def GPIOlightRead():
ADC.setup()
value = ADC.read("P9_33")
if value >= 0.3: # state of turn on the romm's light
return 1
else:
return 0
def __init__(self):
## Set up ROS Node
rospy.init_node("motor_enc")
self.nodename = rospy.get_name()
self.rate = rospy.Rate(10)
# Publish velocity of each wheel
self.pub_w_l = rospy.Publisher('enc/lwheel', Float32)
self.pub_w_r = rospy.Publisher('enc/rwheel', Float32)
# Publish distance traveled by each wheel
self.pub_dist_l = rospy.Publisher('data/ldist', Float32)
self.pub_dist_r = rospy.Publisher('data/rdist', Float32)
# A map from motor names to their pin number on the BBB
self.pin_map = {self.MOTOR_LEFT:self.PIN_LEFT_ENC,
self.MOTOR_RIGHT:self.PIN_RIGHT_ENC,
self.MOTOR_SHELL:self.PIN_SHELL_ENC}
# Map from motor names to their direction pin number
self.dir_map = {self.MOTOR_LEFT:self.PIN_LEFT_DIR,
self.MOTOR_RIGHT:self.PIN_RIGHT_DIR,
self.MOTOR_SHELL:self.PIN_SHELL_DIR}
## Set up IO
ADC.setup()
## Initialize important values
self.w_l = 0 # Left wheel angular velocity
self.w_r = 0 # Right wheel angular velocity
self.dist_l = 0 #
self.dist_r = 0
# Time management
self.then = rospy.Time.now()
def getVolumeAndStationValue():
prevStation = 0
while True:
sample = 0
volReading = 0
statReading = 0
while sample < 10:
volReading += adc.read(self.volumePot)
time.sleep(0.01)
statReading += adc.read(self.stationPot)
sample += 1
time.sleep(0.05)
volReading = volReading / 10.0
statReading = int(statReading * 100)
station = statReading
if station != prevStation:
# print prevStation, station
if self.have_stations:
print 'True'
prevStation = station
volume = volReading
volString = "%.2f" % round(volume, 2)
previousVolume = self.player.get_property('volume')
prevVolString = "%.2f" % round(previousVolume, 2)
if volString != prevVolString:
# print previousVolume, volume
self.player.set_property('volume', volume)
def getVoltage():
ADC.setup()
adc = 0.0
for i in range(MEASURE_POINTS) :
adc = adc + ADC.read(voltagePin)
adc /= MEASURE_POINTS
if adc<0.405:
return "low"
if adc>0.565:
return "high"
adc = "{0:.2f}".format(adc)
try:
voltage = adcToVoltage[adc]
except:
return "error"
return str(voltage)
def avoid_():
def readfile_coordinates():
global line
f = open('temp.txt', 'r')
temp = f.readlines(line)
f.close()
latitude = temp.split("")[0]
longitude = temp.split("")[1]
while True:
try:
while True:
readfile_coordinates(line)
scheduler()
arbiter()
except KeyboardInterrupt: # pressing ctrl C stops operation and cleans up
PWM.stop(left_wheel)
PWM.stop(right_wheel)
PWM.cleanup()
GPIO.cleanup()
ADC.cleanup()
def get_voltage(self):
Vo = ADC.read("P9_39")* 1.8
Vo = ADC.read("P9_39") * 1.8
R1 = 10 * 1000
R2 = 2.2 * 1000
Vi = Vo * (R1 + R2) / R2
return Vi
def setup_analog_pin(self):
"""
This method validates and configures a pin for analog input
:return: None
"""
# clear out any residual problem strings
#
self.last_problem = '2-0\n'
pin = self.validate_pin(self.analog_pins)
if pin == 99:
self.last_problem = '2-1\n'
return
index = self.analog_pins.index(pin)
pin_entry = self.analog_pin_states[index]
if self.payload['enable'] == 'Enable':
pin_entry['enabled'] = True
pin_entry['mode'] = 'analog'
self.analog_pin_states[index] = pin_entry
else:
pin_entry['enabled'] = False
self.analog_pin_states[index] = pin_entry
if not self.analog_reader:
self.analog_reader = AnalogReader(self.board_num, self.analog_pin_states)
ADC.setup()
self.analog_reader.start()
def run(self):
"""
Continuously monitor the A/D
:return:
"""
value = None
while True:
try:
for entry in self.pin_states:
if entry['enabled']:
if entry['mode'] == 'analog':
value = ADC.read(entry['pin'])
value = round(value, 4)
elif entry['mode'] == 'sonar':
value = ADC.read_raw(entry['pin'])
value = self.convert_to_distance(value)
digital_reply_msg = umsgpack.packb({u"command": "analog_read", u"pin": entry['pin'],
u"value": str(value)})
envelope = ("B" + self.board_num).encode()
self.publisher.send_multipart([envelope, digital_reply_msg])
time.sleep(0.05)
except KeyboardInterrupt:
sys.exit(0)
def __init__(self, probe_pin, sh_a, sh_b, sh_c):
"""
Initializes the controller for a temperature probe
:param probe_pin: The BBB ADC pin to use, e.g. P9_39
:type probe_pin: str
:param sh_a: The Steinhart-Hart A coefficient
:type sh_a: float
:param sh_b: The Steinhart-Hart B coefficient
:type sh_b: float
:param sh_c: The Steinhart-Hart C coefficient
:type sh_c: float
"""
self._sh_a = sh_a
self._sh_b = sh_b
self._sh_c = sh_c
self._probe_pin = probe_pin
self._ema_temp = None
self._last_temp = None
ADC.setup()
# Take a temperature immediately
self._take_temperature()
# Setup a periodic call every 1 second to take the temperature
self._periodic_temp = tornado.ioloop.PeriodicCallback(
self._take_temperature,
SAMPLE_PERIOD * 1000)
self._periodic_temp.start()
def monitor_sensor():
"""Read the sensor value and detect an alarm condition."""
