def smoothentry():
if __name__ == "__main__":
#print('test')
#use 'GPIO naming'
wiringpi.wiringPiSetupGpio()
#print('test')
#set #18 to be pwm output
wiringpi.pinMode(18, wiringpi.GPIO.PWM_OUTPUT)
#print('test')
#set the pwm mode to milliseconds style
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
#print('test1')
#divide down clock
wiringpi.pwmSetClock(192)
wiringpi.pwmSetRange(2000)
delay_period = 0.1
#print('test')
personPresent = person_present()
if personPresent == True:
servo('down')
success = check_in()
temp = get_temperature()
if success == True and temp == True:
display_success_lcd()
else:
display_failure_lcd()
def __init__(self, servoOffset):
io.setmode(io.BCM)
io.setup(self.in1_pin, io.OUT)
io.setup(self.in2_pin, io.OUT)
io.setup(self.enable1_pin, io.OUT)
io.setup(self.in3_pin, io.OUT)
io.setup(self.in4_pin, io.OUT)
io.setup(self.enable2_pin, io.OUT)
self.servoOffset = servoOffset
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(self.servo_pin, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetClock(192)
wiringpi.pwmSetRange(2000)
wiringpi.pwmWrite(self.servo_pin, 140 - self.servoOffset)
io.output(self.enable1_pin, True) #left
io.output(self.enable2_pin, True) # right
self.speed1 = io.PWM(self.enable1_pin, 50)
self.speed2 = io.PWM(self.enable2_pin, 50)
self.speed1.start(int(0)) #left
self.speed2.start(int(0)) #right
print("ininted motors")
def __init__(self, servo_motor_pin1):
self.motor_pin1 = servo_motor_pin1
pi.pinMode(self.motor_pin1, pi.GPIO.PWM_OUTPUT)
pi.pwmSetMode(pi.GPIO.PWM_MODE_MS)
pi.pwmSetRange(ServoMotor.RANGE)
pi.pwmSetClock(ServoMotor.clock)
def init_servo(servo1, servo2):
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(servo1, 2)
wiringpi.pinMode(servo2, 2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetRange(1024)
wiringpi.pwmSetClock(375)
def main():
#all needs to run automatically
port0 = '/dev/ttyUSB0'
port1 = '/dev/ttyUSB1'
port2 = '/dev/ttyUSB2'
##
th_cl1 = TestThread(port1, './original_data/data1208.csv')
th_cl1 = TestThread(port1, './original_data/data1208.csv')
#th_cl1.start()
#th_cl2.start()
f = open('./original_data/data1209.csv', 'w')
##
servo_pin = 18
param = sys.argv
set_degree = int(param[1])
print(set_degree)
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(servo_pin, 2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetRange(1024)
wiringpi.pwmSetClock(375)
while True:
try:
ser = serial.Serial(port0, 38400, timeout=10) # 10s-timeout baudrate=38400
ser.write(b'<RM,>??\r\n') # send command (CR+LF)
line = ser.readline()
line = str(datetime.datetime.now()) + str(",") + line.decode('utf-8')
line = line.split(',')
velocity = float(line[2])
temp = float(line[5])
print('CPU_temperature' + '/' + line[0] + ',' + line[2] + ','
+ line[3] + ',' + line[4] + ',' + line[5])
f.write(line[0] + ',' + line[2] + ','
+ line[3] + ',' + line[4] + ',' + line[5] + "\n")
if temp >= 35.0:
# print('too hot')
wiringpi.pwmWrite(servo_pin, set_degree + 5)
# LED(11, True)
else:
# print('oh.. cool')
# move_deg = int (81+41/90*set_degree)
wiringpi.pwmWrite(servo_pin, set_degree)
# LED(11, False)
time.sleep(5)
except IndexError:
pass
def __init__(self, device_name, device_config):
super(Fan, self).__init__(device_type='exhaust',
device_name=device_name,
device_config=device_config)
self.fwd_pin = int(device_config['fwd_pin'])
self.bwd_pin = int(device_config['bwd_pin'])
self.pwm_pin = int(device_config['pwm_pin'])
# Prepare pins for output/pwm
wiringpi.pinMode(self.fwd_pin, 1)
