def checkPin(x, y):
global multiplier
if (y == 0):
RPL.servoWrite(x, 2000)
print("Moving motor " + str(x) + "... ")
time.sleep(1)
RPL.servoWrite(x, 1500)
RPL.servoWrite(x, 0)
print("Done with motor " + str(x) + ".")
x += 1
print("Motor testing completed!")
if (y == 1):
RPL.pinMode(pinArraySensorset1[x], RPL.INPUT)
initialTime = float(time.clock() * multiplier)
while (float(time.clock() * multiplier) < (initialTime + 4)):
displayTextClear()
print("Pin " + str(pinArraySensorset1[x]) + " output: " +
str(RPL.digitalRead(pinArraySensorset1[x])))
time.sleep(0.2)
print("Digital sensor testing complete!")
if (y == 2):
initialTime = float(time.clock() * multiplier)
while (float(time.clock() * multiplier) < (initialTime + 4)):
displayTextClear()
print("Pin " + str(pinArraySensorset2[x]) + " output: " +
str(RPL.analogRead(pinArraySensorset2[x])))
time.sleep(0.2)
print("Analog sensor testing complete!")
def checkPinsDigital():
x = 0
global multiplier
multiplier = 1
if (os.name != 'nt'):
multiplier = 1000
while (x < len(pinArraySensorset1)):
RPL.pinMode(pinArraySensorset1[x], RPL.INPUT)
initialTime = float(time.clock() * multiplier)
while (float(time.clock() * multiplier) < (initialTime + 4)):
displayTextClear()
print("Pin " + str(pinArraySensorset1[x]) + " output: " +
str(RPL.digitalRead(pinArraySensorset1[x])))
time.sleep(0.2)
x += 1
print("Digital sensor testing complete!")
def move_forward():
while True:
RPL.pinMode(sensor_pinF, RPL.INPUT)
reading1 = RPL.digitalRead(sensor_pinF)
RPL.pinMode(sensor_pinL, RPL.INPUT)
reading2 = RPL.digitalRead(sensor_pinL)
RPL.pinMode(sensor_pinR, RPL.INPUT)
reading3 = RPL.digitalRead(sensor_pinR)
if reading1 == 1:
RPL.servoWrite(0, 1450)
RPL.servoWrite(1, 1550)
elif reading1 == 0:
if reading2 == 1:
RPL.servoWrite(0, 1400)
RPL.servoWrite(1, 1550)
elif reading2 == 0:
RPL.servoWrite(0, 1450)
RPL.servoWrite(1, 1550)
import RoboPiLib as RPL # (robotonomy setup.py)
from setup import RPL # (robotonomy README.md)
import time
RPL.RoboPiInit("/dev/ttyAMA0", 115200) # (robotonomy setup.py)
motorL = 1 # (robo-control control.py)
motorR = 0 # (robo-control control.py)
sensor_pin = 16 # (robotonomy basic.py)
RPL.servoWrite(motorR, 2000) # (robo-control control.py)
RPL.servoWrite(motorL, 1000) # (robo-control control.py)
RPL.pinMode(sensor_pin, RPL.INPUT) # (robo-control control.py)
while RPL.digitalRead(sensor_pin) == 1: # (robotonomy basic.py)
RPL.servoWrite(motorR, 2000) # (robo-control control.py)
RPL.servoWrite(motorL, 1000) # (robo-control control.py)
else:
RPL.servoWrite(motorR, 0) # (robo-control control.py)
RPL.servoWrite(motorL, 0) # (robo-control control.py)
import setup from setup import RPL import RoboPiLib as RoboPi RoboPi.RoboPiInit(“/dev/ttyAMA0”,115200) RoboPi.pinMode(1,RoboPi.OUTPUT) RoboPi.digitalWrite(16,1) RoboPi.pinMode(17,RoboPi.PWM) RoboPi.analogWrite(17,127) print RoboPi.analogRead(0) #RPL.servoWrite(0,1000) #RPL.servoWrite(1,1000) #x = 1 #while x == 1: # RoboPi.analogRead(1) # AnalogRead = RoboPi.analogRead(1) # AnalogRead = int(AnalogRead) # print AnalogRead # Dist = (500 * AnalogRead)/1024 # print Dist #import RoboPiLib as RoboPi
import RoboPiLib as RPL
import setup
x = 1
L = 1
R = 2
LS = 2
RS = 1
RPL.pinMode(LS, RPL.INPUT)
RPL.pinMode(RS, RPL.INPUT)
def left():
if readingL == 0:
RPL.servoWrite(L, 1410)
elif readingL == 1:
RPL.servoWrite(L, 1500)
def right():
if readingL == 0:
RPL.servoWrite(R, 1590)
elif readingL == 1:
RPL.servoWrite(R, 1500)
def both():
RPL.servoWrite(L, 1590)
RPL.servoWrite(R, 1410)
