def setup_servo():
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(18,2) # hardware pwm only works on GPIO port 18
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(375)
wiringpi.pwmSetRange(1024)
wiringpi.pwmWrite(18,0)
def speed(left, right): left_a = GPIO.LOW left_b = GPIO.LOW left_pwm = abs(left) right_a = GPIO.LOW right_b = GPIO.LOW right_pwm =abs(right) if left < 0: left_a = GPIO.HIGH elif left > 0: left_b = GPIO.HIGH if right < 0: right_a = GPIO.HIGH elif right > 0: right_b = GPIO.HIGH if(left_pwm > 1): left_pwm = MAX_SPEED else: left_pwm = int(left_pwm*MAX_SPEED) if right_pwm > 1: right_pwm = MAX_SPEED else: right_pwm = int(right_pwm*MAX_SPEED) GPIO.output(LEFT_MOTOR_A, left_a) GPIO.output(LEFT_MOTOR_B, left_b) GPIO.output(RIGHT_MOTOR_A, right_a) GPIO.output(RIGHT_MOTOR_B, right_b) wiringpi.pwmWrite(LEFT_MOTOR_PWM, left_pwm) wiringpi.pwmWrite(RIGHT_MOTOR_PWM, right_pwm)
def _playLoop(self, freq, music):
divisor = (19.2*(10**3))/freq
Music = import_module(music)
wiringpi2.pwmSetClock(int(divisor))
for note, beat in Music.melody:
if note == ' ':
wiringpi2.pwmWrite(self.SPEAKER, 0)
else:
period, dutyCycle = self._calcParams(note)
wiringpi2.pwmSetRange(period)
wiringpi2.pwmWrite(self.SPEAKER, dutyCycle)
wiringpi2.delay(Music.tempo*beat)
if note[len(note)-1:] == ':':
wiringpi2.pwmWrite(self.SPEAKER, 0)
wiringpi2.delay(Music.tempo)
elif note[len(note)-1:] == ';':
wiringpi2.pwmWrite(self.SPEAKER, 0)
wiringpi2.delay(int(Music.tempo/2))
# Make sure that music stop
wiringpi2.pwmWrite(self.SPEAKER, 0)
def setFanSpeed(self):
START = 650 # this value is minimal pwm value that can start the fan, depends on the fan and transistors used
LO_TEMP = 45.0 # minimal temperature that turns on the fan
HI_TEMP = 55.0 # when core temperature is higher than this the fan operates at full speed
tempDiff = HI_TEMP - LO_TEMP
temp = self.readtemp()
if self.PWMmode:
if temp < LO_TEMP:
pwm = 0
elif temp > HI_TEMP:
pwm = 1023
else:
pwm = (1023-START)/tempDiff * temp - ((1023-START)/tempDiff)*LO_TEMP + START
pwm = int(pwm)
wiringpi2.pwmWrite(1, pwm)
return pwm
elif not self.PWMmode:
if self.fanRunning:
if temp <= LO_TEMP:
wiringpi2.digitalWrite(1, 0)
self.fanRunning = False
return(0)
else: return(1023)
elif not self.fanRunning:
if temp > HI_TEMP:
wiringpi2.digitalWrite(1, 1)
self.fanRunning = True
return(1023)
else: return(0)
def __init__(self):
Pi_rev = wiringpi2.piBoardRev() #@TODO: use this?