wiringpi.pinMode(self.bwd_pin, 1)
wiringpi.pinMode(self.pwm_pin, 2)
wiringpi.pwmSetMode(wiringpi.PWM_MODE_MS)
# Prepare PWM specs
self.range = 240 # 20Khz
self.clock = 4 # Must be at least 2
wiringpi.pwmSetClock(self.clock)
wiringpi.pwmSetRange(self.range)
#freq = 19200000 / self.clock / self.range
#print("Frequency:", freq)
# Initialize to off
self.data['speed'] = 0
self.off()
def __init__(self,
bus=None,
step='Full',
flat_declination=138,
delay_period=0.005):
self.stepper_pos = 0
self.step = step
GPIO.output(self.MODE, self.RESOLUTION[step])
self.step_count = self.SPR * self.Res_adj[step]
self.delay = .0208 / (self.Res_adj[step] * 12)
#self.bus = smbus.SMBus(1) # or bus = smbus.SMBus(0) for older version boards
self.bus = bus
self.Device_Address = 0x1e # HMC5883L magnetometer device address
self.Magnetometer_Init(bus) # initialize HMC5883L magnetometer
self.delay_period = delay_period
self.flat_declination = flat_declination
# use 'GPIO naming'
wiringpi.wiringPiSetupGpio()
# set #18 to be a PWM output
wiringpi.pinMode(18, wiringpi.GPIO.PWM_OUTPUT)
# set the PWM mode to milliseconds stype
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
# divide down clock
wiringpi.pwmSetClock(192)
wiringpi.pwmSetRange(2000)
####
wiringpi.pwmWrite(18, self.flat_declination)
heading_angle = self.get_heading()
def Gpio_Intent(status, room):
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(18, 2) # pwm mode = 2
wiringpi.pwmSetMode(0)
# pwmFrequency in Hz = 19.2e6 Hz / pwmClock / pwmRange.
wiringpi.pwmSetRange(4096)
wiringpi.pwmSetClock(4095)
if status in STATUSON:
wiringpi.pwmWrite(18, 4096)
return statement('turning {} blue L E D'.format(status))
elif status in STATUSOFF:
wiringpi.pwmWrite(18, 0)
return statement('turning {} blue L E D'.format(status))
elif status in STATUSTOGGLE:
wiringpi.pwmWrite(18, 2048)
return statement('{}ing blue L E D'.format(status))
elif status in STATUSCMD:
serial = wiringpi.serialOpen('/dev/ttyAMA0', 9600)
if status == 'a':
wiringpi.serialPuts(serial, 'a')
elif status == 'be':
wiringpi.serialPuts(serial, 'b')
elif status == 'see':
wiringpi.serialPuts(serial, 'c')
wiringpi.serialClose(serial)
return statement(
'Trying to send command ASCII character {}'.format(status))
else:
return statement('Sorry not possible.')
def __init__(self):
# setting up the GPIO settings for the pwm
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(18, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
# pwm frequency in Hz: 19,200,000 / pwmSetClock / pwmSetRange
# 19,200,000 / 10 / 1000 = 1920
wiringpi.pwmSetClock(10)
wiringpi.pwmSetRange(1000)
# sets gpio to BCM pinout
gpio.setmode(gpio.BCM)
# gpio.setup(0, gpio.IN, pull_up_down=gpio.PUD_UP)
gpio.setup(4, gpio.IN, pull_up_down=gpio.PUD_UP)
gpio.setup(27, gpio.IN, pull_up_down=gpio.PUD_UP)
# this variable is for making sure only one press is logged
# when a switch is pressed
switchState = 0
motorState = 1 #Motor on initially
# initialization for filling
gpio.setup(26, gpio.OUT)
def __init__(self,
en_pin: int,
slew_pin: int,
pwm_pin: int,
forward_pin: int,
reverse_pin: int,
sf_pin: int,
name: str = 'Motor'):
self.pwm_pin = pwm_pin
self.forward_pin = forward_pin
self.reverse_pin = reverse_pin
self.en_pin = en_pin
self.slew_pin = slew_pin
self.sf_pin = sf_pin
self.max_speed = 480
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(12, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pinMode(13, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetRange(self.max_speed)