logger.info("Starting to monitor sensor")
post_to_twitter("Door Entry Alarm: started")
ADC.setup()
# start with door in closed state
is_open = False
logger.info("Door closed")
post_to_twitter("Door closed")
samples_counter = 0
while True:
reading = ADC.read(SENSOR_PIN)
if is_open == False:
if reading > SENSOR_THRESHOLD:
samples_counter += 1
if samples_counter >= SAMPLES_REQUIRED:
is_open = True
logger.info("Door opened")
post_to_twitter("Door opened")
samples_counter = 0
else:
samples_counter = 0
elif is_open == True:
if reading <= SENSOR_THRESHOLD:
is_open = False
logger.info("Door closed")
post_to_twitter("Door closed")
samples_counter = 0
time.sleep(SAMPLE_FREQUENCY)
def task(self):
ADC.setup()
while not self.stop.isSet():
try:
value = ADC.read_raw(self.pin)
now = datetime.datetime.now()
print self.protocol + "%f : %d : %d : %d "%(value,now.minute,now.second,now.microsecond)
val = str(value)
date = str(now.minute) + ":" + str(now.second) + ":" + str(now.microsecond)
data = {'data':val,'sensor_code':self.sensor_code, 'date':date}
string_data = json.dumps(data)
if global_module.mode == 0:
global_module.wifi_namespace_reference.on_send(data)
else:
#print "usb is sending"
global_module.ep_out.write(string_data.encode('utf-8'),timeout=0)
if self.isLogging:
self.log_file.write(val + " : " + date + "\n")
sleep(self.rate);
except Exception as e:
print e;
self.log_file.write(e);
self.log_file.close();
e_msg = "Sorry! Unable to read Analog Data"
print e_msg
if global_module.mode == 0:
global_module.wifi_namespace_reference.on_error(e_msg)
else:
global_module.ep_out.write(e_msg.encode('utf-8'),timeout=0)
def __init__(self):
#init signal for motor dirction
GPIO.setup("P8_7", GPIO.OUT)
GPIO.setup("P8_8", GPIO.OUT)
GPIO.setup("P8_9", GPIO.OUT)
GPIO.setup("P8_10", GPIO.OUT)
#init signal for left, right brush
GPIO.setup("P8_17", GPIO.OUT)
GPIO.setup("P8_18", GPIO.OUT)
#init signal for left, right encoder
GPIO.setup("P9_15", GPIO.IN)
GPIO.setup("P9_21", GPIO.IN)
#set up ADC for IR sensor
ADC.setup()
#set up the camera and face cascade
self.cam = cv2.VideoCapture(0)
self.face_cascade = cv2.CascadeClassifier('/root/Ferriclean_Robot/haarcascade_frontalface_default.xml')
self.face = False
#the parameter of wheels direction and distance
self.direction_right = True
self.direction_left = True
self.distance_right = 0
self.distance_left = 0
#the robot left and right wheels PWM duty
self.lefd = 40
self.rigd = 40
#the robot desired speed, set point, unit: counts/ sec
self.lefsp = 400
self.rigsp = 400
def read_IR(self):
self.mid = ADC.read("P9_35")
self.lef = ADC.read("P9_33")
self.rig = ADC.read("P9_36")
self.mrig = ADC.read("P9_37")
self.mlef = ADC.read("P9_39")
self.value = [self.lef, self.mid, self.rig, self.mlef, self.mrig]
def __init__(self, pins=["P9_27", "P8_15", "P8_11", "P8_12"]):
# creates pins for the stepper motors
self.pins = pins
# initlizes the pins for stepper
initialize_pins(self.pins)
set_all_pins_low(self.pins)
# sets angle to 0
self.angle = 0
# Initialize stepping mode
self.drivemode = fullstep
# sets up ADC
ADC.setup()
# cretes a value for the threshold
self.threshold = 0.7
# creates a variable for the distance measurment
self.distance = 0
# creates a variable for the last ir sensor read
self.lastval = 1
# creates a variable for the ROS message and initilizes constant parameters
self.msg = LaserScan()
self.header = Header()
self.msg.angle_increment = 0.015708
self.msg.range_min = 0
self.msg.range_max = 10
def IR_call():
#Sets up the ADC pins which we will need to read the raw voltage of the IR sensor
ADC.setup()
pub = rospy.Publisher('/range', Range, queue_size=10)
rospy.init_node('Range_Finder')
r = rospy.Rate(5) #Sets the code to be executed 5 times per second
IR.header.frame.id = "inertial_link"
# Radiation value is set to 1 because the SHARP sensor is an infared sensor
IR.radiation_type = 1
# the field of view was set to 20 degrees but the value ha to be provided in
IR.field_of_view = 3.14/9.0
# Minimum distance is set to 15 cm in order to avoid confusion where voltage could have two corresponding distances
IR.min_range = 0.15
# Maximum distance is 150 cm as sepcified by the spec sheet
IR.Max_range = 1.50
#Initalize IR sensor to have no value
IR.range = None
while not rospy.is_shutdown():
# We are going to use pin P9_39 because it worked and was used in the last assignment
# Want to store the data as a float so it can be used to find the distance
value = float(ADC.read_raw("P9_39"))
# Converts the voltage to distance by using an equation derived from the IR spec sheet
# Distance to voltage was best modeled as a 4th degree polynomial
distance = (20.065 * (value ** 4) - 155.71 * (value ** 3) + 443.24 * (value ** 2) - 570.96 * value + 324.71) * 100
# Stores the distance conversion as the range
IR.range = distance
rospy.loginfo(IR)
# Publishes the data of the IR sensor
pub.publish(IR)
r.sleep()
def read(self):
voltageHI = ADC.read("AIN0") * 1800 #1.8V
voltageLO = ADC.read("AIN1") * 1800 #1.8V
# print voltage
self.add('/tempLO',voltageLO)
self.add('/tempHI',voltageHI)
def __init__(self, data, write, cs, clk, a=1, debug=False):
self.data = data
self.write = write
self.cs = cs
self.clk = clk
self.numdisp = a
self.chip_max = 4 * self.numdisp
self.y_max = 16
self.x_max = 32*self.numdisp
self.shadowram = np.zeros((64, 8), dtype=int)
GPIO.setup(self.data, GPIO.OUT)
GPIO.setup(self.write, GPIO.OUT)
GPIO.setup(self.cs, GPIO.OUT)
GPIO.setup(self.clk, GPIO.OUT)
ADC.setup()
self.debug = debug
#GPIO.cleanup()
if self.debug:
print ("GPIOs exported!")