self.GPIOS = {
'internal_buzzer': 11,
'latch': 7,
'unlock_LED': 15,
'deny_LED': 13,
'buzzer': 12,
'doorStatus1': 19,
'doorStatus2': 21,
}
#set up I/O pins
wiringpi2.wiringPiSetupPhys()
wiringpi2.pinMode(self.GPIOS['unlock_LED'], 1)
wiringpi2.pinMode(self.GPIOS['deny_LED'], 1)
wiringpi2.pinMode(self.GPIOS['latch'], 1)
wiringpi2.pinMode(self.GPIOS['internal_buzzer'], 1)
wiringpi2.pinMode(self.GPIOS['doorStatus1'], 0)
wiringpi2.pinMode(self.GPIOS['doorStatus2'], 0)
GPIO.setup(9, GPIO.IN)
GPIO.setup(10, GPIO.IN)
#GPIO.add_event_detect(9, GPIO.FALLING, callback=self.arm_security, bouncetime=300)
#Set up Hardware PWM - Only works on GPIO 18 (Phys 12)
wiringpi2.pwmSetMode(0) # set PWM to markspace mode
wiringpi2.pinMode(self.GPIOS['buzzer'], 2) # set pin to PWM mode
wiringpi2.pwmSetClock(750) # set HW PWM clock division (frequency)
wiringpi2.pwmWrite(self.GPIOS['buzzer'], 0)
proc = subprocess.Popen(['nfc-list'], stderr=subprocess.PIPE)
result = proc.stderr.read()
self.PN532 = False if 'Timeout' in result else True
if not self.PN532:
self.nfc = NFC.MFRC522()
def callback(data): rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data) if data.data == 'a' : print "Left" wiringpi.digitalWrite(pin_dir[0], 1) wiringpi.digitalWrite(pin_dir[1], 0) elif data.data == 'w': print "Forward" wiringpi.digitalWrite(pin_dir[0], 1) wiringpi.digitalWrite(pin_dir[1], 1) elif data.data == 'd': print "Right" wiringpi.digitalWrite(pin_dir[0], 0) wiringpi.digitalWrite(pin_dir[1], 1) elif data.data == 's': print "Stop" wiringpi.digitalWrite(pin_dir[0], 0) wiringpi.digitalWrite(pin_dir[1], 0) global dt dt = dt + 100 if dt > dtMax: dt = dtMin print(dt) wiringpi.pwmWrite(pin, dt)
def rotate(self, speed):
if speed > 0:
wiringpi.pwmWrite(1self.in3, speed)
GPIO.output(self.in1,GPIO.HIGH)
GPIO.output(self.in2,GPIO.LOW)
elif speed = 0:
wiringpi.pwmWrite(1self.in3, speed)
GPIO.output(self.in1,GPIO.LOW)
GPIO.output(self.in2,GPIO.LOW)
def __init__(self, external_lights):
super(Lights, self).__init__()
self.external_lights = external_lights
# hardware PWM led (and power off lights)
wiringpi2.pinMode(self.LIGHTS_PIN, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pwmWrite(self.LIGHTS_PIN, self.PWM_VAL_MAX)
if self.external_lights:
wiringpi2.pinMode(self.EXTERNAL_LIGHTS_PIN, wiringpi2.GPIO.OUTPUT)
wiringpi2.digitalWrite(self.EXTERNAL_LIGHTS_PIN, 1)
def set_brightness(led_value):
if LED == 1:
if (0 <= led_value < 1023):
wiringpi.pwmWrite(LED,led_value)
else:
if led_value == 0:
wiringpi.digitalWrite(LED, OFF)
else:
wiringpi.digitalWrite(LED, ON)
def __init__(self, freq = 100.0):
self.freq = freq
output_pins.append(12)
wp.pinMode(12, PWM)
wp.pwmSetRange(4000) #range can go up to 4096, 4000 is good because it's large and a multiple of 100
clock = 19.2e6 / (4000.0 * freq) #set the divisor so the frequency comes out right
wp.pwmSetClock(int(clock)) #this function needs an int
wp.pwmSetMode(0) # necessary or else it's in a weird mode where nothing works
wp.pwmWrite(12, 0) # stop for safety
def __init__(self, base0 = 27, base90 = 73):
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(18,2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(400)