wiringpi.pwmSetClock(2)
wiringpi.pinMode(self.forward_pin, wiringpi.GPIO.OUTPUT)
wiringpi.pinMode(self.reverse_pin, wiringpi.GPIO.OUTPUT)
wiringpi.pinMode(self.en_pin, wiringpi.GPIO.OUTPUT)
wiringpi.pinMode(self.slew_pin, wiringpi.GPIO.OUTPUT)
wiringpi.pinMode(self.sf_pin, wiringpi.GPIO.INPUT)
def setupPWM(motor11, motor12, motor21, motor22, motor31, motor32, motor41, motor42):
# setup wiringpi and pwm outputs
wiringpi.wiringPiSetup()
wiringpi.pinMode(motor11, 1)
wiringpi.pinMode(motor12, 1)
wiringpi.pinMode(motor21, 1)
wiringpi.pinMode(motor22, 1)
wiringpi.pinMode(motor31, 1)
wiringpi.pinMode(motor32, 1)
wiringpi.pinMode(motor41, 1)
wiringpi.pinMode(motor42, 1)
wiringpi.pwmSetMode(wiringpi.PWM_MODE_MS)
wiringpi.pwmSetClock(2)
wiringpi.pwmSetRange(1000)
wiringpi.softPwmCreate(motor11, 0, 100)
wiringpi.softPwmCreate(motor12, 0, 100)
wiringpi.softPwmCreate(motor21, 0, 100)
wiringpi.softPwmCreate(motor22, 0, 100)
wiringpi.softPwmCreate(motor31, 0, 100)
wiringpi.softPwmCreate(motor32, 0, 100)
wiringpi.softPwmCreate(motor41, 0, 100)
wiringpi.softPwmCreate(motor42, 0, 100)
wiringpi.softPwmWrite(motor11, 100)
wiringpi.softPwmWrite(motor12, 100)
wiringpi.softPwmWrite(motor21, 100)
wiringpi.softPwmWrite(motor22, 100)
wiringpi.softPwmWrite(motor31, 100)
wiringpi.softPwmWrite(motor32, 100)
wiringpi.softPwmWrite(motor41, 100)
wiringpi.softPwmWrite(motor42, 100)
def act(self, client_address, state, name):
print("State", state, "from client @", client_address)
# GPIO.setmode(GPIO.BOARD) ## Use board pin numbering
# GPIO.setup(int(7), GPIO.OUT) ## Setup GPIO Pin to OUTPUT
# GPIO.output(int(7), state) ## State is true/false
"""if name=="kitchen":
GPIO.setmode(GPIO.BOARD) ## Use board pin numbering
GPIO.setup(int(7), GPIO.OUT) ## Setup GPIO Pin to OUTPUT
GPIO.output(int(7), state) ## State is true/false
elif name =="living room":
GPIO.setmode(GPIO.BOARD) ## Use board pin numbering
GPIO.setup(int(11), GPIO.OUT) ## Setup GPIO Pin to OUTPUT
GPIO.output(int(11), state) ## State is true/false
"""
if name=="light":
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(18, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetClock(192)
wiringpi.pwmSetRange(2000)
delay_period = 0.15
if state:
wiringpi.pwmWrite(18, 111)
time.sleep(delay_period)
wiringpi.pwmWrite(18, 90)
else:
wiringpi.pwmWrite(18, 45)
time.sleep(delay_period)
wiringpi.pwmWrite(18, 90)
else:
print("Device not found!")
return True
def __init__(self, logger):
self.log = logger
self.log.info("Initializeing PWM Controller")
self.duty_cycle = 0
self.pwm_range = 128
self.pwm_clock = 6
self.tach_last_time = 0.0
self.power_state = 0
self.enable_power_control = True
self.min_pwm_val = -1
self.tach_speed_calc = 0
#Check we are a Raspberry PI
try:
GPIO.setmode(GPIO.BCM)
GPIO.setup(PWMFanController.TACH_PIN, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.add_event_detect(PWMFanController.TACH_PIN, GPIO.FALLING, callback=self.tachCallback, bouncetime=1)
wiringpi.pwmSetMode(wiringpi.PWM_MODE_MS)
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(PWMFanController.POWER_PIN, wiringpi.OUTPUT)
self.setPowerState(False)
wiringpi.pinMode(PWMFanController.PWM_PIN,2)
wiringpi.pwmSetRange(self.pwm_range)
wiringpi.pwmSetClock(self.pwm_clock) # Equals 19200000 / PWM_CLOCK / PWM_RANGE
self.enabled = True
except Exception, e:
self.log.error(e)
self.log.error("Could not initialize PWM controller")
self.enabled = False
def io_init_motor_drive():
"""
Checks and initializes all GPIO pins for motor drivers.