self.setup()
def setup():
"""Performs basic setup for the daemon and ADC"""
global exitLock
logger.debug("Setting up ADC")
try:
ADC.setup()
except RuntimeError as e:
logger.critical(
"Attempting to start the BBB GPIO library failed. This can be "
"due to a number of things, including:"
)
logger.critical(
"- Too new a kernel. Adafruit BBIO runs on 3.8.13. Downgrades "
"to the version this is tested with can be done easily via:")
logger.critical(
" apt-get install linux-{image,headers}-3.8.13-bone79")
logger.critical("- Not running on a BBB")
logger.critical("- Conflicting capes")
logger.critical("Raw exception: %s", str(e))
return
tstat = connect() # TODO: retries
logger.debug("Attaching signal handlers")
signal.signal(signal.SIGINT, handle_exit)
signal.signal(signal.SIGTERM, handle_exit)
logger.debug("Building Lock for singal interrupts")
exitLock = Lock()
exitLock.acquire()
logger.debug("Running main loop")
return tstat
def setup(self, opts):
self.tz = opts.get('Timezone')
self.rate = float(opts.get('Rate', 1))
ADC.setup()
self.add_timeseries('/humidityLO', 'V', data_type="double",timezone=self.tz)
self.add_timeseries('/humidityHI', 'V', data_type="double",timezone=self.tz)
def check_voltage():
os.system("echo 59 > /sys/class/gpio/export")
os.system("echo out > /sys/class/gpio/gpio59/direction")
os.system("echo 1 > /sys/class/gpio/gpio59/value")
VOLTAGES = [['AIN0', 0.30, 1.7],
['AIN2', 0.85, 0.95],
['AIN4', 1.14, 1.26],
['AIN6', 1.42, 1.58],
['AIN1', 1.04, 1.16], # VDD_3V3B / 3
['AIN3', 1.58, 1.75], # VDD_5V / 3
['AIN5', 1.60, 1.70]] # SYS_5V / 3
ADC.setup()
result = []
status = 'ok'
for v in VOLTAGES:
ain = ADC.read(v[0])*1.8
if ain < v[1] or ain > v[2]:
result.append('%f (%s) is out of range: %f ~ %f.' % (ain, v[0], v[1], v[2]))
status = 'error'
else:
result.append('%f (%s) is in of range: %f ~ %f.' % (ain, v[0], v[1], v[2]))
return status,result
def __init__(self, baseIP, robotIP):
# Initialize GPIO pins
GPIO.setup(self.dir1Pin[LEFT], GPIO.OUT)
GPIO.setup(self.dir2Pin[LEFT], GPIO.OUT)
GPIO.setup(self.dir1Pin[RIGHT], GPIO.OUT)
GPIO.setup(self.dir2Pin[RIGHT], GPIO.OUT)
GPIO.setup(self.ledPin, GPIO.OUT)
# Initialize PWM pins: PWM.start(channel, duty, freq=2000, polarity=0)
PWM.start(self.pwmPin[LEFT], 0)
PWM.start(self.pwmPin[RIGHT], 0)
# Set motor speed to 0
self.setPWM([0, 0])
# Initialize ADC
ADC.setup()
self.encoderRead = encoderRead(self.encoderPin)
# Set IP addresses
self.baseIP = baseIP
self.robotIP = robotIP
self.robotSocket.bind((self.robotIP, self.port))
def __init__(self,pin):
# Initialize ADC
ADC.setup()
# Set pin
self.pin = pin
def read(self):
voltageLO = ADC.read("AIN2") * 1.8 #1.8V
voltageHI = ADC.read("AIN3") * 1.8 #1.8V
# print voltage
self.add('/humidityLO',voltageLO)
self.add('/humidityHI',voltageHI)
def setup(self, opts):
#self.tz = opts.get('Properties/Timezone', 'America/Denver')
#self.tz = 'America/Denver'
self.rate = float(opts.get('Rate', 1))
ADC.setup()
self.add_timeseries('/soil_moistureLO', 'V', data_type="double")
self.add_timeseries('/soil_moistureHI', 'V', data_type="double")
def read(self):
voltageLO = ADC.read("AIN2") * 1.8 #1.8V
voltageHI = ADC.read("AIN3") * 1.8 #1.8V
# print voltage
self.add('/soil_moistureLO',voltageLO)
self.add('/soil_moistureHI',voltageHI)
def test_setup_adc(self):
ADC.setup()
files = os.listdir('/sys/devices')
ocp = '/sys/devices/'+[s for s in files if s.startswith('ocp')][0]
files = os.listdir(ocp)
helper_path = ocp+'/'+[s for s in files if s.startswith('helper')][0]
assert os.path.exists(helper_path + "/AIN1")
def test_many_read_adc(self):
import time
ADC.setup()
for x in range(0,10000):
start = time.time()
value = -1
value = ADC.read("AIN1")
assert value != -1
def connectToGateway(moduleName):
'''optional
called when the system connects to the cloud.
