def main(): wm=wimote.connect(Led) while True: button=wimote.whichbutton(wm) time.sleep(0.05) wm.rumble=False #Moving Forwards if button==3: distance_front = usonic.reading(Trigger_front,Echo_front) print distance_front if distance_front < Collision: wm.rumble=True #led.off(Led) motor.stop() elif distance_front >= Collision: #led.on(Led) motor.forward() #Reverse if button==4: motor.reverse() if button==7: motor.cleanup() led.cleanup() usonic.cleanup() sys.exit() if button==None: led.off(Led) motor.stop()
def deng(text):
if text[0].__eq__("开") and text[1].__eq__("灯"):
led.on()
elif text[0].__eq__("关") and text[1].__eq__("灯"):
led.off()
else:
return has_weather(text)
def initialize():
start_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
led.blink(1000, 100)
print "pixhawk..."
serial_ok = False
if os.path.exists("/log/.factory") or os.path.exists(
"/log/updates/FACTORYRESET") or os.path.exists(
"/log/updates/UPDATE") or os.path.exists(
"/log/updates/RESETSETTINGS"):
os.system("rm -f /log/.factory")
else:
serial_ok = checkArduCopter()
# if we're in factory reset, just reset parameters and exit
if recoveryCheck() and serial_ok:
resetParameters()
else:
# find and load ArduCopter FW
if doFirmware():
serial_ok = checkArduCopter()
# reset ArduCopter parameters if tagged
if os.path.exists("/firmware/resetParams") and serial_ok:
resetParameters()
os.remove("/firmware/resetParams")
led.off()
end_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
logger.debug("pixhawk initialization took %0.3f sec",
(end_us - start_us) / 1000000.0)
def recordAudio(device):
if(device!=1): led.on()
print colored("\n**start record**\n",'magenta')
# only records for 5 second, as hardcoded value
with sr.Microphone() as source: audio = r.record(source, duration=5)
print colored("\n**end record**\n",'magenta')
if(device!=1): led.off()
return audio
def adc_thread():
while True:
time.sleep_ms(100) #线程每100毫秒检测一次按键是否被按下
val = adc.get()
if val > 0 and val < 1000: #过滤掉启动和无按键被按下时的值
led.on() #有按键按下，我们让led亮
print("val:", val) #打印采集值
else:
led.off()
def on_message(client,userdata,msg): cmd1=msg.payload # cmd1 is a live command(might be out of order) print cmd1 db_obj.insert(cmd1) cmdx=db_obj.fetch() #cmdx is fetched from db order by time if cmdx=="on": led.on() else: led.off()
def serialDisplay(dt=2.0):
import time
import utime
while True:
led.on()
timestamp = utime.localtime()
#print('{0},{1},{2},{3},{4},{5},{6},{7:0.2f}'.format(_LOCATION, timestamp[0],timestamp[1],timestamp[2],_tc(timestamp[3]),timestamp[4],timestamp[5],temp))
print( temp_record(timestamp, temp) )
led.off()
time.sleep(dt)
def _Led_OFF(self):
self._head_html()
resposta = """
<html>
<head>
<meta http-equiv="refresh" content="0; url=http://pi.g2.asi.itic.cat:808/led_off.html">
</head>
</html>
"""
self.wfile.write(resposta)
led.off()
def button():
delta = 0
if (GPIO.input(5) == GPIO.LOW):
startTime = time.perf_counter()
while GPIO.input(5) == GPIO.LOW:
pass
delta = time.perf_counter() - startTime
if (delta < 0.5 and delta > 0.05):
buttonPressed()
elif (delta >= 0.5):
led.off()
time.sleep(1)
def _Led_OFF(self):
self._head_html()
resposta = """
<html>
<head>
<meta http-equiv="refresh" content="0; url=http://pi.g2.asi.itic.cat:808/led_off.html">
</head>
</html>
"""
self.wfile.write(resposta)
led.off()
def main():
trigger = 26.0
lcd.setup()
lcd.initDisplay()
file = open('/home/pi/temp.txt', 'a')
led.setup()
led.off(led.green)
led.off(led.yellow)
last = 0.0
while 1:
t = return_temp_from_file('/sys/bus/w1/devices/')
lcd.clearLCD()
lcd.write('Temp: ')
tc = str(float(t) / 1000)
lcd.write(tc + ' ')
lcd.cmd8b(0b11011111, True)
lcd.write('C')
file.write(time.strftime('%d.%m.%Y') + '; ' +
time.strftime('%H:%M:%S') + '; ' + tc + '\n')
file.flush()
tt = float(tc)
if tt < trigger and last >= trigger:
led.off(led.yellow)
led.on(led.green)
elif tt >= trigger and last < trigger:
led.off(led.green)
led.on(led.yellow)
last = tt
def connect(Led): while True: try: print 'Press Button 1 and 2 on the remote' led.on(Led) time.sleep(1) wm=cwiid.Wiimote() except RuntimeError: continue break print 'Remote Connected' led.off(Led) time.sleep(1) Rumble = False wm.rpt_mode=cwiid.RPT_BTN return wm
def handle_read(self):
try:
data = self.recv(1024)
if not data:
return
lf_char_index = data.find('\n')
if lf_char_index == -1:
# No new line character in data, so we append all.
self.data += data
else:
# We see a new line character in data, so append rest and handle.
self.data += data[:lf_char_index]
if self.data == "blink":
print "blink start"
led.blink(led_pin, 1, 1, 5)
print "blink end"
elif self.data == "turn LED on":
print "turning on LED"
self.send("turning on LED")
led.on(led_pin)
elif self.data == "turn LED off":
print "turning off LED"
self.send("turning off LED")
led.off(led_pin)
elif self.data == "read adc":
read_value = adc.read0()
print "ADC 0 value read: " + str(read_value)
self.send(str(read_value) + '\n')
else:
print "received [%s]" % self.data
self.send(self.data + '\n')
# Clear the buffer
self.data = ""
except Exception as e:
BTError.print_error(handler=self, error=BTError.ERR_READ, error_message=repr(e))
self.data = ""
self.handle_close()
def index():
if request.method == 'POST':
if request.form['state_button'] == 'On':
led.on()
elif request.form['state_button'] == 'Off':
led.off()
elif request.form['state_button'] == 'Red':
led.colour('Red')
elif request.form['state_button'] == 'Blue':
led.colour('Blue')
elif request.form['state_button'] == 'Green':
led.colour('Green')
elif request.form['state_button'] == 'Fade':
led.fade()
slider = request.form["brightnessSlider"]
print(slider)
return render_template('index.html')
def temperatureStore(dt=2.0):
import time
import utime
# helper function to add sensor data record to file
def write_record(timestamp, temp):
f = open('temperature.txt', 'a') #append mode
#data = '{0},{1},{2},{3},{4},{5},{6},{7:0.2f}\n'.format(_LOCATION, timestamp[0],timestamp[1],timestamp[2],_tc(timestamp[3]),timestamp[4],timestamp[5],temp)
f.write( temp_record(timestamp, temp) )
f.close()
while True:
led.on()
temp = ds18b20.temperature(ds)
timestamp = utime.localtime()
write_record(timestamp, temp)
led.off()
time.sleep(dt)
def run():
r = 0 # To ensure it will loop
x_angle = sensor.get_x_rotation()
log.current("The x angle is {}".format(x_angle))
try:
while r == 0:
x_angle = sensor.get_x_rotation()
if x_angle < 0:
log.current("the x angle is {}".format(x_angle))
motor.run_motor(direction="clockwise")
led.on()
sleep(0.5)
led.off()
elif x_angle > 0:
log.current("the x angle is {}".format(x_angle))
motor.run_motor(direction="anti")
led.on()
sleep(0.5)
led.off()
else:
log.current("the x angle is {}".format(x_angle))
led.on()
sleep(0.5)
led.off()
log.records("program loop ran successfully.")