Note:
This must be initialized before constructing a MotorDriver object.
"""
global IO_INITIALIZED
if IO_INITIALIZED:
return
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(12, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pinMode(13, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetRange(MAX_SPEED)
wiringpi.pwmSetClock(2)
wiringpi.pinMode(22, wiringpi.GPIO.OUTPUT)
wiringpi.pinMode(23, wiringpi.GPIO.OUTPUT)
wiringpi.pinMode(24, wiringpi.GPIO.OUTPUT)
wiringpi.pinMode(25, wiringpi.GPIO.OUTPUT)
IO_INITIALIZED = True
def gpioSetup():
# Access global variables
global dcRange
global clockDivisor
global pwm
global pwm2
try:
# Setup board pin layout
wiringpi.wiringPiSetup()
wiringpi.pinMode(1, wiringpi.PWM_OUTPUT)
GPIO.setmode(GPIO.BCM)
GPIO.setup(13, GPIO.OUT)
GPIO.setup(19, GPIO.OUT)
pwm = GPIO.PWM(13, 1000)
# Set output to mark:space mode (to avoid frequency change)
wiringpi.pwmSetMode(wiringpi.PWM_MODE_MS)
# Set output to approximately 100 kHz
wiringpi.pwmSetClock(2)
wiringpi.pwmSetRange(dcRange)
# Initialize duty cycles
wiringpi.pwmWrite(1, 0)
pwm.start(50)
# pwmWrite requires numbers in range [0, dcRange]
finally:
print("Completed setup")
def __init__(self,
PIN_IN1_L=5,
PIN_IN2_L=6,
PIN_IN1_R=7,
PIN_IN2_R=8,
PIN_VREF_L=12,
PIN_VREF_R=13):
self.PIN_IN1_L = PIN_IN1_L
self.PIN_IN1_R = PIN_IN1_R
self.PIN_IN2_L = PIN_IN2_L
self.PIN_IN2_R = PIN_IN2_R
self.PIN_VREF_L = PIN_VREF_L
self.PIN_VREF_R = PIN_VREF_R
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.PIN_IN1_L, GPIO.OUT)
GPIO.setup(self.PIN_IN2_L, GPIO.OUT)
GPIO.setup(self.PIN_IN1_R, GPIO.OUT)
GPIO.setup(self.PIN_IN2_R, GPIO.OUT)
wp.wiringPiSetupGpio()
wp.pinMode(self.PIN_VREF_L, wp.GPIO.PWM_OUTPUT)
wp.pinMode(self.PIN_VREF_R, wp.GPIO.PWM_OUTPUT)
wp.pwmSetMode(wp.PWM_MODE_MS)
wp.pwmSetRange(Drive.MaxdutyRange)
wp.pwmSetClock(400)
def motor2():
import wiringpi
import time
import sys
# GPIO number
servo_pin = 18
# kakudo set
# set_degree = 90 def
param = sys.argv
set_degree = 0
wiringpi.wiringPiSetupGpio()
# PWM output
wiringpi.pinMode( servo_pin, 2 )
# motor PWM set
wiringpi.pwmSetMode(0)
wiringpi.pwmSetRange(1024)
wiringpi.pwmSetClock(375)
# -90 ~ 90 only move
# PWM use number
move_deg = int( 81 + 41 / 90 * set_degree )
# send PWM motor move
wiringpi.pwmWrite( servo_pin, move_deg )
return 0
def __init__(self):
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(self.PIN_PWM, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetClock(375)
wiringpi.pwmWrite(self.PIN_PWM, self.FRONT)
def stop(self):
if self.hw:
wpi.pwmSetMode(wpi.PWM_MODE_BAL)
wpi.pwmSetClock(0)
wpi.pwmSetRange(1024)
wpi.pinMode(self.PIN_SERVO, wpi.INPUT)
else:
self.pwm.stop()
def setup(self, pin, mode):
wpi.pinMode(self.MAP[mode])
if mode == modes.PWM:
wpi.pwmSetMode(wpi.PWM_MODE_MS)
wpi.pwmSetClock(int(19200000 * self._wrapper.PWM_FREQ) // 2)
wpi.pwmSetRange(int(19200000 * self._wrapper.PWM_FREQ))
return True
def __init__(self):
wiringpi.wiringPiSetup()
wiringpi.pinMode(1, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
# divide down clock
wiringpi.pwmSetClock(192)
wiringpi.pwmSetRange(2000)