Always called first (before updateAssets) '''
global _cloud, _pinLayouts
_device = device.Device(moduleName, 'beagle')
configs = config.loadConfig('beaglePins', True)
_pinLayouts = configs['pinLayouts']
ADC.setup() # need to start the ADC driver as well
setupGPIO()
def __init__(self, baseIP, robotIP):
# Initialize GPIO pins
GPIO.setup(self.dir1Pin[LEFT], GPIO.OUT)
GPIO.setup(self.dir2Pin[LEFT], GPIO.OUT)
GPIO.setup(self.dir1Pin[RIGHT], GPIO.OUT)
GPIO.setup(self.dir2Pin[RIGHT], GPIO.OUT)
GPIO.setup(self.ledPin, GPIO.OUT)
# Initialize PWM pins: PWM.start(channel, duty, freq=2000, polarity=0)
PWM.start(self.pwmPin[LEFT], 0)
PWM.start(self.pwmPin[RIGHT], 0)
# Set motor speed to 0
self.setPWM([0, 0])
# Initialize ADC
ADC.setup()
self.encoderRead = encoderRead(self.encoderPin)
# Set IP addresses
self.baseIP = baseIP
self.robotIP = robotIP
self.robotSocket.bind((self.robotIP, self.port))
if DEBUG:
## Stats of encoder values while moving -- high, low, and all tick state
self.encHighLowCntMin = 2**5 # Min number of recorded values to start calculating stats
self.encHighMean = [0.0, 0.0]
self.encHighVar = [0.0, 0.0]
self.encHighTotalCnt = [0, 0]
self.encLowMean = [0.0, 0.0]
self.encLowVar = [0.0, 0.0]
self.encLowTotalCnt = [0, 0]
self.encNonZeroCntMin = 2**5
self.encNonZeroMean = [0.0, 0.0]
self.encNonZeroVar = [0.0, 0.0]
self.encNonZeroCnt = [0, 0]
# Record variables
self.encRecSize = 2**13
self.encRecInd = [0, 0]
self.encTimeRec = np.zeros((2, self.encRecSize))
self.encValRec = np.zeros((2, self.encRecSize))
self.encPWMRec = np.zeros((2, self.encRecSize))
self.encNNewRec = np.zeros((2, self.encRecSize))
self.encPosRec = np.zeros((2, self.encRecSize))
self.encVelRec = np.zeros((2, self.encRecSize))
self.encTickStateRec = np.zeros((2, self.encRecSize))
self.encThresholdRec = np.zeros((2, self.encRecSize))
def init(): #for starter in pwmarray: # print starter # PWM.start(starter,15,100,0) for starter in GPIOinArray: print starter GPIO.setup(starter, GPIO.IN) for starter in GPIOoutArray: print starter GPIO.setup(starter, GPIO.OUT) ADC.setup()
def adc_get_value(chan):
return ADC.read(chan) * 1800
def ReadAdc(adc_pin):
adc_rtat = []
ADC.setup()
adc_rtat.append(ADC.read(adc_pin))
return adc_rtat
import Adafruit_BBIO.ADC as ADC
from time import sleep
ADC.setup()
pino = 'P9_36'
while True:
v1 = ADC.read(pino)
sleep(.01)
v2 = ADC.read(pino)
print '%s %10.3f |%20s| %10.3f |%20s|' % (pino, v1, int(v1 * 20) * '#', v2,
int(v2 * 20) * '#'),
print # '*' * int(tempo*60)
sleep(.01)
import Adafruit_BBIO.ADC as ADC
import Adafruit_BBIO.GPIO as GPIO
import time
RedLED = "P9_27"
GreenLED = "P9_30"
GPIO.setup(RedLED, GPIO.OUT)
GPIO.setup(GreenLED, GPIO.OUT)
GPIO.output(RedLED, GPIO.LOW)
GPIO.output(GreenLED, GPIO.LOW)
ADC.setup()
laststate = "Temperature High"
import smtplib
to = '*****@*****.**'
gmail_user = '******'
gmail_pwd = '##!$@%8'
smtpserver = smtplib.SMTP("smtp.gmail.com", 587)
smtpserver.ehlo()
smtpserver.starttls()
smtpserver.ehlo
smtpserver.login(gmail_user, gmail_pwd)
try:
while True:
reading = ADC.read('P9_40')
millivolts = reading * 1800
temp_c = millivolts / 10
if (temp_c > 50) and laststate == "Temperature Low":
print "Temperature is high"
def front_sensor(front_threshold, ADC_INPUT):
measured_value = ADC.read(ADC_INPUT)
distance = 35 * math.exp(-0.0006 * measured_value * 4000)
if (distance <= front_threshold): return 1
if (distance > front_threshold): return 0
# print(value*1.8)
#GPIO.output("P9_11",0)
#utilizando GPIO
#GPIO.setup("P9_23", GPIO.IN) #pin 23 es una entrada beagle, lee la senal digital
#GPIO.setup("P9_25", GPIO.OUT) #pin 25 salida beagle alimenta led
#GPIO.output("P9_25", 1) #prende led
#time.sleep(5)
#GPIO.output("P9_25", 0) #apaga led
#utilizando ADC (analogo)
ADC.setup()
analogPin="P9_39"
suma0,suma=0,0
for i in range(2000):
soundVal=ADC.read(analogPin)*1.8 #*3.42*1000
decibel=20*math.log10(soundVal/1.8)
#s.append(soundVal) #Creando una lsita
# soundVolt=soundVal*1000 #*1.7*1000
# print "The Voltage is: "+str(soundVal)+" V"
#print "The decibel is: "+str(decibel)+" dB"
#print(round(ADC.read(analogPin),10),str(round(soundVal,2))+" ", str(decibel)+str(" dB"))
# print(round(soundVolt,3))
#time.sleep(0.5)
#GPIO.output("P9_25",0)
suma+=soundVal
suma0+=decibel
def mapVals(val, inMin, inMax, outMin, outMax):
toRet = float(outMin + (float(outMax - outMin) * (float(val - inMin) / float(inMax - inMin))))
# print('turned %s into %s'%(val,toRet))
toRet = clamp(toRet, outMin, outMax)
return toRet
def clamp(val, tmin, tmax):