wiringpi.pwmSetRange(1024)
wiringpi.pwmWrite(18, 0)
self.base0 = base0
self.base90 = base90
self.setAngle(90)
def __init__(self):
wiringpi2.wiringPiSetupGpio()
self.SPEAKER = 18
self.MODE_PWM = 2
wiringpi2.pinMode(self.SPEAKER, self.MODE_PWM)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmWrite(self.SPEAKER, 0)
def fade(self,direction):
if direction:
for i in range(1000,-1,-1):
#self.pwmLed.ChangeDutyCycle(i)
led.pwmWrite(18,i)
time.sleep(0.005)
else:
for i in range(0,1001,1):
#self.pwmLed.ChangeDutyCycle(i)
led.pwmWrite(18,i)
time.sleep(0.005)
def power(duty, sens):
if int(sens) < 90:
wiringpi2.digitalWrite(2, 1)
wiringpi2.digitalWrite(3, 0)
print "sens normal"
elif int(sens) > 90:
wiringpi2.digitalWrite(2, 0)
wiringpi2.digitalWrite(3, 1)
print "sens inverse"
wiringpi2.pwmWrite(1, int(duty))
return "Changement puissance"
def setBuzzerOn(self, buzzerOn): ''' Set buzzer state Args: buzzerOn (bool): True to turn on buzzer, False to turn off ''' if buzzerOn: wiringpi2.pwmWrite(self.GPIOS['buzzer'], 100) else: wiringpi2.pwmWrite(self.GPIOS['buzzer'], 0)
def set(self, speed):
if speed > 1.0:
speed = 1.0
if speed < -1.0:
speed = -1.0
# this results in speeds from 500 (fastest allowed forward)
# to 700 (fastest allowed reverse)
# the theoretical maxima are 400 forward and 800 reverse
duty_cycle = 600 - (100 * speed)
wp.pwmWrite(12, int(duty_cycle)) # this also wants an int
return duty_cycle
def set_value(self, target, dt):
# limit the target value to the range -1 .. 1
if target > 1:
target = 1
if target < -1:
target = -1
# set direction
if target > 0:
# forward_value
backward_value = wiringpi2.GPIO.LOW
forward_value = wiringpi2.GPIO.HIGH
elif target < 0:
# backward_value
backward_value = wiringpi2.GPIO.HIGH
forward_value = wiringpi2.GPIO.LOW
else:
backward_value = wiringpi2.GPIO.LOW
forward_value = wiringpi2.GPIO.LOW
if self.backward_value != backward_value:
wiringpi2.digitalWrite(self.backward_port, backward_value)
if self.forward_value != forward_value:
wiringpi2.digitalWrite(self.forward_port, forward_value)
self.backward_value = backward_value
self.forward_value = forward_value
# set power
if target < 0:
target = -target
# find interpolation range
for idx, val in enumerate(self.mapping_u):
print idx, val
if val > target*100.0:
# found
break
if idx <= 0:
idx = 1
if idx > len(self.mapping_u):
idx = len(self.mapping_u)
# interpolate
u1 = float(self.mapping_u[idx - 1])
u2 = float(self.mapping_u[idx])
p1 = float(self.mapping_pwm[idx - 1])
p2 = float(self.mapping_pwm[idx])
power_percent = p1 + (target * 100.0 - u1) * (p2 - p1) / (u2 - u1)
self.logger.debug("{}: target={} idx={} u1={:5.2f} u2={:1f} p1={:1f} p2={:4f}".format(self.name, idx, target, u1, u2, p1, p2))
# scale to pwm_range
power = int(self.pwm_range * power_percent / 100)
wiringpi2.pwmWrite(self.pwm_port, power)
self.logger.debug("{}: target={:5.3f} backward_value={:1d} forward_value={:1d} power={:2.0f} %={:4d}/{:4d}".format(self.name, target, backward_value, forward_value, power_percent, power, self.pwm_range))
def pwm_fast_ramp( self ):