def __init__(self, pin): self.PWM_PIN = pin wiringpi.wiringPiSetupGpio() #winringPiの初期設定 wiringpi.pinMode(self.PWM_PIN, wiringpi.GPIO.PWM_OUTPUT) #「Balanced」→「mark:space」Modeに変更 wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS) # 周波数を50Hzにすると、18750/周波数=375 wiringpi.pwmSetClock(375)
def initialize_servo():
# use 'GPIO naming'
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(servo_pin, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
# divide down clock
wiringpi.pwmSetClock(192)
wiringpi.pwmSetRange(2000)
def initialize(self):
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(18, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetClock(192)
wiringpi.pwmSetRange(2000)
def __init__(self):
wp.wiringPiSetupGpio()
wp.softPwmCreate(MOTOR_PWM, 0, 100)
wp.pinMode(MOTOR_OUTA, GPIOMODE_OUT)
wp.pinMode(MOTOR_OUTB, GPIOMODE_OUT)
wp.pinMode(STEERING_PORT, GPIOMODE_PWM)
wp.pwmSetMode(0)
wp.pwmSetRange(1024)
wp.pwmSetClock(375)
def __init__(self):
self.pwm0_pin = Pins.get_pin("pwm0")
wiringpi.pwmSetMode(0) # PWM_MODE_MS = 0
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(self.pwm0_pin,
2) # pwm only works on GPIO port 18 out of the box
wiringpi.pwmSetClock(5) # this parameters correspond to 25kHz
wiringpi.pwmSetRange(1000)
def initOS(): os.environ['SDL_FBDEV'] = '/dev/fb1' os.environ['SDL_MOUSEDEV'] = '/dev/input/touchscreen' os.environ['SDL_MOUSEDRV'] = 'TSLIB' os.environ['SDL_VIDEODRIVER'] = 'fbcon' wiringpi.wiringPiSetupGpio() wiringpi.pinMode(18, 2) wiringpi.pwmSetMode(wiringpi.PWM_MODE_MS) # default balanced mode makes screen dark at about 853/1024 wiringpi.pwmWrite(18, 1024)
def __init__(self):
wiringpi.wiringPiSetup() # initialize wiringpi with default pin numbering
wiringpi.pinMode(TV_Controller.PW_EN_PIN, wiringpi.OUTPUT)
wiringpi.pinMode(TV_Controller.DIM_PIN, wiringpi.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.PWM_MODE_MS) # Mark:space mode, unclear what this is
wiringpi.pwmSetRange(TV_Controller.PWM_RANGE)
wiringpi.pwmSetClock(TV_Controller.PWM_CLOCK)
self.set_brightness(1)
self.enable_system()
def __init__(self):
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(PIN, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
# Duty Cycle=100%の時に1024
wiringpi.pwmSetRange(1024)
# PWM周波数
# PWMコントローラの動作クロック周波数19.2MHz / PWM信号の周波数50Hz
# x レンジ1024= 393
wiringpi.pwmSetClock(393)
def init():
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(PWM_PIN, wiringpi.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.PWM_MODE_MS)
wiringpi.pwmSetClock(3840)
wiringpi.pwmSetRange(250)
wiringpi.pinMode(SPEED_SENSE_PIN, wiringpi.INPUT)
wiringpi.pullUpDnControl(SPEED_SENSE_PIN, PUD_DOWN)
def __init__(self, pin):
""" 初期化メソッド """
self.pin = pin # GPIOピン
self._degree = 0 # 角度の初期値
# wiringpiの初期化
# wiringpi.wiringPiSetupGpio() は __init__.py で実行済み
wiringpi.pinMode(self.pin, wiringpi.PWM_OUTPUT)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetRange(1024)
wiringpi.pwmSetClock(self.PWM_CLOCK)
def __init__(self, filter_pos, pin=18, pwmc=192, pwmr=2000):
self.pin = pin
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(self.pin, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetClock(pwmc)
wiringpi.pwmSetRange(pwmr)
self.N = len(filter_pos)
self.filter_pos = filter_pos
self.pos = 0
wiringpi.pwmWrite(self.pin, self.pos)