if val > tmax:
val = tmax
if val < tmin:
val = tmin
return val
uart.setup("UART2")
adc.setup()
atexit.register(exit_handler)
printer = Adafruit_Thermal("/dev/ttyO2", 19200, timeout=5)
printer.begin()
printer.upsideDownOn()
printer.feed(3)
printer.print(parse('i am awake and I am APPLE (light)'))
printer.feed(1)
rPast = 0
rMax = 0 # all-time max sensor reading
rMin = 100000 # all-time min sensor reading
WINDOW_SIZE = 30 # size of moving-window avg
noop = 0 # number of intervals passed without a trigger
noop_threshold = 480
emission_threshold = 0.1 # changed this for vcnl4000, used to be 0.7
import time #measure proceeding time to calculate Hz
import Adafruit_BBIO.ADC as ADC #use analog read
ADC.setup()
import numpy as np
import requests #connect IFTTT
from scipy import signal #detect peak
# parameters
analogPin = "P9_39"
sample_number = 2000
repeat_number = 2
sound_data = []
Gx = []
Gy = []
# IFTTT_Webhook
def ifttt_webhook(eventid):
payload = {"value1": Gx_i, "value2": Gy_i, "value3": freq[maximal_idx]}
url = "https://maker.ifttt.com/trigger/" + eventid + "/with/key/xxxxxxxxxxxxxxxxxxx"
response = requests.post(url, data=payload)
# Starting measurement sound data
for i in range(10000): #cutting launch time peak? noise?
sound_data_t = ADC.read(analogPin)
sound_data.append(sound_data_t)
sound_data = [] #sound_data resset
'''
Sensor test
'''
import Adafruit_BBIO.ADC as ADC
from SBE_functions import *
# serial input setup
ser = setupSerial()
poten_pin = "P9_33"
poten_value = 0 # input range 0 - 1.0
ADC.setup()
rval = 0.0
sen_gain = 0.003384*25.4 # converts sensor reading to mm
gained_val = 0.0 # sensor reading in mm
while True:
try:
rval = ToughSonicRead(ser)
gained_val = rval * sen_gain # sensor reading in mm
poten_value = ADC.read(poten_pin)
poten_value = ADC.read(poten_pin) # read twice due to possible known ADC driver bug
print("Ultrasonic [mm]: ", int(gained_val), " Wand [0-1]: ", poten_value)
except KeyboardInterrupt: # allows for easy program stop by tester
break
# clean up
def get_data(self):
return ADC.read_raw(self.__pin)
def __init__(self,pin):
self.__pin = pin
ADC.setup()
def scan(self):
#initilizes a count for number of datapoints
count = 0
#changes angle slightly so loop will run
self.angle = .0001
#creates a variable that returns 1 when the scan completes
scanComplete = 0
#records the start time
self.startTime = rospy.get_time()
#runs while there are less than 400 data points or the angle becomes is not 0
while count < 400 and self.angle != 0:
for pin_index in range(len(self.pins)):
#gets time before first reading
self.datatime1 = rospy.get_time()
self.drivemode(self.pins, pin_index)
#writes to the LIDAR to take a reading
#writes to the register that takes measurment
self.i2c.write8(self.distWriteReg, self.distWriteVal)
#waits for 'x' seconds to control motor speed and prevent sensor overpolling(minimum sleep time is .0025)
time.sleep(.01)
#checks for when the sensor triggers 0 angle calibration
#reads value from sensor
rotateVal = ADC.read("P9_39")
#checks if the sensor is over the threshold but the last value is under the threshold
#if both are true the sensor has just been passe dan should now reset
if rotateVal > self.threshold and self.lastval < self.threshold:
#sets angle before it gets reset
self.msg.angle_max = self.angle
self.angle = 0
else:
self.angle = self.angle + .9
#sets max angle to the most recent angle
self.msg.angle_max = self.angle
self.lastval = rotateVal
#saves angle in a list so the first angle can be recalled
self.angleR.append(self.angle)
#reads distance from Lidar
dist1 = self.i2c.readU8(self.distReadReg1)
dist2 = self.i2c.readU8(self.distReadReg2)
#shifts bits to get correct distance
self.distance = (dist1 << 8) + dist2
#writes dynamic data to msg
#uses final data gathering time for the time increment between data readings
#taking the average over the entire period would probably be more accurate
self.msg.time_increment = (self.datatime1 - self.datatime2)
self.msg.ranges.append(self.distance)
#saves previous start time
self.datatime2 = self.datatime1
count = count + 1
#sets pin low when scan completes
set_all_pins_low(self.pins)
#writes static data to laserscan message
self.msg.angle_min = (self.angleR[0] * 0.0174533)
#changes angle to radians
self.msg.angle_max = (self.msg.angle_max * 0.0174533)
#records final time
self.finishTime = rospy.get_time()
#calcualtes scan time
self.msg.scan_time = (self.finishTime - self.startTime)
#changes variable when scan is complete