# A somewhat contrived example, this will create 'ramp'
# by changing the PWM output from zero to max as fast as
# possible.
start = time.clock()
# modulate the PWM signal as fast as possible
for i in range(1024):
wp.pwmWrite( 18, i )
# return the elapsed time
return time.clock() - start
def softPwm(): print "SoftPwm Mode" wiringpi2.wiringPiSetup() wiringpi2.pinMode(PIN_TO_PWM,SET_PWM) wiringpi2.pwmSetMode(PWM_MODE_MS) #wiringpi2.softPwmCreate(PIN_TO_PWM,0,100) # Setup PWM using Pin, Initial Value and Range parameters #wiringpi2.softServoSettup() #softServoWrite() wiringpi2.pwmWrite(PIN_TO_PWM, 900) wiringpi2.delay(150) print "PWM is in NEUTRAL"
def __init__(self,in1,in2,in3):
self.in1 = in1
self.in2 = in2
self.in3 = in3
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.in1,GPIO.OUT)
GPIO.setup(self.in2,GPIO.OUT)
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(self.in3, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetClock(375)
wiringpi.pwmWrite(self.in3,0)
def rotate(self, speed): speedi = int(speed) if speed >= 0: wiringpi.pwmWrite(self.in3, speedi) GPIO.output(self.in1,GPIO.HIGH) GPIO.output(self.in2,GPIO.LOW) elif speed < 0: if speedi < -1024: speedi = -1024 wiringpi.pwmWrite(self.in3, math.fabs(speedi)) GPIO.output(self.in1,GPIO.LOW) GPIO.output(self.in2,GPIO.HIGH)
def cleanup(): wiringpi.pwmWrite(LEFT_MOTOR_PWM, 0) wiringpi.pwmWrite(RIGHT_MOTOR_PWM, 0) wiringpi.pinMode(LEFT_MOTOR_PWM, 0) wiringpi.pinMode(RIGHT_MOTOR_PWM, 0) GPIO.output(LEFT_MOTOR_A, GPIO.LOW) GPIO.output(LEFT_MOTOR_B, GPIO.LOW) GPIO.output(RIGHT_MOTOR_A, GPIO.LOW) GPIO.output(RIGHT_MOTOR_B, GPIO.LOW) GPIO.setup(LEFT_MOTOR_A, GPIO.IN) GPIO.setup(LEFT_MOTOR_B, GPIO.IN) GPIO.setup(RIGHT_MOTOR_A, GPIO.IN) GPIO.setup(RIGHT_MOTOR_B, GPIO.IN)
def setSpeed(self, speed):
if speed < 0:
speed = -speed
dir_value = 1
else:
dir_value = 0
if speed > MAX_SPEED:
speed = MAX_SPEED
io_init()
wiringpi2.digitalWrite(self.dir_pin, dir_value)
wiringpi2.pwmWrite(self.pwm_pin, speed)
def talker():
signal.signal(signal.SIGINT, signal_handler)
time.sleep(1)
setup_servo()
pub = rospy.Publisher('servo_ulta', Range, queue_size=10)
rospy.init_node('servo_ultra', anonymous=True, disable_signals=False )
rate = rospy.Rate(10) # 10hz
ultrasonic_number = 1
pause_time = 0.1
delay_ultrasonic = 0.11
STEP_ANGLE = 10
CURR_ANGLE = (90.0 * math.pi) / 180.0
mindt = 0.65
maxdt = 2.48
dt = [mindt, maxdt]
extremes = [int(x * 1024.0 / 20.0) for x in dt]
dt_range = extremes[1] - extremes[0]
dt_step = int((dt_range / 180.0) * STEP_ANGLE)
br = tf.TransformBroadcaster()
while not rospy.is_shutdown():
#broadcast_transforms()
# Move servo to counter-clockwise extreme.
wiringpi.pwmWrite(18, extremes[1])
sleep(0.2)
CURR_ANGLE = (90.0 * math.pi) / 180.0
for i in range(extremes[1],extremes[0],-dt_step): # 1025 because it stops at 1024
wiringpi.pwmWrite(18,i)
sleep(pause_time)
br.sendTransform((0.15, 0.0, 0.0),tf.transformations.quaternion_about_axis(CURR_ANGLE, (0, 0, 1)), rospy.Time.now(), "1", "base_link")
data = Range()
data.header.frame_id = "1"
data.header.stamp = rospy.Time.now()
data.radiation_type = 0
data.min_range = 0.05
data.max_range = 2.0
data.field_of_view = 0.164
try :
data.range = float(get_us_data_from(ultrasonic_number)) /100.0
except IOError:
subprocess.call(['i2cdetect', '-y', '1'])
data.range = 0.0
pub.publish(data)
CURR_ANGLE -= (STEP_ANGLE * math.pi) / 180.0
def init(): GPIO.setmode(GPIO.BCM) wiringpi.wiringPiSetupGpio() wiringpi.pinMode(LEFT_MOTOR_PWM, 2) wiringpi.pinMode(RIGHT_MOTOR_PWM, 2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(CLK_DIVISOR) wiringpi.pwmSetRange(MAX_SPEED) wiringpi.pwmWrite(LEFT_MOTOR_PWM, 0) wiringpi.pwmWrite(RIGHT_MOTOR_PWM, 0) GPIO.setup(LEFT_MOTOR_A, GPIO.OUT) GPIO.setup(LEFT_MOTOR_B, GPIO.OUT) GPIO.setup(RIGHT_MOTOR_A, GPIO.OUT) GPIO.setup(RIGHT_MOTOR_B, GPIO.OUT)
def SetSP(servoID, setPoint):
if not on: return
if setPoint < 0 or setPoint > 1:
procComms.PrintLog('Servo SetPoint value out of range.')