def __init__(self): # GPIO番号でピンを指定 wiringpi.wiringPiSetupGpio() self.servos = [] for index in RPiDirectServoController.PIN_MAP.iterkeys(): pin = RPiDirectServoController.PIN_MAP[index] # サーボを作る self.servos.append(SG90Direct(pin, self.getPartName(index), RPiDirectServoController.PWM_COUNTUP_FREQUENCY, RPiDirectServoController.PWM_CYCLE_RANGE)) wiringpi.pwmSetMode(wiringpi.PWM_MODE_MS) wiringpi.pwmSetClock(RPiDirectServoController.PWM_COUNTUP_FREQUENCY) wiringpi.pwmSetRange(RPiDirectServoController.PWM_CYCLE_RANGE)
def __init__(self, outputPinA, outputPinB, pwmPin): self.outA = outputPinA self.outB = outputPinB wp.pinMode(self.outA, OUTPUT_MODE) wp.pinMode(self.outB, OUTPUT_MODE) self.forward() wp.pwmSetMode(0) wp.pwmSetClock(400) wp.pwmSetRange(PWM_MAX) self.pwm = pwmPin wp.pinMode(self.pwm, PWM_MODE) self.speed = PWM_MIN self.setSpeed(self.speed)
def io_init():
global io_initialized
if io_initialized:
return
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(12, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pinMode(13, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetRange(MAX_SPEED)
wiringpi.pwmSetClock(2)
wiringpi.pinMode(5, wiringpi.GPIO.OUTPUT)
wiringpi.pinMode(6, wiringpi.GPIO.OUTPUT)
io_initialized = True
def initialize_state(self):
self._not_initialized = False
self._MAX_SPEED = self.config.get('max_motor_speed', 10)
self._MIN_SPEED = self._MAX_SPEED * -1
self.MIN_SERVO = self.config.get('min_servo', 100)
self.MAX_SERVO = self.config.get('max_servo', 100)
self.ZERO_SERVO = self.config.get('zero-servo', 150)
self._INITIAL_SERVO = 100
gears = 5
for index in range(1, gears + 1):
self.gear_lookup[index] = int((self._MAX_SPEED / gears) * index)
logger.info('Setting gears: ' + str(self.gear_lookup))
if self.use_motors or self.use_servo:
res = wiringpi.wiringPiSetupGpio()
if res != 0:
logger.error('Could not set up software PWM')
if self.use_motors:
logger.info('Setting up Motor Software-Based PWM')
# a cluster of horrible looking code, should be refactored but is it single use???
wiringpi.pinMode(self.m1conf.get('en_pin'), wiringpi.GPIO.OUTPUT)
wiringpi.pinMode(self.m1conf.get('dir_pin'), wiringpi.GPIO.OUTPUT)
wiringpi.pinMode(self.m2conf.get('en_pin'), wiringpi.GPIO.OUTPUT)
wiringpi.pinMode(self.m2conf.get('dir_pin'), wiringpi.GPIO.OUTPUT)
logger.info('Pull both motors out of low-power mode')
wiringpi.digitalWrite(self.m1conf.get('en_pin'), 1)
wiringpi.digitalWrite(self.m2conf.get('en_pin'), 1)
logger.info('Set up motor software pwm')
wiringpi.softPwmCreate(self.m1conf.get('pwm_pin'), 0, self._MAX_SPEED)
wiringpi.softPwmCreate(self.m2conf.get('pwm_pin'), 0, self._MAX_SPEED)
wiringpi.softPwmWrite(self.m1conf.get('pwm_pin'), 0)
wiringpi.softPwmWrite(self.m2conf.get('pwm_pin'), 0)
logger.info('Setting motor speeds to zero.')
if self.use_servo:
logger.info('Setting up Servo Hardware-Based PWM')
wiringpi.pinMode(self.servo_gpio_pin, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetClock(192)
wiringpi.pwmSetRange(2000)
logger.info('Servo config done')
wiringpi.pwmWrite(self.servo_gpio_pin, self.ZERO_SERVO)
logger.info('Setting servo speed to zero.')
def __init__(self, sensor_pin=27, detector_delay=1, settletime=0.01):
""" Initialize the tripwire. See module documentation for the details
of the parameter settings used here.