scanComplete = 1
return scanComplete
import Adafruit_BBIO.GPIO as GPIO
import Adafruit_BBIO.ADC as ADC
ADC.setup()
from time import sleep
analogPin = "P9_40"
led1 = "P9_41"
led2 = "P9_30"
led3 = "P9_23"
led4 = "P8_11"
GPIO.setup(led1, GPIO.OUT)
GPIO.setup(led2, GPIO.OUT)
GPIO.setup(led3, GPIO.OUT)
GPIO.setup(led4, GPIO.OUT)
while (1):
potval = ADC.read(analogPin) * 1000
a = int(potval)
print a
sleep(0.5)
if (a > 500 and a < 525):
GPIO.output(led1, GPIO.HIGH)
GPIO.output(led2, GPIO.LOW)
GPIO.output(led3, GPIO.LOW)
GPIO.output(led4, GPIO.LOW)
elif (potval >= 525 and potval < 550):
GPIO.output(led1, GPIO.LOW)
GPIO.output(led2, GPIO.HIGH)
GPIO.output(led3, GPIO.LOW)
GPIO.output(led4, GPIO.LOW)
elif (potval >= 550 and potval < 575):
GPIO.output(led1, GPIO.LOW)
# Created by Carmelito Andrade for the DIY Drum kit project #Based on Adafruit's python libary for 12-Key Capacitive Touch Sensor Breakout - MPR121 #clone the forked github repo from - https://github.com/adafruit/Adafruit_Python_MPR121 #git clone https://github.com/CJAndrade/DIY-Drum-Kit #sudo python setup.py install import sys import time import os import subprocess import Adafruit_MPR121.MPR121 as MPR121 import Adafruit_BBIO.ADC as ADC import time ADC.setup() folderDial = "P9_33" tuneDial = "P9_35" tuneFileAt = '/root/soundFiles/tunes' song1Poll = 0 song2Poll = 0 wavFileAt = '/root/soundFiles/basicDrum' os.chdir(wavFileAt) print 'Adafruit MPR121 Capacitive Touch Sensor Test' # Create MPR121 instance. cap = MPR121.MPR121() # Initialize communication with MPR121 using default I2C bus of device, and # default I2C address (0x5A). On BeagleBone Black will default to I2C bus 0. if not cap.begin(bus=1):
from gRPC import MessagesServices_pb2_grpc as ms_grpc
import Adafruit_BBIO.GPIO as GPIO
import Adafruit_BBIO.ADC as ADC
# Set up GPIO reading of the hall effect sensors. Need to do this using the logic level shifter because the sensors need and output 5V, while the BBB runs on 3V!!
# print("setting up GPIO")
GPIO.setup(CONST.HALL_STBD_PIN, GPIO.IN)
GPIO.setup(CONST.HALL_PORT_PIN, GPIO.IN)
# Set up the ADC for reading the pot that was in the plans, but never materialized due to campus closure.
# print("setting up ADC")
ADC.setup()
# Create a protobuf to store sensor values and fill it in with dummy values.
# NOTE: filling protobufs with 0s seems to result in a completely empty structure that will not be properly decoded on the other side.
sensor_msg = ms.BBBSersorData()
sensor_msg.hall_port = False
sensor_msg.hall_stbd = False
sensor_msg.pot_val = 0.5
sensor_msg.pot_centered = True
def readSensors(): # Call this with some regularity
# Check if the pot is centered
DHT_PIN = 'P8_11'
FREQUENCY_SECONDS = 900
humidity, temp = Adafruit_DHT.read(DHT_TYPE, DHT_PIN)
if humidity is None or temp is None:
time.sleep(2)
continue
print 'Temperature: {0:0.1f} F'.format((((temp*9)/5)+32))
print 'Humidity: {0:0.1f} %'.format(humidity)
print'\n'
ADC.setup()
soil_moisture = ADC.read("P9_36")
soil_moisture = ADC.read("P9_36")
if 1 > soil_moisture > .8 :
print 'Low Soil Moisture: '
print soil_moisture
elif .8> soil_moisture > .5 :
print 'Medium Soil Moisture: '
print soil_moisture
else :
print 'High Soil Moisture: '
print soil_moisture
print '\n'
import Adafruit_BBIO.ADC as ADC
import time
import datetime
#For reading analog data
ADC.setup()
f1 = open('pressure.csv', 'a')
f1.write("Month,Day,Hour,Minute,Second,Raw Pressure, Pressure (Hg)\n")
while 1:
now = datetime.datetime.now()
rawP = ADC.read("P9_39")
#convert raw voltage to pressure in Hg - formula derived from data sheet, page 11: http://sensing.honeywell.com/index.php?ci_id=151133
#p = ((rawP * 1.8 * 2 -.33)/1.65)*29.92
#p = ((rawP * 1.8 * 2 -.33)/1.65)*100
p = (1.6 * (rawP * 2.0 * 1.8 - 3.3 * 0.10)) / (0.8 * 3.3) * 100
print str(rawP) + ' ' + str(p)
#write to csv file
f1.write(
str(now.month) + ',' + str(now.day) + ',' + str(now.hour) + ',' +
str(now.minute) + ',' + str(now.second) + ',' + str(rawP) + ',' +
str(p) + '\n')
time.sleep(1)
f1.close()
X_msb = 0x03
X_lsb = 0x04
Z_msb = 0x05
Z_lsb = 0x06
Y_msb = 0x07
Y_lsb = 0x08
i2c = Adafruit_I2C(mag_addr)
UART.setup("UART2")
ser = serial.Serial(port="/dev/ttyO2", baudrate=9600)
ser.close()
ser.open()
ADC.setup()
# Based on observation of high and low raw readings of the accelerometer X 3.6 V. Then took the average of each.
zeroOffsetZ = 1.672
zeroOffsetX = 1.595
zeroOffsetY = 1.614
#The sensitivity or conversion factor is the average for each axis of the accelerometer minus low raw reading.