return
pin = 0
if servoID == 1: pin = 13
elif servoID == 2: pin = 18
else: return
sp = setPoint * (max - min) + min
wiringpi.pwmWrite(pin, int(sp))
def setupIO():
# Initialisation des entrées sorties sur le GrovePi #
grovepi.pinMode(relay_pin,"OUTPUT")
grovepi.pinMode(RGB_pin,"OUTPUT")
grovepi.pinMode(PIR_pin, "INPUT")
grovepi.chainableRgbLed_init(RGB_pin,8)
# On génère un PWM hardware de fréquence 50Hz #
# La largeur de l'impulsion est entre 0,8 et 2ms #
wiringPi.wiringPiSetupGpio()
wiringPi.pinMode(PWM_GPIO, 2)
wiringPi.pwmSetMode(0)
wiringPi.pwmSetClock(384)
wiringPi.pwmSetRange(1024)
wiringPi.pwmWrite(PWM_GPIO,75)
def listener():
rospy.init_node('listener', anonymous=True)
rospy.Subscriber("chatter", String, callback)
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(pin,2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(400)
wiringpi.pwmSetRange(1024)
wiringpi.pwmWrite(pin,0)
wiringpi.pinMode(pin_dir[0],1)
wiringpi.pinMode(pin_dir[1],1)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
def main():
OUTPUT = 2
PWM_PIN = 18
SLEEP_TIME = 0.03
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(PWM_PIN, OUTPUT)
for i in range(0, 1024, 16):
print(i)
wiringpi.pwmWrite(PWM_PIN, i)
time.sleep(SLEEP_TIME)
for i in range(1024, 0, -16):
print(i)
wiringpi.pwmWrite(PWM_PIN, i)
time.sleep(SLEEP_TIME)
def __init__(self, pin=DEFAULT_PIN, calibration_file=None, smoothing=None, wiringpi_obj=None, zero_pin=None, **kwargs):
super(PWMCalibrator, self).__init__()
if not SOFTPWM_SUPPORT and ((pin!=WIRINGPI_PWM_PIN) or zero_pin!=None):
raise Exception("No soft PWM support (is wiringpi2 installed?). Only pin 1 may be used.")
self.pin = pin
if wiringpi_obj is not None:
self.wp = wiringpi_obj
else:
wiringpi.wiringPiSetup()
