def environment(request):
B=4275
R0=100000
lightSensor = mraa.Aio(0)
a = float(lightSensor.read())
tempSensor = mraa.Aio(1)
b = float(tempSensor.read())
R = 1023/b-1
R = R0*R
b = 1/(math.log(R/R0)/B+1/298.15)-273.15
soundSensor = mraa.Aio(2)
c = float(soundSensor.read())
result=""
if a>300:
result+="Turn down the light."
if b>26:
result+="Turn down the temperature."
if b<22:
result+="Turn up the temperature."
print c
if c<200:
result+="Turn down the sound."
if result=="":
result="Good environment."
return HttpResponse(result)
def initGlobals():
#File writer
global writer
#Hardware related globals
global main_aio
global jib_aio
global collect_aio
#Sailing related globals
global heading
global apWndDir
global apWndSpd
global amrRoll
global cog
global sog
global vmg
global vmgUp
global truWndDir
jib_aio = mraa.Aio(2)
main_aio = mraa.Aio(3) #TODO confirm these!!!
collect_aio = mraa.Aio(0) #Aux 2 for data collection
amrRoll = 0.0
heading = 0.0
apWndDir = 0.0
apWndSpd = 0.0
cog = 0.0
sog = 0.0
vmg = 0.0
vmgUp = 0.0
truWndDir = 0.0
def __init__(self):
# Important variables.
self.threads = {}
self.running = False
self.last_temperatures = []
self.last_avg_temp = 0
self.messages_to_send = []
self.moment_last_email = datetime.datetime(1970, 1, 1)
# Configure the digital outputs for cold and warm led.
self.cold_led = mraa.Gpio(COLD_LED)
self.warm_led = mraa.Gpio(WARM_LED)
self.hot_led = mraa.Gpio(HOT_LED)
self.buzzer = mraa.Gpio(BUZZER_PIN)
self.cold_led.dir(mraa.DIR_OUT)
self.warm_led.dir(mraa.DIR_OUT)
self.hot_led.dir(mraa.DIR_OUT)
self.buzzer.dir(mraa.DIR_OUT)
self.cold_led.write(0)
self.warm_led.write(0)
self.hot_led.write(0)
self.buzzer.write(1)
# Configures the Hi-Z button.
self.button = mraa.Gpio(BUTTON_PULLUP_PIN)
self.button.dir(mraa.DIR_IN)
self.button.mode(mraa.MODE_PULLUP)
self.button.isr(mraa.EDGE_FALLING, button_pressed, self.button)
# Configures the ADC.
self.adc = mraa.Aio(SENSOR_ADC_PIN)
def publish_message():
'''
Description:
This function publish light sensor data to the google cloud Pub/Sub.
Args:
None
Returns:
None
Raise:
Throw an exception on failure
'''
try:
mraa.addSubplatform(mraa.GROVEPI, "0")
x = mraa.Aio(512)
while True:
args.message = "Light Sensor: (%d)" % (x.read())
cloudApisObj.publish_message_to_subpub(
args.project_id, args.registry_id, args.device_id,
args.message_type, args.base_url, args.cloud_region,
args.algorithm, args.private_key_file, args.message_data_type,
args.message)
time.sleep(2)
except Exception, e:
print e
def main():
#TODO: not sure 100 samples is any more consistent than 16
n_samples = 100 #The number of analog reads we average to get servo position
avg_start = 25 #The internal range of data to use in the mean (get rid of outliers)
avg_end = 75 # " " " upper bound
analog = mraa.Aio(
4
) #Read from the rudder ADC, fine as long as as all ADC's created equal
servo.initPWMs()
servo.hijack() #Turn the relays to autonomous mode
for deg in range(0, 90, 5):
print("Deg: " + str(deg))
servo.rotate(hackMsg(deg, 0)) #Output the servo
time.sleep(1)
for test in range(5):
print("Test #: " + str(test))
samps = []
#Average across middle 50% of multiple reads to reduce noise from ADC
for samp in range(n_samples):
samps.append(analog.read())
#Take the middle 50% of samples and average them
samps.sort()
val = np.mean(samps[avg_start:avg_end])
print("Avg ADC value: " + str(val))
time.sleep(
0.1) #TODO this might be an important sleep, not quite sure
print("")
def __init__(self):
