("relay_status", 1)
grovepi.digitalWrite(relay,1)
if pressed==False:
#grovepi.digitalWrite(led1,0)
time.sleep(0.20)
client.publish("relay_status", 0)
grovepi.digitalWrite(relay,0)
except (IOError,TypeError) as ex:
error="Error: " + str(ex)
def manual():
#This is a program that allows you to control the blinds with a knob.
global potentiometer_pin, button_pin, led1_pin, led2_pin
adc_ref = 5 #Reference voltage of ADC is 5v
grove_vcc = 5 #Vcc of the grove interface is normally 5v
full_angle = 300 #Full value of the rotary angle is 300 degrees, as per it's specs (0 to 300)
sensor_value = grovepi.analogRead(potentiometer_pin) #Read sensor value from potentiometer
voltage = round((float)(sensor_value) * adc_ref / 1023, 2) #Calculate voltage
degrees = round((voltage * full_angle) / grove_vcc, 2) #Calculate rotation in degrees (0 to 300)
#This will be replaced with a distance measurment
brightness = int(degrees / full_angle * 255) #Calculate LED brightess (0 to 255) from degrees (0 to 300)
button_test = grovepi.digitalRead(button_pin) #Is the button on or off? On will control the blinds, off will control the shutters
if (button_test==1): #Give PWM output to LED
grovepi.analogWrite(led1_pin,brightness) #Move blinds
else:
grovepi.analogWrite(led2_pin,brightness) #Move shutters
print("sensor_value =", sensor_value, " voltage =", voltage, " degrees =", degrees, " brightness =", brightness)
def formMenu(self, items):
itemRange = int(1000/len(items))
while True:
try:
# Read sensor value from potentiometer
sensor_value = grovepi.analogRead(potentiometer)
selection = int(sensor_value/itemRange)
# check to make sure that our index value isn't going over
if selection >= len(items):
selection = len(items) - 1
setText(list(items[selection]))
self.colorSelect(selection)
if grovepi.digitalRead(button) == 1:
self.clear()
return selection
time.sleep(0.5)
except KeyboardInterrupt:
grovepi.analogWrite(gled,0)
break
except IOError:
print ("Error")
def motion():
time.sleep(0.22)
try:
if grovepi.digitalRead(pir_sensor):
global canEdit
if canEdit==True:
lcd.setText("Welkom thuis")
global isNight
isNight
if isNight==True:
lcd.setRGB(0,0,0)
else:
lcd.setRGB(100,100,100)
display_status=""
client.publish("motion", 1)
#time.sleep(5)
else:
client.publish("motion", 0)
except (IOError,TypeError) as ex:
error="Error: " + str(ex)
print(error)
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
'''
import time
import grovepi
# Connect the Grove Water Sensor to digital port D2
# SIG,NC,VCC,GND
water_sensor = 2
grovepi.pinMode(water_sensor,"INPUT")
while True:
try:
print(grovepi.digitalRead(water_sensor))
time.sleep(.5)
except IOError:
print ("Error")
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
'''
import time
import grovepi
# Connect the Grove Tilt Switch to digital port D3
# SIG,NC,VCC,GND
tilt_switch = 3
grovepi.pinMode(tilt_switch,"INPUT")
while True:
try:
print(grovepi.digitalRead(tilt_switch))
time.sleep(.5)
except IOError:
print ("Error")
port=int(msg[8:])
grovepi.pinMode(port,"INPUT")
if en_debug:
print msg
elif msg[:9].lower()=="setOutput".lower():
if en_grovepi:
port=int(msg[9:])
grovepi.pinMode(port,"OUTPUT")
if en_debug:
print msg
elif msg[:11].lower()=="digitalRead".lower():
if en_grovepi:
port=int(msg[11:])
d_read=grovepi.digitalRead(port)
s.sensorupdate({'digitalRead':d_read})
if en_debug:
print msg
print "Digital Reading: " + str(d_read)
elif match_sensors(msg,digitalInp) >=0:
if en_grovepi:
s_no=match_sensors(msg,digitalInp)
sens=digitalInp[s_no]
port=int(msg[len(sens):])
sens += str(port)
grovepi.pinMode(port,"INPUT")
d_read=grovepi.digitalRead(port)
s.sensorupdate({sens:d_read})
if en_debug:
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/gpl-3.0.txt>.