# PWM: hardware or software?
if (not SOFTPWM_SUPPORT) or (self.pin==WIRINGPI_PWM_PIN):
wiringpi.pinMode(self.pin, wiringpi.GPIO.PWM_OUTPUT)
self.pwm_write = wiringpi.pwmWrite
self.pwm_max = PWM_MAX
else:
wiringpi.softPwmCreate(self.pin, 0, SOFT_PWM_MAX)
self.pwm_write = wiringpi.softPwmWrite
self.pwm_max = kwargs.get('soft_pwm_max', SOFT_PWM_MAX)
# zero out any zero pins, as necessary
# (this is used for bidirectional meters; by default the pi's pins
# are in a high-impedence mode that will prevent adequate calibration)
if zero_pin!=None:
if zero_pin==WIRINGPI_PWM_PIN:
wiringpi.pinMode(zero_pin, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmWrite(zero_pin, 0)
else:
wiringpi.softPwmCreate(zero_pin, 0, SOFT_PWM_MAX)
wiringpi.softPwmWrite(zero_pin, 0)
self.pwm_value = 0
self.calibration = []
if smoothing is True:
self.smoothing = 0.005
else:
self.smoothing = smoothing
if calibration_file is not None:
self.calibration_file = calibration_file
else:
self.calibration_file = DEFAULT_CALIBRATION_FILENAME
# Tendo que o clock base do pwm é 19.2mhz:
# divisor = (19.2x1000)/440
# divisor = 43.6363636364
divisor = (19.2 * (10**3)) / 440
wiringpi2.pwmSetClock(int(divisor))
def calcParams(freq):
period = (1 / freq) * (10**6)
dutyCycle = period / 2
return (int(period), int(dutyCycle))
try:
while True:
for freq in range(500, 1001, 1):
period, dutyCycle = calcParams(freq)
wiringpi2.pwmSetRange(period)
wiringpi2.pwmWrite(SPEAKER, dutyCycle)
wiringpi2.delay(1)
for freq in range(1000, 499, -1):
period, dutyCycle = calcParams(freq)
wiringpi2.pwmSetRange(period)
wiringpi2.pwmWrite(SPEAKER, dutyCycle)
wiringpi2.delay(1)
except KeyboardInterrupt:
wiringpi2.pwmWrite(SPEAKER, 0)
wiringpi2.pinMode(SPEAKER, 0)
exit(0)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(pwm_clock)
wiringpi.pwmSetRange(pwm_range)
#led
faceFoundPin = 5
wiringpi.pinMode(faceFoundPin, 1)
faceLost = True
faceLostStart = -1
faceLostPwm = -1
faceLostTimeout = 5
time_start = time.time()
wiringpi.pwmWrite(pwm_pin_horizontal, dt_horizontal)
wiringpi.pwmWrite(pwm_pin_vertical, dt_vertical)
time.sleep(0.2)
def transmitMoveOrder(horizontal, vertical):
global dt_horizontal
dt_horizontal = 150 + horizontal
if dt_horizontal > dt_max:
dt_horizontal = dt_max
if dt_horizontal < dt_min:
dt_horizontal = dt_min
wiringpi.pwmWrite(pwm_pin_horizontal, int(dt_horizontal))
global dt_vertical
def fullClose(self):
self.value = SAIL_FULLCLOSE
pi.pwmWrite(SAIL_SERVO_PIN, self.value)
def servoturn(self,angle):
dutyCycle = int(angle/180.0*(0.14*1024)) + 6
wiringpi.pwmWrite(SERVO_PIN,dutyCycle)
def set_right_speed(self, dc):
wp.pwmWrite(19, dc)
def set_left_speed(self, dc):
self.prev[0] = dc / self.max
wp.pwmWrite(18, dc)
import wiringpi2
import sys
pin = 31
wiringpi2.wiringPiSetupPhys()
wiringpi2.pinMode(pin, 2) #PWM_OUTPUT
#wiringpi2.pwmSetClock(0); #24M/120=200k
#range = 255
#HZ = 200k/(255+1) = 781hz
while 1:
for brightness in range(0, 255):
wiringpi2.pwmWrite(pin, brightness)
wiringpi2.delay(10)
print brightness
for brightness in range(0, 255):
wiringpi2.pwmWrite(pin, 255 - brightness)
wiringpi2.delay(10)
hello = 255 - brightness
print hello
def set_right_speed(self, dc):
self.prev[1] = dc / self.max
wp.pwmWrite(19, dc)
def __init__(self, initValue):
self.value = initValue
pi.pwmWrite(SAIL_SERVO_PIN, self.value)
def pwmwrite(self):
wiringpi.pwmWrite(self.pin, self.dt)
print "PIN " + str(self.pin) + "DT = " + str(self.dt)
#!/usr/bin/python3
# -*- coding: utf-8 -*-
import time
import wiringpi2 as wipi
PIN = 12 # BCM GPIO 18
wipi.wiringPiSetupPhys()
wipi.pinMode(PIN, 2)
i = 0
while True:
wipi.pwmWrite(PIN, i % 1024)
i += 1
time.sleep(0.01)
print(i)
#-*-coding:utf-8 -*-
import wiringpi2 as wiringpi
import FaBo9Axis_MPU9250
import time
import serial
import sys
from math import degrees, radians, atan, atan2, sin, cos, pi, asin, sqrt
#initialize setting
wiringpi.wiringPiSetup() #initialize wiringPi
wiringpi.pinMode(23, 2) # alternative function = PWM
wiringpi.pinMode(26, 2) # alternative function = PWM
wiringpi.pwmSetMode(0)
wiringpi.pwmSetRange(12000)
wiringpi.pwmWrite(23, 700)
wiringpi.pwmWrite(26, 900)
mpu9250 = FaBo9Axis_MPU9250.MPU9250() #mpu9250 initialize
ser = serial.Serial('/dev/ttyAMA0', 9600) #gps serial port
#initialize variable
speed = 0
angle = 2
state = 0
def SpeedWrite(speed): #desire speed
if speed > 10:
print 'speed cannot be greater than 10.'