conversionFactorZ = 0.322
conversionFactorY = 0.325
conversionFactorX = 0.319
# Values off of the datasheet for Thermistor, to calculate temp
Bvalue = 3348 #Beta
Ro = 1000 #Resistance at 25 C
To = 298.15 #Room temperature Kelvin
import Adafruit_BBIO.ADC as ADC
import time
#Connect Grove UV Sensor to P9_40
ADC.setup()
while True:
value = ADC.read("P9_40")
voltage = value * 1.8 #1.8V
print "method_1:",voltage,"V"
print "method_2:", ADC.read_raw("AIN1"),"mV"
time.sleep(0.5)
#Written for the 135-102DAG-J01 Thermistor
import Adafruit_BBIO.ADC as ADC
import time
import datetime
import math as mt
ADC.setup()
#See June 4 comment on http://ealmberg.blogspot.com/2015/06/4-june-15.html
Bvalue = 3348 #Beta
Ro = 1000 #Resistance at 25 C
To = 298.15 #Room temperature in Kelvin
# Make sure the out file is opened properly
while 1:
try:
f1 = open('/media/CARD/temp2.csv', 'a')
f2 = open('/media/CARD/temp_errors2.csv', 'a')
print "Successfully opened", f1.name
print "Successfully opened", f2.name
f1.write(
"Month,Day,Hour,Minute,Second,ADC,Resistance,Kelvin,Celsius,Fahrenheit\n"
)
f2.write("Month,Day,Hour,Minute,Second,Error\n")
break
except Exception as error1:
print 'Error ' + str(error1)
time.sleep(1)
# Get thermistor values and write them to file
#!/usr/bin/python
import Adafruit_BBIO.ADC as ADC
import time
import datetime
import numpy as np
ADC.setup()
# Based on observation of high and low raw readings X 3.6 V. Then took the average of each.
zeroOffsetX = 1.595
zeroOffsetY = 1.614
zeroOffsetZ = 1.672
#The sensitivity or conversion factor is the average for each axis minus low raw reading.
conversionFactorX = 0.319
conversionFactorY = 0.325
conversionFactorZ = 0.322
# Make sure the out file is opened properly
while 1:
try:
f1 = open('/media/CARD/acceleration2.csv', 'a')
# raise IOError
print "Successfully opened", f1.name
f1.write("Month,Day,Hour,Minute,Second,Xraw,Yraw,Zraw,X,Y,Z,Norm\n")
break
except Exception as err:
print 'Error:', err
time.sleep(1)
def Temperatura(PinTemperatura):
reading = ADC.read(PinTemperatura)
milivolts = reading * 1800
temp_c = (milivolts / 10.0) + 143.70 - 273.15
return (round(temp_c, 0))
import Adafruit_BBIO.ADC as ADC
import Adafruit_BBIO.PWM as PWM
import time
sensor_pin = 'P9_40'
servo_pin = "P8_13"
duty_min = 3
duty_max = 14.5
duty_span = duty_max - duty_min
PWM.start(servo_pin, (100 - duty_min), 60.0, 1)
angle_f = float(90)
duty = 100 - ((angle_f / 180) * duty_span + duty_min)
duty_zero = 100 - (0 * duty_span + duty_min)
ADC.setup()
print('Reading\t\tVolts')
while True:
reading = ADC.read(sensor_pin)
print(reading)
if reading >= 0.85:
PWM.set_duty_cycle(servo_pin, duty)
else:
PWM.set_duty_cycle(servo_pin, duty_zero)
time.sleep(1)
from Adafruit_BBIO import ADC
from time import sleep
from redis import *
import socket, sys
ADC.setup()
client = StrictRedis(host="127.0.0.1")
proportional = 12.2 / 2.2
VoltageFactor_ip = {
'10.128.170.107': 100,
'10.128.170.108': 1000,
'10.128.170.109': 100,
'10.128.170.110': 100,
'10.128.170.111': 100,
'10.128.170.112': 3000,
'10.128.170.113': 1500,
'10.128.170.116': 1500,
'10.128.180.107': 1000,
'10.128.180.108': 100,
'10.128.180.109': 100,
'10.128.180.110': 3000
}
def get_ip():
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
try:
# doesn't even have to be reachable
import time
import math
import Adafruit_BBIO.GPIO as GPIO
import Adafruit_BBIO.ADC as ADC
#To install...
#https://learn.adafruit.com/setting-up-io-python-library-on-beaglebone-black/installation-on-ubuntu
Range_pin = "P9_41"
GPIO.setup(Range_pin, GPIO.OUT)
GPIO.output(Range_pin, GPIO.HIGH)
#Starts ranging Ultrasonics
ADC.setup()
#Ultrasonics have to get the reading, scale up the voltage and then scale down to to the bealgebone logic
ultrasonic_frontLeft_data_pin = "P9_40"
ultrasonic_frontCenter_data_pin = "P9_36"
ultrasonic_frontRight_data_pin = "P9_38"
ultrasonic_frontLeft_value = ADC.read(ultrasonic_frontLeft_data_pin)
ultrasonic_frontLeft_value = ADC.read(
ultrasonic_frontLeft_data_pin
) #Bug in Adafruit Library. You need to read the alues twice to get the latest value
ultrasonic_frontLeft_voltage = ultrasonic_frontLeft_value * 1.8 #1.8V
ultrasonic_frontLeft_distance = ultrasonic_frontLeft_voltage / 0.00699
ultrasonic_frontCenter_value = ADC.read(ultrasonic_frontCenter_data_pin)
ultrasonic_frontCenter_value = ADC.read(
ultrasonic_frontCenter_data_pin
) #Bug in Adafruit Library. You need to read the alues twice to get the latest value
import Adafruit_BBIO.ADC as ADC
import Adafruit_BBIO.PWM as PWM
import Adafruit_BBIO.GPIO as GPIO
import time
from time import sleep
Enc1 = RotaryEncoder(eQEP1)
Enc1.enable()
Enc1.zero()
Enc1.setAbsolute()
Enc2 = RotaryEncoder(eQEP2)
Enc2.enable()
Enc2.zero()
Enc2.setAbsolute()
ADC.setup() # setup BBB ADC
PWM1 = "P8_13" # motor 1 signal
PWM2 = "P8_19" # motor 2 signal
PWM.start(PWM1, 60)
PWM.start(PWM2, 60)
PWM.set_duty_cycle(PWM1, 69)
PWM.set_duty_cycle(PWM2, 71)
##### setup BBB GPIO pins
GPIO.setup("P8_37", GPIO.OUT)
GPIO.setup("P8_38", GPIO.OUT)
GPIO.setup("P8_31", GPIO.OUT)
GPIO.setup("P8_32", GPIO.OUT)
def back(slp): ###BACK
def is_obstruction():
#Analog read and time delay (Only front sensor)
#There is currently a bug in the ADC driver.