"""
self.sensor_pin = sensor_pin
self.detector_delay = detector_delay
self.logger = logging.getLogger('main.tripwire')
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.sensor_pin, GPIO.IN)
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(PWM_PIN, 2)
# Choose mark-space mode for better frequency control
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetRange(2)
wiringpi.pwmSetClock(253)
wiringpi.pwmWrite(PWM_PIN, 1) # set duty cycle to 1 over range=2, or 50%
time.sleep(settletime) # I'm not sure how long is necessary,
# the demodulator datasheet
# suggests at least 0.0004 s
self.logger.info('IRon curtain initialized.')
playerState.pause()
# elif lastEvent == eventPrefix + "<b>CE_Automate<li>resumed</b>" or
elif lastEvent == eventPrefix + "<b>playeractions<li>playback_resumed</b>":
playerState.resume()
else:
rootLogger.warn("Event not recognized: " + lastEvent)
PWM_FREQ = config.getfloat('lights', 'pwm_freq')
TL_PWM = 1 # gpio pin 12 = wiringpi no. 1 (BCM 18)
# Initialize PWM output for theater lights
wiringpi.wiringPiSetup()
if config.get('lights', 'pwm_mode') == 'HW':
wiringpi.pwmSetMode(0) # PWM_MODE_MS
wiringpi.pwmSetClock(math.trunc(18750 / PWM_FREQ))
wiringpi.pinMode(TL_PWM, 2) # PWM mode
wiringpi.pwmWrite(TL_PWM, 0) # OFF
elif config.get('lights', 'pwm_mode') == 'SW':
wiringpi.pinMode(TL_PWM, 1) # Software PWM mode
wiringpi.softPwmCreate(TL_PWM, 0, 100) # Setup PWM using Pin, Initial Value and Range parameters
else:
rootLogger.error("Invalid pwm_mode: {0}. Exiting...".format(config.get('lights', 'pwm_mode')))
def updateLights():
global tlConfig
STEP_INTERVAL = 1 / PWM_FREQ # how often
STEP_BRIGHTNESS = 1 / (tlConfig.lightsFadeTime * PWM_FREQ) # how much
currentBrightness = 1.00
PWM_MODE_MS = 0
PWM_PIN=18
ROTATE_NEUTRAL = 90
PWM_RANGE = 1024
PWM_CLOCK = 375
TICK_S = 0.5
MESSAGE_DELIM = ';'
last_ts = 0
# can call wiringPiSetupSys() if we've previously exported GPIO pins
wiringpi.wiringPiSetupGpio()
# use PWM on port 18
wiringpi.pinMode(PWM_PIN, 2)
wiringpi.pwmSetMode(PWM_MODE_MS)
wiringpi.pwmSetClock(PWM_CLOCK)
wiringpi.pwmSetRange(PWM_RANGE)
rotation = ROTATE_NEUTRAL
def angle_to_duty_cycle(angle=0):
# 2.5ms of 20ms pulse is full 180deg swing
ubound = 0.1
offset = 0.5/20 * PWM_RANGE
# set duty cycle as 0-180deg expressed as 0-1024
return int(offset + float(angle) / 180 * ubound * PWM_RANGE)
def on_connect(aioClient):
global last_ts
rotate_arm(ROTATE_NEUTRAL)
import wiringpi as wPi
from time import sleep
pin = 18
wPi.wiringPiSetupGpio()
wPi.pinMode(pin, 2)
wPi.pwmSetMode(wPi.PWM_MODE_MS)
wPi.pwmSetClock(1920)
wPi.pwmSetRange(200)
def killing():
print("killing")
wPi.pwmWrite(pin, 0)
wPi.pinMode(pin, 0)
try:
for i in range(10):
print(i)