except Exception as error:
log.records("program loop stopped because of {}.".format(error))
def temperatureStore(dt=2.0):
import time
import utime
def write_record(timestamp, temp):
f = open('temperature.txt', 'a') #append mode
data = '{0},{1},{2},{3},{4},{5},{6},{7:0.2f}\n'.format(_LOCATION,timestamp[0],timestamp[1],timestamp[2],timestamp[3]+2,timestamp[4],timestamp[5],temp)
f.write(data)
f.close()
while True:
led.on()
temp = ds18b20.temperature(ds)
timestamp = utime.localtime()
print('{0},{1},{2},{3},{4},{5},{6},{7:0.2f}'.format(_LOCATION,timestamp[0],timestamp[1],timestamp[2],timestamp[3]+2,timestamp[4],timestamp[5],temp))
write_record(timestamp, temp)
#f = open('temperature.txt', 'a') #append mode
#data = '{0},{1},{2},{3},{4},{5},{6},{7:0.2f}\n'.format(_LOCATION,timestamp[0],timestamp[1],timestamp[2],timestamp[3]+2,timestamp[4],timestamp[5],temp)
#f.write(data)
#f.close()
led.off()
time.sleep(dt)
def sendAt(self, command, success='OK', error='ERROR', wait=2):
"""
Function to send AT commands
to GSM Module
"""
if not self.stopEvent.isSet():
print '{0:20}'.format(command),
try:
self.obj.write(command + '\r\n')
except Exception as e:
self.gsm_init('sendAt(): ' + str(e))
time.sleep(0.25)
self.status = self.checkStatus(success, error, wait)
if 'Success' in self.status:
led.blink_slow(led.pin['at'])
return 'Success'
elif 'Timeout' in self.status:
debugLog.error('TIMEOUT=> ' + command)
errTime.setBit(command)
return 'ErrorTimeout'
elif 'Error' in self.status:
debugLog.error('ERROR=> ' + command)
errGsm.setBit(command)
led.off(led.pin['at'])
return 'Error'
else:
debugLog.error('OTHER=> ' + command)
errUnknown.setBit(command)
led.off(led.pin['at'])
return 'Other'
# Take snapshot
image = sensor.snapshot()
# Threshold image with RGB
binary = image.threshold([(255, 0, 0),
(0, 255, 0),
(0, 0, 255)], 80)
# Image closing
binary.dilate(3)
binary.erode(3)
# Detect blobs in image
blobs = binary.find_blobs()
led.off(led.RED)
led.off(led.GREEN)
led.off(led.BLUE)
# Draw rectangles around detected blobs
for r in blobs:
if r[5]==1:
led.on(led.RED)
if r[5]==2:
led.on(led.GREEN)
if r[5]==3:
led.on(led.BLUE)
image.draw_rectangle(r[0:4])
print(clock.fps())
import led, time while (vcp_is_connected()==False): led.on(led.BLUE) time.sleep(150) led.off(led.BLUE) time.sleep(100) led.on(led.BLUE) time.sleep(150) led.off(led.BLUE) time.sleep(600)
import socket
addr = socket.getaddrinfo('0.0.0.0', 80)[0][-1]
s = socket.socket()
s.bind(addr)
s.listen(1)
print('listening on', addr)
rows = [] #empty rows #added 2017-1105
max_row = 12 #added 2017-1105
while True:
led.on() #show I'm alive
cl, addr = s.accept() #wait for client
print('client connected from', addr)
led.off() #client connected
cl_file = cl.makefile('rwb', 0)
while True:
line = cl_file.readline()
if not line or line == b'\r\n':
break
#rows = ['<tr><td>%s</td><td>%d</td></tr>' % (str(p), p.value()) for p in pins]
#OK: rows += ['<tr><td> %s </td></tr>' % str((ds18b20.temperature(ds)))]
rows += ['<tr><td> {0:4.1f} </td></tr>'.format(ds18b20.temperature(ds))]
response = html % '\n'.join(rows)
cl.send(response)
cl.close()
#added 2017-1105
max_row -= 1
if max_row <1:
#restart rows
def initialize():
global cube_version
firmware_path = None
paramsAfterLoad = False
start_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
led.blink(1000, 100)
print "pixhawk..."
baud = get_baud()
if baud == None:
print "pixhawk: ERROR checking baud"
logger.error("finding baud")
logger.error("pixhawk status: no response")
# pixhawk might be stuck in bootloader
# If we're in a factory reset, we just need to reset the pixhawk.
# If we've just completed the clean install, load the appropriate ArduCopter FW and reset the pixhawk
# Otherwise, just look in /firmware and load whatever is there.
if recoveryCheck():
resetParameters()
rebootPixhawk()
else:
if (os.path.isdir("/firmware/3dr")
or os.path.isdir("/firmware/green")) and checkPixhawkVersion():
# This must be a clean install if the initial FW directories are here.
paramsAfterLoad = True
if cube_version == 'cube_20':
(firmware_path,
firmware_version) = find_firmware(firmware_root_3dr)
elif cube_version == 'cube_21':
(firmware_path,
firmware_version) = find_firmware(firmware_root_green)
else:
# Not a clean install, look for FW in the normal location
(firmware_path, firmware_version) = find_firmware(firmware_root)
if firmware_path is None:
logger.info("no new firmware file")
elif os.path.exists("/log/.factory") and (baud
is not None) and verify_usb():
logger.info("pixhawk: factory - not loading firmware")
else:
print "pixhawk: loading firmware"
logger.info("%s:", firmware_path)
for v in firmware_version:
logger.info("%-20s %s", v, firmware_version[v])
if load(firmware_path):
move_firmware(firmware_path)
os.system("rm -rf /firmware/3dr")
os.system("rm -rf /firmware/green")
os.system("rm -rf /firmware/wipe")
if paramsAfterLoad:
logger.info("Executing post-install parameter reset...")