#You'll need to read the values twice in order to get the latest value.
'''
wait_pin_change(ADC.read("AIN2"))
print "Front Detected"
'''
value = ADC.read("AIN2") #"P9_37"
value = ADC.read("AIN2")
'''
#wait_pin_change(ADC.read("AIN3"))
#print "Right Detected"
valRight = ADC.read("AIN3") #"P9_38"
valRight = ADC.read("AIN3")
#wait_pin_change(ADC.read("AIN0"))
#print "Left Detected"
valLeft = ADC.read("AIN0") #"P9_39"
valLeft = ADC.read("AIN0")
#wait_pin_change(ADC.read("AIN1"))
#print "Back"
valBack = ADC.read("AIN1") #"P9_40"
valBack = ADC.read("AIN1")
'''
#POLL FOR INTERRUPT, range is 0-1.65V
voltage = value * 1.8
'''
voltRight = valRight * 1.8
voltLeft = valLeft * 1.8
voltBack = valBack * 1.8
'''
voltRight = 0
voltLeft = 0
voltBack = 0
sensorFlag = False
voltArr = [voltage, voltRight, voltLeft, voltBack]
count = 0
for v in voltArr:
#print (v)
if v > 1.6:
sensorFlag = True
#Poll which sensor went off
if count == 0:
obsC = True
elif count == 1:
obsR = True
elif count == 2:
obsL = True
elif count == 3:
obsB = True
else:
if count == 0:
obsC = False
elif count == 1:
obsR = False
elif count == 2:
obsL = False
elif count == 3:
obsB = False
#increment
count = count + 1
return sensorFlag
# BeagleBone Black Health Sensors
# Autores: Mario Baldini, Joao Baggio, Raimes Moraes
import os
import time
import Adafruit_BBIO.ADC as ADC
from time import sleep
from Adafruit_I2C import Adafruit_I2C
ADC.setup()
adx1 = Adafruit_I2C(0x1d, 1) #(device addr, i2c bus addr)
adx2 = Adafruit_I2C(0x53, 1)
adx3 = Adafruit_I2C(0x1d, 2)
adx4 = Adafruit_I2C(0x53, 2)
POWER_CTL_addr = 0x2D
#DATA_FORMAT_addr = 0x31;
adx1.write8(POWER_CTL_addr, 0x08)
adx2.write8(POWER_CTL_addr, 0x08)
adx3.write8(POWER_CTL_addr, 0x08)
adx4.write8(POWER_CTL_addr, 0x08)
while True:
t_init = time.time()
# solicita todos os valores em 1 comando
# recomendacao do datasheet, para garantir sincronia
#acc1 = adx1.readList(0x32,6)
def calibrate(self, numsteps):
"""
Calculates the coefficient and power terms for the sensor by recording
voltage measurements at known distances and then performing an
exponential curve fit on the data.
numsteps: the number of measurements to take from min to max distance
more steps will give a more accurate curve
"""
import numpy as np
from scipy.optimize import curve_fit
distances = range(self.min, self.max + 1,
(self.max - self.min) / numsteps)
voltages = []
def func(x, a, b):
"""
Curve fitting function. Used to fit data points to the curve
y = a * x ^ b
"""
return a * x**b
print('IR Calibration')
print('\nThe calibration process requires you to place an object ' \
'(a flat piece of card is good) at a variety of distances from ' \
'the minumum distance to the maximum distance.\n\n' \
'Voltage readings will be taken at (cm):')
print distances
for d in distances:
print("Measure @ %d cm" % (d))
sleep(5)
for x in range(5):
sys.stdout.write("%d " % (5 - x))
sys.stdout.flush()
sleep(1)
print("\nReading @ %d cm" % (d))
sleep(2)
value = 0.0
total = 0.0
for x in range(5):
value = ADC.read(self.AIN) * 1.8 * self.scale
total = total + value
print("#%d - %2.4f" % (x + 1, value))
sleep(1)
print("%d cm Average: %2.4f" % (d, total / 5))
print "=" * 15
voltages.append(total / 5)
# fits measured voltages to y = a * x ^ B curve
popt, pcov = curve_fit(func, np.array(voltages), np.array(distances))
self.coeff = popt[0]
self.power = popt[1]
print "Calibration Data"
print "-" * 15
print "Coefficient :", self.coeff
print "Power :", self.power
print "Err 1 std dev:", np.sqrt(np.diag(pcov))
print "\nEquation : distance = %2.2f * scaled_voltage ** %2.2f" % (
self.coeff, self.power)
print "-" * 15
print "Example use:"
print ' IR = SharpIR("P9_36", scale=1560.0/560.0, coeff=%2.6f, power=%2.6f)' % (
self.coeff, self.power)
print "-" * 15
import Adafruit_BBIO.ADC as ADC ADC.setup() from time import sleep sensorPin = "P9_40" while(1): signal = ADC.read(sensorPin) voltage = 1.8 * signal distance = voltage/0.002441 # distance in cm in air distance /= 2.54 # distance in inches in air print "Distance: ",distance," in" sleep(0.025)