def none():
import RoboPiLib as RPL
from setup import RPL
import time
import post_to_web as PTW
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
motorL = 1
motorR = 0
sensor_pin = 16
RPL.servoWrite(motorR, 1000)
RPL.servoWrite(motorL, 2000)
RPL.pinMode(sensor_pin, RPL.INPUT)
while RPL.digitalRead(sensor_pin) == 1:
PTW.state['d1'] = RPL.digitalRead(sensor_pin)
RPL.servoWrite(motorR, 1000)
RPL.servoWrite(motorL, 2000)
PTW.post()
else:
PTW.state['d1'] = RPL.digitalRead(sensor_pin)
RPL.servoWrite(motorR, 0)
RPL.servoWrite(motorL, 0)
PTW.post()
# python web2py.py -c server.crt -k server.key -a 'Engineering1!' -i 0.0.0.0 -p 8000
# Kirwin's vi tab preferences: set shiftwidth=2 softtabstop=2 expandtab
import xml.etree.ElementTree as ET
import RoboPiLib as RPL
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
######################
## Motor Establishment
######################
freq = 3000
motorL = 0
RPL.pinMode(motorL, RPL.PWM)
RPL.pwmWrite(motorL, 1500, freq)
motorR = 1
RPL.pinMode(motorR, RPL.PWM)
RPL.pwmWrite(motorR, 1500, freq)
def read_parameters_as_xml():
parser = ET.ElementTree() # use .get('param')
return parser.parse('command_parameters.txt')
################
## Web Functions
################
def dashboard():
motorL = 0
motorR = 1
motorR_forward = 2000
motorR_backward = 1000
motorL_forward = 1000
motorL_backward = 2000
global mem
mem = [["start",0]]
global start
start = time.time()
try:
RPL.pinMode(motorL,RPL.SERVO)
RPL.servoWrite(motorL,1500)
RPL.pinMode(motorR,RPL.SERVO)
RPL.servoWrite(motorR,1500)
except:
pass
######################
## Individual commands
######################
def stopAll():
try:
RPL.servoWrite(motorL,1500)
RPL.servoWrite(motorR,1500)
except:
print "error except"
## Motor Establishment
######################
freq = 3000
motorL = 0
motorR = 1
servo1 = 8 # Wrist Pitch
servo2 = 9 # Wrist Roll
servo3 = 10 # Grabber
elbow_dir = 3
elbow_pulse = 5
shoulder_dir = 6
shoulder_pulse = 7
try:
RPL.pinMode(motorL, RPL.PWM)
RPL.pwmWrite(motorL, 1500, freq)
RPL.pinMode(motorR, RPL.PWM)
RPL.pwmWrite(motorR, 1500, freq)
RPL.pinMode(servo1, RPL.SERVO)
RPL.pinMode(servo2, RPL.SERVO)
RPL.pinMode(servo3, RPL.SERVO)
RPL.pinMode(elbow_dir, RPL.OUTPUT)
RPL.pinMode(elbow_pulse, RPL.PWM)
RPL.pwmWrite(elbow_pulse, 0, 1000)
RPL.pinMode(shoulder_dir, RPL.OUTPUT)
RPL.pinMode(shoulder_pulse, RPL.PWM)
RPL.pwmWrite(shoulder_pulse, 0, 1000)
except:
pass
import RoboPiLib as RPL
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
import sys
import time
sensor_pin_1 = 16
sensor_pin_2 = 17
RPL.pinMode(sensor_pin_1, RPL.INPUT)
RPL.pinMode(sensor_pin_2, RPL.INPUT)
ticks = 100000
ticksDone = 0
mtrLeft = [0, -1]
mtrRight = [1, 1]
outputLog = ["---"]
def clearText():
print("\033c")
def allStop():
RPL.servoWrite(0, 1500)
RPL.servoWrite(1, 1500)
RPL.servoWrite(0, 0)
RPL.servoWrite(1, 0)
import RoboPiLib as RPL
import sys, tty, termios, signal, setup, time
from cytron import Cytron
motor_controller = Cytron(max_pwm=20000, percent_power=10, m1_pwm=0, m1_dir=1)
motor = motor_controller.m1
RPL.pinMode(motor_controller.m1["pwm"], RPL.PWM)
RPL.pinMode(motor_controller.m1["dir"], RPL.OUTPUT)
steering_pin = 3
pwm_percent = 50
print("initialized Motor Speed at {}/{} : {}%".format(
(motor_controller.max_freq * pwm_percent) / 100, motor_controller.max_freq,
pwm_percent))
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
def interrupted(signum, frame):
stop()
def stop():
motor_controller.stop()
RPL.servoWrite(steering_pin, 1500)
def right(percent):
