def __init__(self, gpio, address=0x29, debug=False):
# Depending on if you have an old or a new Raspberry Pi, you
# may need to change the I2C bus. Older Pis use SMBus 0,
# whereas new Pis use SMBus 1. If you see an error like:
# 'Error accessing 0x29: Check your I2C address '
# change the SMBus number in the initializer below!
# setup i2c bus and SFR address
self.i2c = smbus.SMBus(2)
self.address = 0x29
self.wanted_address = address
self.gpio = gpio
self.debug = debug
# Module identification
self.idModel = 0x00
self.idModelRevMajor = 0x00
self.idModelRevMinor = 0x00
self.idModuleRevMajor = 0x00
self.idModuleRevMinor = 0x00
self.idDate = 0x00
self.idTime = 0x00
GPIO.setup(self.gpio, GPIO.OUT)
self.deactivate() # Must be started turned off
def __init__(self, gpio=params.START_STOP_BUTTON_PIN, from_ros=False):
'''
Init routine
'''
self.from_ros = from_ros
if self.from_ros:
self.activated = False
rospy.Subscriber("button", String, self.callback)
else:
self.gpio = gpio
GPIO.setup(self.gpio, GPIO.IN)
def activate(self):
GPIO.output(self.gpio, GPIO.HIGH)
if self.get_register(self.__VL6180X_SYSTEM_FRESH_OUT_OF_RESET) == 1:
print("ToF sensor is ready.")
self.ready = True
else:
print("ToF sensor reset failure.")
self.ready = False
# Required by datasheet
# http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
self.set_register(0x0207, 0x01)
self.set_register(0x0208, 0x01)
self.set_register(0x0096, 0x00)
self.set_register(0x0097, 0xfd)
self.set_register(0x00e3, 0x00)
self.set_register(0x00e4, 0x04)
self.set_register(0x00e5, 0x02)
self.set_register(0x00e6, 0x01)
self.set_register(0x00e7, 0x03)
self.set_register(0x00f5, 0x02)
self.set_register(0x00d9, 0x05)
self.set_register(0x00db, 0xce)
self.set_register(0x00dc, 0x03)
self.set_register(0x00dd, 0xf8)
self.set_register(0x009f, 0x00)
self.set_register(0x00a3, 0x3c)
self.set_register(0x00b7, 0x00)
self.set_register(0x00bb, 0x3c)
self.set_register(0x00b2, 0x09)
self.set_register(0x00ca, 0x09)
self.set_register(0x0198, 0x01)
self.set_register(0x01b0, 0x17)
self.set_register(0x01ad, 0x00)
self.set_register(0x00ff, 0x05)
self.set_register(0x0100, 0x05)
self.set_register(0x0199, 0x05)
self.set_register(0x01a6, 0x1b)
self.set_register(0x01ac, 0x3e)
self.set_register(0x01a7, 0x1f)
self.set_register(0x0030, 0x00)
# Change address if requested
if self.wanted_address != 0x29:
self.change_address(0x29, self.wanted_address)
self.get_distance(
) # This is needed because sometimes the very first measurement is 0
def read_raw(self):
'''
Read all the sensor values
'''
if not self.from_ros:
return GPIO.input(self.gpio)
else:
return self.activated
def setSpeedRight(self, power, coeff=0):
if (power < 0):
GPIO.output(self.pins['dir_fr'], GPIO.LOW)
GPIO.output(self.pins['dir_rr'], GPIO.LOW)
else:
GPIO.output(self.pins['dir_fr'], GPIO.HIGH)
GPIO.output(self.pins['dir_rr'], GPIO.HIGH)
power = abs(power)
if power > 100:
power = 100
if power + coeff > 100:
coeff = 100
elif power + coeff < 0:
coeff = 0
else:
coeff = power + coeff
PWM.start(self.pins['fr'], power, 25000)
PWM.start(self.pins['rr'], coeff, 25000)
self.actual_r = power
def __init__(self, pins=params.motors_pins):
"""
pins are provided by a dictionary formatted like:
{
'fr':fr,
'fl':fl,
'rr':rr,
'rl':rl,
'dir_fr':dir_fr,
'dir_fl':dir_fl,
'dir_rr':dir_rr,
'dir_rl':dir_rl
}
"""
GPIO.setup(pins['dir_fr'], GPIO.OUT)
GPIO.setup(pins['dir_fl'], GPIO.OUT)
GPIO.setup(pins['dir_rr'], GPIO.OUT)
GPIO.setup(pins['dir_rl'], GPIO.OUT)
self.pins = pins
self.actual_l = 0
self.actual_r = 0
def activate(self):
GPIO.output(self.gpio, GPIO.HIGH)
# Change address if requested
if self.wanted_address != 0x29:
self.change_address(0x29, self.wanted_address)
def deactivate(self):
GPIO.output(self.gpio, GPIO.LOW)
import sys
import os
import time
import utils.GPIO as GPIO
import subprocess
import signal
import actuators.motors as motors
import config.params as params
if __name__ == '__main__':
pin = "gpio65"
#os.system("sh /root/rsm-2017-ga/start.sh")
#os.system("sh /root/rsm-2017-ga/start_routine.sh")
os_command = "python /root/rsm-2017-ga/main.py"
GPIO.setup(pin, GPIO.IN)
m = motors.Motor(params.motors_pins)
m.stop()
pro = subprocess.Popen(os_command,
stdout=open(os.devnull, 'wb'),
shell=True,
preexec_fn=os.setsid)
print(os.getpgid(pro.pid))
print(pro.pid)
while True:
if GPIO.input(pin) == True:
started_pressing = time.time()
while GPIO.input(pin) == True:
pass
pressed_time = time.time() - started_pressing
print("OMFG, you pressed da button!")
def __init__(self, pins=params.touch_pins):
self.pins = pins
GPIO.setup(self.pins['E'], 'in')
GPIO.setup(self.pins['O'], 'in')
def read(self, dir):
return GPIO.input(self.pins[dir])
def __init__(self, pin= params.LED_PIN):
self.pin = pin
GPIO.setup(self.pin, GPIO.OUT)
GPIO.output(self.pin, GPIO.LOW)
def off(self):
'''
Turn off the Led
'''
GPIO.output(self.pin, GPIO.LOW)
def on(self):
'''
Turn on the Led
'''
GPIO.output(self.pin, GPIO.HIGH)