wPi.pwmWrite(pin, 15)
sleep(0.5)
wPi.pwmWrite(pin, 20)
sleep(0.5)
wPi.pwmWrite(pin, 10)
sleep(0.5)
killing()
except KeyboardInterrupt:
killing()
def setPwm(self): wiringpi.pwmSetMode(wiringpi.PWM_MODE_MS) wiringpi.pwmSetClock(self.CLOCK) wiringpi.pwmSetRange(self.RANGE)
import wiringpi
import time
import math
#use BCM pin numbers
wiringpi.wiringPiSetupGpio()
# setup WiringPi PWM
SERVO_PIN = 18
PWM_DIVISOR = 384 # clock at 50kHz (20us tick)
PWM_RANGE = 1000 # range at 1000 ticks (20ms)
# setup pin as an output
wiringpi.pinMode(SERVO_PIN, 2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(PWM_DIVISOR)
wiringpi.pwmSetRange(PWM_RANGE)
wiringpi.pwmWrite(SERVO_PIN, 0) #theretically 50 (1ms) to 100 (2ms) on my servo 40-200 works ok
def set_servo_position(pos):
"""
Turn servo on specified angle in degrees
Params:
pos: angle to turn servo, in degrees
"""
move = int(40 + math.floor(pos * (200 - 40) / 180))
print("pos: {}".format(pos))
print("move: {}".format(move))
wp.pwmWrite(PWM_R, 0)
#enable pins motor1 -- Lmotor
wp.pinMode(INPUT_1_LEFT_MOTOR, OUTPUT_MODE)
wp.pinMode(INPUT_2_LEFT_MOTOR, OUTPUT_MODE)
#enable pins motor2 -- Rmotor
wp.pinMode(INPUT_1_RIGHT_MOTOR, OUTPUT_MODE)
wp.pinMode(INPUT_2_RIGHT_MOTOR, OUTPUT_MODE)
wp.pinMode(GIFT_PIN, INPUT_MODE)
wp.pinMode(TREE_PIN, INPUT_MODE)
wp.pinMode(12, PWM_MODE)
wp.pinMode(13, PWM_MODE)
wp.pwmSetMode(0)
wp.pwmSetClock(400)
wp.pwmSetRange(1024)
wp.pwmWrite(12,0)
wp.pwmWrite(13,0)
class easy_encoders():
#encoder pin numbers on pi (broadcom numbering scheme)
RW_A = 20 #pin = 38
RW_B = 26 #pin = 37
LW_A = 19 #pin = 35
LW_B = 16 #pin =36
#encoder counts
rw_count = 0
# Servo Control
import time
import wiringpi
# use 'GPIO naming'
wiringpi.wiringPiSetupGpio()
# set #18 to be a PWM output
wiringpi.pinMode(16, wiringpi.GPIO.PWM_OUTPUT)
# set the PWM mode to milliseconds stype
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
# divide down clock
wiringpi.pwmSetClock(192)
wiringpi.pwmSetRange(2000)
delay_period = 0.01
while True:
for pulse in range(50, 250, 1):
wiringpi.pwmWrite(16, pulse)
time.sleep(delay_period)
for pulse in range(250, 50, -1):
wiringpi.pwmWrite(16, pulse)
time.sleep(delay_period)
import wiringpi as pi, time, math
from lis3dh import lis3dh
sleep_time = 0.01
servo_pin = 18
pi.wiringPiSetupGpio()
pi.pinMode( servo_pin, 2 )
pi.pwmSetMode(0)
pi.pwmSetRange(1024)
pi.pwmSetClock(375)
SPI_CS = 0
lis3dh = lis3dh( pi, SPI_CS )
angle_deg = 0.0
while True:
x= lis3dh.read( pi, "x" )
y= lis3dh.read( pi, "y" )
z= lis3dh.read( pi, "z" )
angle_reg = math.atan2( y, z )
angle_deg_new = math.degrees( angle_reg )
angle_deg = angle_deg * 0.9 + angle_deg_new * 0.1
print ("x:", x, " y:", y, " z:", z, " angle:", angle_deg)