resetParameters()
rebootPixhawk()
logger.info("...Reset complete")
else:
print "pixhawk: ERROR loading firmware"
logger.error("pixhawk status: can't load")
os.system("rm -f /log/.factory")
running_version = get_version()
logger.info(running_version)
logger.info("now running:")
for component in [
"build_version", "ardupilot_git_hash", "px4_git_hash",
"nuttx_git_hash"
]:
if component in running_version:
version = running_version[component]
else:
version = "unknown"
logger.info("%-20s %s", component, version)
write_version_file(running_version)
if "build_version" in running_version \
and running_version["build_version"] != "unknown":
logger.info("pixhawk status: ready")
print "pixhawk: running %s" % running_version["build_version"]
else:
print "pixhawk: ERROR checking version"
led.off()
end_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
logger.debug("pixhawk initialization took %0.3f sec",
(end_us - start_us) / 1000000.0)
def o(): # 字符o的莫尔斯码表示
for i in range(3): # 哒循环三次
music.pitch(1000, 150, wait=0) # 蜂鸣 频率 持续时间 等待时间
led.on() # 点亮led
sleep(50) # 延迟50毫秒
led.off() # 关闭led
# 电位器控制灯泡-改进2
# 硬件模块：
# micro:bit×1；主板×1
# 模块×2：电位器、LED灯泡
# 简介：
# 根据电位器读数设置LED灯泡状态
# 加入记录LED状态的变量以防止重复发出指令
# 在micro:bit显示屏上增加对电位器示数的显示
import poten, led # 导入模块控制库
from microbit import sleep, display
is_on = False # 记录LED当前状态，防止重复操作
led.off() # 确保初始LED为关闭状态
# 循环进行
while True:
# 读取电位器位置（0-4095）
pv = poten.value()
# 根据读数设置LED灯状态
if pv < 2048:
if is_on:
led.off()
is_on = False
elif not is_on:
is_on = True
led.on()
def reset_lights():
led.off(0)
led.off(1)
led.off(2)
led.off(3)
led.off(4)
led.off(5)
led.off(6)
led.off(7)
led.off(8)
def initialize():
start_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
led.blink(1000, 100)
print "pixhawk..."
baud = get_baud()
if baud == None:
print "pixhawk: ERROR checking baud"
logger.error("finding baud")
logger.error("pixhawk status: no response")
# pixhawk might be stuck in bootloader
# try to load if we have firmware, whether we found the baud or not
(firmware_path, firmware_version) = find_firmware()
if firmware_path is None:
logger.info("no new firmware file")
# Another backup would be to look in /firmware/loaded and load
# whatever's there if we did not get a heartbeat. Getting stuck in
# the bootloader has so far only been observed to happen when a
# programming is interrupted, in which case the firmware we were
# loading is still in /firmware.
elif os.path.exists("/log/.factory") and \
(baud is not None) and \
verify_usb():
logger.info("pixhawk: factory - not loading firmware")
move_firmware(firmware_path)
else:
print "pixhawk: loading firmware"
logger.info("%s:", firmware_path)
for v in firmware_version:
logger.info("%-20s %s", v, firmware_version[v])
if load(firmware_path):
move_firmware(firmware_path)
else:
print "pixhawk: ERROR loading firmware"
logger.error("pixhawk status: can't load")
# If .factory exists, we either found a baud, passed USB, and skipped
# loading pixhawk, or either did not find a baud or USB heartbeat, and
# loaded pixhawk.
os.system("rm -f /log/.factory")