elif speed > 0:
wiringpi.pwmWrite(23, 880 + (speed - 1) * 10)
def set_left_speed(self, dc):
wp.pwmWrite(18, dc)
# GPIOの指定をGPIO番号に設定する。
if wiringpi2.wiringPiSetupGpio() == -1:
sys.exit(1)
# 使用するGPIOポート
port = 18
# 指定のGPIOの出力方向を決める。
# GPIO.INPUT, GPIO.OUTPUT, GPIO.PWM_OUTPUT, GPIO_CLOCK
wiringpi2.pinMode(port, wiringpi2.GPIO.PWM_OUTPUT)
SLEEP_TIME = 0.01
val = 0
while True:
try:
for pw in range(1024):
wiringpi2.pwmWrite(port, pw)
time.sleep(SLEEP_TIME)
for pw in range(1024 - 1, 0 - 1, -1):
wiringpi2.pwmWrite(port, pw)
time.sleep(SLEEP_TIME)
except KeyboardInterrupt:
break
except:
raise
sys.exit(0)
# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4
web_server = Bottle()
@web_server.route('/sensors')
def sensors():
global controlThread
logDataSetBuffer = controlThread.getLogDataSetBuffer()
# return the logDataSetBuffer's latest state
response.content_type = "application/json"
return dumps(logDataSetBuffer, default=lambda o: o.__dict__)
bottle_thread = Thread(target=web_server.run, kwargs=dict(host='0.0.0.0', port=8080, debug=True))
bottle_thread.daemon = True
bottle_thread.start()
try:
while True:
time.sleep(1)
except (KeyboardInterrupt, SystemExit):
print "caught exception, exiting..."
wiringpi2.pwmWrite(ports.port_motor_left_pwm, 0)
wiringpi2.pwmWrite(ports.port_motor_right_pwm, 0)
wiringpi2.digitalWrite(ports.port_motor_left_backward, wiringpi2.GPIO.LOW)
wiringpi2.digitalWrite(ports.port_motor_left_forward, wiringpi2.GPIO.LOW)
wiringpi2.digitalWrite(ports.port_motor_right_backward, wiringpi2.GPIO.LOW)
wiringpi2.digitalWrite(ports.port_motor_right_forward, wiringpi2.GPIO.LOW)
sys.exit(1)
import wiringpi2 as GPIO
import time
r = 200;
div = 100;
outPin = 1;
GPIO.wiringPiSetup()
GPIO.pinMode(outPin,2)
GPIO.pwmSetMode(0)
GPIO.pwmSetClock(div)
GPIO.pwmSetRange(r)
for duty in range(r,0,-1):
GPIO.pwmWrite(1,duty)
if not duty%20:
print str(int(float(duty)/float(r)*100)) + "%"
time.sleep(0.01)
for duty in range(0,r+1):
GPIO.pwmWrite(1,duty)
if not duty%20:
print str(int(float(duty)/float(r)*100)) + "%"
time.sleep(0.01)