'''
import time
import grovepi
# Connect the Grove Magnetic Switch to digital port D3
# SIG,NC,VCC,GND
magnetic_switch = 3
grovepi.pinMode(magnetic_switch,"INPUT")
while True:
try:
print (grovepi.digitalRead(magnetic_switch))
time.sleep(.5)
except IOError:
print ("Error")
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
'''
import time
import grovepi
# Connect the Grove Line Finder to digital port D7
# SIG,NC,VCC,GND
line_finder = 7
grovepi.pinMode(line_finder,"INPUT")
while True:
try:
# Return HIGH when black line is detected, and LOW when white line is detected
if grovepi.digitalRead(line_finder) == 1:
print ("black line detected")
else:
print ("white line detected")
time.sleep(.5)
except IOError:
print ("Error")
signal.signal(signal.SIGTERM, signal_term_handler)
while True:
try:
# Encoder
if radio_on == 1:
[new_val, encoder_val] = grovepi.encoderRead()
if new_val:
print('====> Encoder: %d') % encoder_val
if os.path.exists(lock_file2):
print('====> Locking...')
else:
start_radio(encoder_val, radio_on)
# Button for speaking self iCloud Calendar
if grovepi.digitalRead(icloudBtnPort) == 1:
print('====> Button: D%d') % icloudBtnPort
# Turn feedback LED on
grovepi.digitalWrite(feedbackLEDPort, 1)
# Run speak_events
if os.path.exists(lock_file1):
print('====> Locking...')
else:
speak_events()
# Button for turning Radio on/off
if grovepi.digitalRead(radioBtnPort) == 1:
print('====> Button: D%d') % radioBtnPort
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
'''
import time
import grovepi
# Connect the Grove Button to digital port D3
# SIG,NC,VCC,GND
button = 3
grovepi.pinMode(button,"INPUT")
while True:
try:
print(grovepi.digitalRead(button))
time.sleep(.5)
except IOError:
print ("Error")
IOT.send("false", Led) #provide feedback to the cloud that the operation was succesful
else:
print("unknown value: " + value)
else:
print("unknown actuator: " + id)
IOT.on_message = on_message
#make certain that the device & it's features are defined in the cloudapp
IOT.connect()
IOT.addAsset(Pir, "PIR", "PIR SENSOR", False, "boolean")
IOT.addAsset(Led, "LED", "Light Emitting Diode", True, "boolean")
IOT.subscribe() #starts the bi-directional communication
#main loop: run as long as the device is turned on
while True:
try:
if grovepi.digitalRead(Pir) == 1:
if Pir_Prev == False:
print("PIR activated")
IOT.send("true", Pir)
Pir_Prev = True
elif Pir_Prev == True:
print("PIR deactivated")
IOT.send("false", Pir)
Pir_Prev = False
sleep(.3)
except IOError:
print ""
currentStateD2 = 0
noMotionCountD2 = 0
currentStateD3 = 0
noMotionCountD3 = 0
currentStateD4 = 0
noMotionCountD4 = 0
while True:
# SIG,NC,VCC,GND
motion=0
grovepi.pinMode(2,"INPUT")
#Reads from D2
try:
# Sense motion, usually human, within the target range
motion=grovepi.digitalRead(2)
cTime = time.strftime("%H %M %S %d %m %Y")
if motion == 1:
noMotionCountD2 = 0
if currentStateD2 != 1:
currentStateD2 = 1
s.send("D2 motion true " + cTime)
elif motion==0:
noMotionCountD2 += 1
if currentStateD2!=0 and noMotionCountD2 > 5:
currentStateD2 = 0
s.send("D2 motion false " + cTime)
except IOError:
pass
time.sleep (0.3)