# Important variables.
self.threads = {}
self.running = False
self.sensor_value = 0
self.seconds = 0
self.mode = 1
self.pwm_dryer = 0
# Configure the digital output for the LED 3.
self.led_system = mraa.Gpio(LED_SYSTEM_PIN)
self.led_system.dir(mraa.DIR_OUT)
# Configures the PWM generators (LEDs and dryer).
self.led_sensor = mraa.Pwm(LED_SENSOR_PWM_PIN)
self.led_sensor.period_ms(5)
self.led_dryer = mraa.Pwm(LED_DRYER_PWM_PIN)
self.led_dryer.period_ms(5)
# Configures the Hi-Z button, with pull-up and falling edge.
self.button = mraa.Gpio(BUTTON_PULLUP_PIN)
self.button.dir(mraa.DIR_IN)
self.button.mode(mraa.MODE_PULLUP)
self.button.isr(mraa.EDGE_FALLING, button_pressed, self.button)
# Configures the ADC.
self.adc = mraa.Aio(SENSOR_ADC_PIN)
# Configures the socket.
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# Starts the Network.
self.network_start()
def configureArduinoAdc(self):
ckboxtree = CheckboxTree(height=6, scroll=0)
ckboxtree.append(text='ADC 0', item=0, selected=self.checkPinmuxConfig('ADC_0'))
ckboxtree.append(text='ADC 1', item=1, selected=self.checkPinmuxConfig('ADC_1'))
ckboxtree.append(text='ADC 2', item=2, selected=self.checkPinmuxConfig('ADC_2'))
ckboxtree.append(text='ADC 3', item=3, selected=self.checkPinmuxConfig('ADC_3'))
ckboxtree.append(text='ADC 4', item=4, selected=self.checkPinmuxConfig('ADC_4'))
ckboxtree.append(text='ADC 5', item=5, selected=self.checkPinmuxConfig('ADC_5'))
buttonbar = ButtonBar(screen=self.topmenu.gscreen, buttonlist=[('Ok', 'ok'), ('Cancel', 'cancel', 'ESC')])
g = GridForm(self.topmenu.gscreen, # screen
'Enable ADC on IO14-IO19', # title
1, 2) # 1x1 grid
g.add(ckboxtree, 0, 0)
g.add(buttonbar, 0, 1)
result = g.runOnce()
if buttonbar.buttonPressed(result) == 'cancel':
return
selected = ckboxtree.getSelection()
for n in range(0, 6):
if n in selected:
aio = mraa.Aio(n)
self.setPinmuxOfUserConfig('ADC_' + str(n))
else:
self.resetPinmuxOfUserConfig('ADC_' + str(n))
self.saveConfig(self.config)
def readHumidity(pin):
sensor = mraa.Aio(pin)
humidity = sensor.read()
humidity = (2.4 / 767) * humidity
humidity = (1 / humidity) * 100
return humidity
def getTemp():
B=3975
ain = mraa.Aio(3)
a = ain.read()
resistance = (1023-a)*10000.0/a
temp = 1/(math.log(resistance/10000.0)/B+1/298.15)-273.15
return "{0:.2f}".format(temp)+" graus Celsius"
def analog_read(self, pin_number):
if not pin_number in self.pins["analog"]:
pin = mraa.Aio(pin_number)
self.pins["analog"][pin_number] = pin
else:
pin = self.pins["analog"][pin_number]
return pin.read()
def getSensorData():
tmp = mraa.Aio(2)
total = 0.0
for i in range(0, 5):
total = total + calculateCelcius(float(tmp.read()))
celciusVal = total / 5
sound = mraa.Aio(0)
soundVal = int(sound.read())
light = mraa.Aio(3)
lightVal = int(light.read())
dic = {'Temperature': celciusVal, 'Sound': soundVal, 'Light': lightVal}
return json.dumps(dic)
def first():
pin = mraa.Aio(0)
pin.setBit(12)
rawReading = pin.read()
volts = float(rawReading / 819.0)
tempC = (volts * 100) - 50
tempF = (tempC * 9.0 / 5.0) + 32.0
return render_template("display_temp.html", name=tempF)
def tmp():
try:
#Initialize the MRAA pin
pin = mraa.Aio(1)
#Set it to a 12 bit value
pin.setBit(12)
except Exception, e:
print("Error: {:s}".format(e))
sys.exit()
def AIO_init():
global a_pin
try:
a_pin = m.Aio(a_p)