# We have followed some combination of these to get here:
# * found baud | did not find baud
# * no firmware | firmware and flashed it | firmware and error flashing
#
# The cases that are known to happen:
# Normal cases
# * Found baud, there was no new firmware
# * Found baud, there was new firmware, flashed it
# Error cases
# * Did not find baud, there was new firmware, flashed it
#
# Other cases should "never" happen (and have not been observed):
# * Did not find baud, there was no new firmware
# The only known way to not find the baud is if pixhawk is stuck in
# its bootloader, which happens because flashing was interrupted,
# which means there is new firmware available.
# * Found baud, there was new firmware, error flashing it
# * Did not find baud, there was new firmware, error flashing it
# Should "never" fail to flash pixhawk when we try to.
# This should work for any of the three known-to-happen cases. For the
# error cases, running_version will be set to an empty dictionary, and
# write_version_file will write "unknown" for all the versions.
# get_version() can return None if the configuration is corrupt, but in
# that case we have far deeper problems (an md5 has just succeeded).
running_version = get_version()
logger.info("now running:")
for component in [
"build_version", "ardupilot_git_hash", "px4_git_hash",
"nuttx_git_hash"
]:
if component in running_version:
version = running_version[component]
else:
version = "unknown"
logger.info("%-20s %s", component, version)
write_version_file(running_version)
if "build_version" in running_version \
and running_version["build_version"] != "unknown":
logger.info("pixhawk status: ready")
print "pixhawk: running %s" % running_version["build_version"]
else:
print "pixhawk: ERROR checking version"
led.off()
end_us = clock.gettime_us(clock.CLOCK_MONOTONIC)
logger.debug("pixhawk initialization took %0.3f sec",
(end_us - start_us) / 1000000.0)
# 主节点读取子节点上传感器的读数并将结果显示在自身的元件上：
# 温湿度传感器的读数将直接显示于OLED显示屏内，光敏电阻则会在光强低于一定阈值时点亮LED灯泡，在光强高于阈值时则熄灭
# 硬件模块：
# micro:bit×2；主板×2
# 模块×4：（主节点）OLED显示屏、LED灯泡；（子节点）温湿度传感器、光敏电阻
import mb,oled,light,led,temp_humi # 主板、模块控制库
from microbit import *
import music
# 初始化
mb.remote_on()# 启动远程模式
led_on=0
oled.clear()
led.off()
timer=0
light_read=0
tmp,hum='--','--'
while True:
timer+=1
# 每500帧更新温湿度读数
if timer>500:
timer-=500
t,h=temp_humi.temp_humi()
if t!=None:
tmp,hum=t,h
oled.clear()
oled.show(1,8,b'\xce\xc2\xb6\xc8\xa3\xba%s\xa1\xe6'%tmp)
oled.show(4,8,b'\xca\xaa\xb6\xc8\xa3\xba%s\xa3\xa5'%hum)
def _Led_OFF(self):
self._head_html()
resposta = "Off"
self.wfile.write(resposta)
led.off(ser)
import sensor, avi, time, led
REC_LENGTH = 10 # recording length in seconds
# Set sensor parameters
sensor.reset()
sensor.set_contrast(2)
sensor.set_framesize(sensor.VGA)
sensor.set_pixformat(sensor.JPEG)
sensor.set_quality(95)
led.off(led.RED)
time.sleep(5 * 1000)
path = "%d.mjpeg" % random(0, 1000)
vid = avi.AVI(path, 640, 480)
led.on(led.RED)
clock = time.clock()
start = time.ticks()
while ((time.ticks() - start) < (REC_LENGTH * 1000)):
clock.tick()
image = sensor.snapshot()
vid.add_frame(image)
vid.flush(int(clock.fps()))
led.off(led.RED)
while (True):
led.toggle(led.BLUE)
time.sleep(500)
led.toggle(led.BLUE)
'''
Simple echo server
'''
import wlan
import socket
import select
import led, time
SSID = '' # Network SSID
KEY = '' # Network key
HOST = '' # Use first available interface
PORT = 8000 # Arbitrary non-privileged port
led.off(led.RED)
led.off(led.BLUE)
led.on(led.GREEN)
# Init wlan module and connect to network
wlan.init()
wlan.connect(SSID, sec=wlan.WPA2, key=KEY)
led.off(led.GREEN)
# Wait for connection to be established
while (True):
led.toggle(led.BLUE)
time.sleep(250)
led.toggle(led.BLUE)
time.sleep(250)
if wlan.connected():
led.on(led.BLUE)
break
def _Led_OFF(self):
self._head_html()
resposta ="Off"
self.wfile.write(resposta)
led.off(ser)
import led, time
while (vcp_is_connected() == False):
led.on(led.BLUE)
time.sleep(150)
led.off(led.BLUE)
time.sleep(100)
led.on(led.BLUE)
time.sleep(150)
led.off(led.BLUE)
time.sleep(600)