RPL.servoWrite(steering_pin, 5 * percent + 1500)
import RoboPiLib as RPL import setup import time from time import sleep sensor_pinF = 0 sensor_pinL = 2 sensor_pinR = 3 RPL.pinMode(sensor_pinF, RPL.INPUT) RPL.pinMode(sensor_pinL, RPL.INPUT) RPL.pinMode(sensor_pinR, RPL.INPUT) R = 1 L = 0 values = [] for i in range(0,100): values.append(RPL.analogRead(sensor_pinF)) print(sum(values) / 100)
FmotorL = 0
FmotorR = 1
BmotorL = 2
BmotorR = 3
FmotorR_forward = 2000
FmotorR_backward = 1000
FmotorL_forward = 1000
FmotorL_backward = 2000
BmotorR_forward = 2000
BmotorR_backward = 1000
BmotorL_forward = 1000
BmotorL_backward = 2000
try:
RPL.pinMode(FmotorL, RPL.SERVO)
RPL.servoWrite(FmotorL, 1500)
RPL.pinMode(FmotorR, RPL.SERVO)
RPL.servoWrite(FmotorR, 1500)
RPL.pinMode(BmotorL, RPL.SERVO)
RPL.servoWrite(BmotorL, 1500)
RPL.pinMode(BmotorR, RPL.SERVO)
RPL.servoWrite(BmotorR, 1500)
except:
pass
######################
## Individual commands
######################
def stopAll():
import RoboPiLib as RPL import wall_evasion RPL.pinMode(16,RPL.INPUT) RPL.pinMode(17,RPL.INPUT) while True: approach_and_turn16() approach_and_turn17()
import RoboPiLib as RPL
import setup
import sys, tty, termios, signal
motor = 7
r_turn = 1000
l_turn = 2000
try:
RPL.pinMode(motor,RPL.SERVO)
RPL.servoWrite(motor,0)
except:
pass
def stopAll():
try:
RPL.servoWrite(motor,0)
except:
print "error except"
pass
def right():
RPL.servoWrite(motor,r_turn)
def left():
RPL.servoWrite(motor,l_turn)
fd = sys.stdin.fileno() # I don't know what this does
old_settings = termios.tcgetattr(fd) # this records the existing console settings that are later changed with the tty.setraw... line so that they can be replaced when the loop ends
def DT_PWM_Speedrange(): ServoR = int(raw_input(0)) RPL.pinMode(ServoR, RPL.PWM) ServoL = int(raw_input(1)) RPL.pinMode(ServoL, RPL.PWM)
#!/usr/bin/python
import RoboPiLib as RoboPi
import time as time
INPUT = RoboPi.INPUT
LEFT_BUMPER = 22
RIGHT_BUMPER = 23
PRESSED = 0
RoboPi.RoboPiInit("/dev/ttyAMA0", 115200)
RoboPi.pinMode(LEFT_BUMPER, INPUT)
RoboPi.pinMode(RIGHT_BUMPER, INPUT)
while 1:
if (RoboPi.digitalRead(LEFT_BUMPER) == PRESSED):
print "Left Bumper Pressed"
if (RoboPi.digitalRead(RIGHT_BUMPER) == PRESSED):
print "Right Bumper Pressed"
time.sleep(0.1)
RoboPi.RoboPiExit()
OUTPUT = RoboPi.OUTPUT
PWM = RoboPi.PWM
SERVO = RoboPi.SERVO
MOTORA_IA = 12
MOTORA_IB = 13
MOTORB_IA = 14
MOTORB_IB = 15
RoboPi.RoboPiInit("/dev/ttyAMA0", 115200)
while 1:
# set both motors to go forward
RoboPi.pinMode(MOTORA_IA, PWM)
RoboPi.pinMode(MOTORA_IB, OUTPUT)
RoboPi.pinMode(MOTORB_IA, PWM)
RoboPi.pinMode(MOTORB_IB, OUTPUT)
# slowly ramp up the sped
for speed in xrange(0, 256, 2):
RoboPi.analogWrite(MOTORA_IA, speed)
RoboPi.analogWrite(MOTORB_IA, speed)
time.sleep(0.1)
# now ramp back town
for speed in xrange(255, -1, -2):
import RoboPiLib as RoboPi
import time as time
RoboPi.RoboPiInit("/dev/ttyAMA0", 115200)
#AMA0 has a zero
servo = RoboPi.SERVO
left_servo = 1
right_servo = 2
up_servo = 3
down_servo = 4
RoboPi.pinMode (left_servo, servo)
RoboPi.pinMode (right_servo, servo)
RoboPi.pinMode (up_servo, servo)
RoboPi.pinMode (down_servo, servo)
#stop = 0
#clockwise = 500
#counter_clockwise = 2500
def go_forward():
RoboPi.servoWrite(left_servo, 500)
RoboPi.servoWrite(right_servo, 2500)
RoboPi.servoWrite(up_servo, 2500)
RoboPi.servoWrite(down_servo, 500)
def go_backward():
RoboPi.servoWrite(left_servo, 2500)
RoboPi.servoWrite(right_servo, 500)
RoboPi.servoWrite(up_servo, 500)