print("Initializing pin " + str(a_p) + " as AIO")
return 0
except ValueError:
print(sys.exc_info()[1][0])
return 1
def readTemperature(pin):
B = 3975
sensor = mraa.Aio(pin)
aValue = sensor.read()
resistance = (1023 - aValue) * 10000 / aValue
celsiusTmp = 1 / (math.log(resistance / 10000) / B +
1 / 298.15) - 273.15
return celsiusTmp
def AquisicaoDados(fila_tempo, fila_aquisicao): # Define os pinos 0 (14), ligado ao sensor de temperatura, e o pino 1 (15), ligado ao sensor de luminosidade, como entradas ADC adc_temp = mraa.Aio(0) adc_lum = mraa.Aio(1) while(True): #Recebe dados da Thread timer (tempo atual, tempo de envio dos dados) tempo_atual = fila_tempo.get() #Se -1 for enviado pela fila indicando o fim do programa, a thread é desativada if(tempo_atual[0] == -1): #Envia comando de extinção para proxima thread (ProcessamentoDados) fila_aquisicao.put_nowait((-1, 0, 0, tempo_atual[1])) break # Envia (tempo atual, valor do sensor de temperatura, valor do sendor de luminosidade, tempo de envio de dados) para a thread ProcessamentoDados fila_aquisicao.put_nowait((tempo_atual[0], adc_temp.read(), adc_lum.read(), tempo_atual[1]))
def main():
#Setup
duty = 0
val = 0
#Servo Constants, duty of 1 outputs abou 3.3 volts
#Rudder
period = 3030.0
duty_min = 1000.0 / period
duty_max = 2000.0 / period
#Winches
# period = 20000.0
# duty_min = 1100.0/period
# duty_max=1900.0 /period
#main is 90 degrees out at duty cycle 0.3 (1 is all the way in)
#jib is 90 degrees out at duty cycle 0.7 (0 is all the way in)
#MRAA setup
#switch to autonomous mode.
AUTONOMOUS_SELECT_PIN = 2 #2 is for rudder, 4 is main/jib
auto_select_pin = mraa.Gpio(AUTONOMOUS_SELECT_PIN)
auto_select_pin.dir(
mraa.DIR_OUT
) #Really important that you set the input/output of the pin...
auto_select_pin.write(1)
#PWM_PIN = 6; #pwm pins are the same as listed on the breakout board. (3 jib, 5 main, 6 rudder)
#pwm = mraa.Pwm(PWM_PIN);
#pwm.period_us(int(period)); #Period in microseconds, corresponds to 50Hz like the winch motors.
#pwm.enable(True);
#Analog config
#ANALOG_PIN = 1 #Reading from aux 1
#ANALOG_PIN=0 #Reading from aux 2
ANALOG_PIN = 5 #Reading from Rudder
aio = mraa.Aio(ANALOG_PIN)
while True:
val = input("Enter a duty cycle in [0,1]: ")
print(val)
if val < 0 or val > 1:
print("Duty is out of range")
continue
duty = val
writeval = (duty_min + (duty_max - duty_min) * duty)
print writeval
val = aio.read()
#pwm.write(writeval); #Scale it according to our ranges
print('value from analaog ' + str(ANALOG_PIN) + ": " + str(aval))
print('equivalent to ' + str(aio.read() / 1024.0 * 5.0 * 2.0) +
' volts')
def __init__(self):
self.position = (0.0, 0.0)
self.theta = 0.0
self.velocity = 0.0
self.gyro = mraa.Aio(2)
self.left = mraa.Gpio(2)
#self.left.isr(mraa.EDGE_RISING, leftbump, leftbump)
self.right = mraa.Gpio(4)
#self.right.isr(mraa.EDGE_RISING, rightbump, rightbump)
self.time = 0
def get_temp(request):
temp_pin_number = 1
temp = mraa.Aio(temp_pin_number)
temperature = float(temp.read())
R = 1023.0 / (temperature) - 1.0
R = 100000.0 * R
temperature = 1.0 / (math.log(R / 100000.0) / 4275 + 1 / 298.15) - 273.15
d = {'temperature': temperature}
print(d)
return JsonResponse(d)
def __init__(self, dht_type, pin):
if dht_type != self.DHT_TYPE['DHT11'] and dht_type != self.DHT_TYPE['DHT22']:
print('ERROR: Please use 11|22 as dht type.')
