def ZeroBorgInit():
global ZB
# Re-direct our output to standard error, we need to ignore standard out to hide some nasty print statements from pygame
sys.stdout = sys.stderr
# Setup the ZeroBorg
ZB = ZeroBorg.ZeroBorg()
#ZB.i2cAddress = 0x44 # Uncomment and change the value if you have changed the board address
ZB.Init()
if not ZB.foundChip:
boards = ZeroBorg.ScanForZeroBorg()
if len(boards) == 0:
print 'No ZeroBorg found, check you are attached :)'
else:
print 'No ZeroBorg at address %02X, but we did find boards:' % (
ZB.i2cAddress)
for board in boards:
print ' %02X (%d)' % (board, board)
print 'If you need to change the I�C address change the setup line so it is correct, e.g.'
print 'ZB.i2cAddress = 0x%02X' % (boards[0])
sys.exit()
#ZB.SetEpoIgnore(True) # Uncomment to disable EPO latch, needed if you do not have a switch / jumper
# Ensure the communications failsafe has been enabled!
failsafe = False
for i in range(5):
ZB.SetCommsFailsafe(True)
failsafe = ZB.GetCommsFailsafe()
if failsafe:
break
if not failsafe:
print 'Board %02X failed to report in failsafe mode!' % (ZB.i2cAddress)
sys.exit()
ZB.ResetEpo()
def init():
camera = PiCamera()
camera.resolution = (imw, imh)
camera.framerate = 8
rawCapture = PiRGBArray(camera, size=camera.resolution)
cap = (camera, rawCapture)
zb = ZeroBorg.ZeroBorg()
zb.Init()
debug("zb initialized")
detector = cv.CascadeClassifier()
detector.load('face_frontal.xml')
debug("face detector initialized")
return zb, detector, cap
#!/usr/bin/env python
# coding: Latin-1
# Load library functions we want
import time
import os
import sys
import pygame
import ZeroBorg
# Re-direct our output to standard error, we need to ignore standard out to hide some nasty print statements from pygame
sys.stdout = sys.stderr
# Setup the ZeroBorg
ZB = ZeroBorg.ZeroBorg()
#ZB.i2cAddress = 0x44 # Uncomment and change the value if you have changed the board address
ZB.Init()
if not ZB.foundChip:
boards = ZeroBorg.ScanForZeroBorg()
if len(boards) == 0:
print 'No ZeroBorg found, check you are attached :)'
else:
print 'No ZeroBorg at address %02X, but we did find boards:' % (ZB.i2cAddress)
for board in boards:
print ' %02X (%d)' % (board, board)
print 'If you need to change the I²C address change the setup line so it is correct, e.g.'
print 'ZB.i2cAddress = 0x%02X' % (boards[0])
sys.exit()
#ZB.SetEpoIgnore(True) # Uncomment to disable EPO latch, needed if you do not have a switch / jumper
# Ensure the communications failsafe has been enabled!
failsafe = False
#!/usr/bin/env python
# coding: latin-1
# Import library functions we need
import ZeroBorg
import zbIrButtonMap as Buttons
import Tkinter
# Setup the ZeroBorg
global ZB
ZB = ZeroBorg.ZeroBorg() # Create a new ZeroBorg object
ZB.Init() # Set the board up (checks the board is connected)
ZB.ResetEpo() # Reset the stop switch (EPO) state
# if you do not have a switch across the two pin header then fit the jumper
ZB.SetLedIr(True) # Set the LED to flash when an infrared signal is present
# Build a button to name mapping
buttonMap = {}
possibleButtons = Buttons.__dict__.keys()
possibleButtons.sort()
for buttonName in possibleButtons:
if buttonName.startswith('IR_'):
code = Buttons.__dict__[buttonName]
name = buttonName[3:]
buttonMap[code] = name
# Class representing the GUI dialog
class ZeroBorg_tk(Tkinter.Tk):
# Constructor (called when the object is first created)
def __init__(self, parent):
import ZeroBorg
import time
from mpu6050 import MPU6050
import smbus
address = 0x68
bus = smbus.SMBus(1)
##bus = 1
sensor = MPU6050(bus, address, "MPU6050")
sensor.read_raw_data()
from pid import PID
ZB = ZeroBorg.ZeroBorg()
ZB.Init()
ZB.SetCommsFailsafe(False)
ZB.ResetEpo()
pid = PID(0.075, 0.0, 0.0)
maxPower = 0.75
def clamp(n, minn, maxn):
return max(min(maxn, n), minn)
def Move(left, right):
def __init__(self): self.z = ZeroBorg.ZeroBorg() self.z.Init()
#!/usr/bin/python import sys import ZeroBorg zb = ZeroBorg.ZeroBorg() zb.Init() zb.SetMotor1(0) zb.SetMotor2(0) zb.SetMotor3(0) zb.SetMotor4(0)
# Using sonar circuit to detect object
# When Interrupt is called trun off motors for 3 seconds
# April 15th 2018
# Change to GPIO23 for pin interrupt
# Added new logic to prevent boucing of switch to dampen false detection
import RPi.GPIO as GPIO # import RPi.GPIO module
import sys # import sys for pathing
sys.path.append('/home/pi/zeroborg') # path for zeroborg library
from time import sleep # for a delay in the program
import ZeroBorg # import motor controller library
GPIO.setmode(GPIO.BCM) # choose BCM Borad
GPIO.setup(17, GPIO.OUT, initial = 0) # set GPIO17 as an output to power sonar circuit
GPIO.setup(23, GPIO.IN) # set GPIO23 for input from sonar circuit
# Setup ZeroBorg Motor
ZB = ZeroBorg.ZeroBorg() # Create motor controller object
ZB.Init() # Setup the motor controller board
ZB.ResetEpo() # Reset the safety latch
# Configure GPIO 18 to interrupt control flow when pin 23 goes high
GPIO.add_event_detect(23, GPIO.RISING)
GPIO.output(17, 1) # set GPIO17 to 1/GPIO.HIGH/True to turn on circuit
print("Here we go! Press CTRL+C to exti")
sleep(2.0)
try:
while True:
ZB.SetMotors(.75)
axisLeftRightInverted = False # Set this to True if left and right appear to be swapped
buttonResetEpo = 7 # Joystick button number to perform an EPO reset (Start)
interval = 0.00 # Time between updates in seconds, smaller responds faster but uses more processor time
buttonA = 0
buttonB = 1
buttonX = 2
buttonY = 3
buttonSelect = 6
buttonHome = 8
# Re-direct our output to standard error, we need to ignore standard out to hide some nasty print statements from pygame
print("starting zerobot")
sys.stdout = sys.stderr
# zeroborg variables
ZB = ZeroBorg.ZeroBorg() # make this global
# Setup the ZeroBorg
ZB.i2cAddress = 0x0a # Uncomment and change the value if you have changed the board address
ZB.Init()
if not ZB.foundChip:
boards = ZeroBorg.ScanForZeroBorg()
if len(boards) == 0:
print 'No ZeroBorg found, check you are attached :)'
else:
print 'No ZeroBorg at address %02X, but we did find boards:' % (
ZB.i2cAddress)
for board in boards:
print ' %02X (%d)' % (board, board)
print 'If you need to change the I2C address change the setup line so it is correct, e.g.'
print 'ZB.i2cAddress = 0x%02X' % (boards[0])
sys.exit()