exit(1)
self.dht_type = dht_type
#self.pin = GPIO(pin, GPIO.OUT)
self.pin = mraa.Aio(pin)
#self.pin.dir(mraa.DIR_OUT)
self._last_temp = 0.0
self._last_humi = 0.0
def set_pin(self, pin):
"""
initalises the pin for use
:param pin: GPIO AD pin used for measuring
:return: initalised mraa class for later reuse
"""
if pin not in range (0, 6):
raise Exception("Incorrect pin selection. Pins available (0, 1, 2, 3, 4, 5)")
else:
self.aio = mraa.Aio(pin)
return self.aio
def __init__(self, pin):
# The sensor length in mm. By default we use 200mm sensor
# 1 mm
self.length = 200
self.low = 0
self.high = self.length
self.step = 0.1
self.sensor = mraa.Aio(pin)
self.state = self.sensor.readFloat(),
print("Water level sensor was initialised!")
return
def pin_mode(pin,
pin_type=PIN_TYPE_DIGITAL,
pin_mode=PIN_MODE_INPUT,
**kwargs):
if device_type == DEVICE_TYPE_MRAA:
if pin_type == PIN_TYPE_DIGITAL:
if pin_mode == PIN_MODE_INPUT:
obj = mraa.Gpio(pin)
obj.dir(mraa.DIR_IN)
return obj
elif pin_mode == PIN_MODE_OUTPUT:
obj = mraa.Gpio(pin)
obj.dir(mraa.DIR_OUT)
return obj
elif pin_type == PIN_TYPE_ANALOG:
obj = mraa.Aio(pin)
return obj
elif pin_type == PIN_TYPE_I2C:
pass
elif device_type == DEVICE_TYPE_RPI:
if pin_type == PIN_TYPE_DIGITAL:
if pin_mode == PIN_MODE_INPUT:
GPIO.setup(pin, GPIO.IN, **kwargs)
return pin
elif pin_mode == PIN_MODE_OUTPUT:
GPIO.setup(pin, GPIO.OUT, **kwargs)
return pin
else:
pass
elif device_type == DEVICE_TYPE_GPI:
if pin_type == PIN_TYPE_DIGITAL:
if pin_mode == PIN_MODE_INPUT:
grovepi.pinMode(pin, "INPUT")
return pin
elif pin_mode == PIN_MODE_OUTPUT:
grovepi.pinMode(pin, "OUTPUT")
return pin
elif pin_type == PIN_TYPE_ANALOG:
grovepi.pinMode(pin, "INPUT")
return pin
else:
pass
raise NotImplementedError
def check_voltage():
ain0 = mraa.Aio(0)
ain1 = mraa.Aio(1)
ain2 = mraa.Aio(2)
ain3 = mraa.Aio(3)
ain4 = mraa.Aio(4)
ain5 = mraa.Aio(5)
ain6 = mraa.Aio(6)
times = 100
sum = 0
values = []
os.system("echo 59 > /sys/class/gpio/export")
os.system("echo out > /sys/class/gpio/gpio59/direction")
os.system("echo 1 > /sys/class/gpio/gpio59/value")
os.system("echo 117 > /sys/class/gpio/export")
os.system("echo in > /sys/class/gpio/gpio117/direction")
# Read GPIO3_21 for 100 times, values HIGH should not less than 30
while times:
times = times - 1
values.append(os.popen("cat /sys/class/gpio/gpio117/value").read())
for i in values:
sum += int(i)
print "sum: ", sum
if sum < 30:
print "GPIO3_21 check fail!"
else:
print "GPIO3_21 check ok!"
VOLTAGES = [
["AIN0", 1.50, 1.80, ain0],
["AIN2", 0.85, 0.95, ain2],
["AIN4", 0.90, 1.30, ain4],
["AIN6", 1.42, 1.58, ain6],
["AIN1", 1.04, 1.16, ain1], # VDD_3V3B / 3
["AIN3", 1.40, 1.75, ain3], # VDD_5V / 3
["AIN5", 1.40, 1.80, ain5]
] # SYS_5V / 3
# ADC.setup()
result = []
status = 'ok'
for v in VOLTAGES:
ain = v[3].read() / 1024.0 * 1.8 #ain = ADC.read(v[0])*1.8
#print ain
if ain < v[1] or ain > v[2]:
result.append('%f (%s) is out of range: %f ~ %f.' %
(ain, v[0], v[1], v[2]))
status = 'error'
else:
result.append('%f (%s) is in of range: %f ~ %f.' %
(ain, v[0], v[1], v[2]))
return status, result
def parse_data(): #sensor number
i = 0
data1 = []
data2 = []
data3 = []
data4 = []
avg_data1 = 0
avg_data2 = 0
avg_data3 = 0
avg_data4 = 0
avg_data = []
while (i < 10):
d1 = mraa.Aio(0) #reading value from sensor
d2 = mraa.Aio(1)
d3 = mraa.Aio(2)
d4 = mraa.Aio(3)
data1.append(d1.read()) #reading value from data variable
data2.append(d2.read())
data3.append(d3.read())
data4.append(d4.read())
i += 1
time.sleep(.001)
for x in data1: #adding data together
x = int(x)
avg_data1 = avg_data1 + x
for x in data2:
x = int(x)
avg_data2 = avg_data2 + x
for x in data3:
x = int(x)
avg_data3 = avg_data3 + x
for x in data4:
x = int(x)
avg_data4 = avg_data4 + x
avg_data.append(avg_data1 / len(data1)) #averaging data
avg_data.append(avg_data2 / len(data2))
avg_data.append(avg_data3 / len(data3))
avg_data.append(avg_data4 / len(data4))
return avg_data
def get_uv():
try:
uv_sensor = mraa.Aio(3)
Vsig = uv_sensor.readFloat()
intensity = 307 * Vsig # 307 taken from documentation.
msg = ''
uv_idx = intensity // 200
# print uv_idx
return uv_idx
except IOError:
print 'IO Error!'
return
def readingSensorValue(queueSensor, cont, pin):
# Hook the SIGINT
signal.signal(signal.SIGINT, signal.SIG_IGN)
light = mraa.Aio(pin)
while cont.value:
# Read interger value
sensorIntegerLight = light.read()
queueSensor.put({
"type": "LIGHT_SENSOR",
"payload": sensorIntegerLight
})
time.sleep(1)
def temp():
B = 4275
R0 = 100000
try:
tempSensor = mraa.Aio(1)
a = tempSensor.read()
R = 1023.0 / a - 1.0
R = R0 * R
v = 1.0 / (log(R / R0) / B + 1 / 298.15) - 273.15
print(v), "is the current temperature"
return v
except KeyboardInterrupt:
return None
def setup(): global Light Light = mraa.Gpio(8) Light.dir(mraa.DIR_OUT) global sensorPin sensorPin = mraa.Aio(5) global BaseStepper BaseStepper = Stepper(10,11,9,'eighth_step') global ReceiverStepper ReceiverStepper = Stepper(7,6,2,'eighth_step') ReceiverStepper.rotateMotor(45)
def dataVolt(): # Get Voltage and current data
xpt=0.0
try:
xpi= mraa.Aio(0)
for i in range (25):
xp = xpi.readFloat() #(xp + xpi.readFloat())
xpt=xp+xpt
print xp
print xpt
xv=xpt / 25
print ('The current value is= ', xv)
except:
print ("Error capturing the Voltage(V) value data...")
return xv
