# NAME: Thomas De Witte
# Version: 1.1
# Library Import
from gpiozero import DigitalOutputDevice # DIGITALOUTPUTDEVICE is for RELAIS
from gpiozero import Button
from gpiozero.pins.pigpio import PiGPIOFactory
import time
# IPADRES CHANGE THE GREEN TEXT TO CHANGE IP ADRES
factory = PiGPIOFactory('192.168.0.112')
# Setup Outputs
# Relais
CH1 = DigitalOutputDevice(17, True, False, pin_factory=factory)
CH2 = DigitalOutputDevice(22, True, False, pin_factory=factory)
CH3 = DigitalOutputDevice(27, True, False, pin_factory=factory)
CH4 = DigitalOutputDevice(10, True, False, pin_factory=factory)
CH = [CH1, CH2, CH3, CH4]
# LED's
LED1 = DigitalOutputDevice(26, pin_factory=factory)
LED2 = DigitalOutputDevice(19, pin_factory=factory)
LED3 = DigitalOutputDevice(6, pin_factory=factory)
LED4 = DigitalOutputDevice(11, pin_factory=factory)
LED = [LED1, LED2, LED3, LED4]
# Setup Inputs
# Buttons
BTN1 = Button(pin=14, pull_up=False, bounce_time=0.25, pin_factory=factory)
BTN2 = Button(pin=15, pull_up=False, bounce_time=0.25, pin_factory=factory)
BTN3 = Button(pin=23, pull_up=False, bounce_time=0.25, pin_factory=factory)
BTN4 = Button(pin=12, pull_up=False, bounce_time=0.25, pin_factory=factory)
from gpiozero.pins.pigpio import PiGPIOFactory
from gpiozero import AngularServo
import tkinter
from time import sleep
pin_factory = PiGPIOFactory(host='192.168.1.216')
servo = AngularServo(18, pin_factory=pin_factory, min_angle=0, max_angle=100)
servo.max()
sleep(5)
def set_servo_angle(val):
print("Servo angle: ", servo.angle, "Val:", val)
servo.angle = int(val)
root = tkinter.Tk()
scale = tkinter.Scale(orient='horizontal',
from_=servo.min_angle,
to=servo.max_angle,
command=set_servo_angle)
scale.pack()
root.mainloop()
Built and tested with Python 3.7 on Raspberry Pi 4 Model B
"""
import signal
import requests
import logging
from gpiozero import Device, Button
from gpiozero.pins.pigpio import PiGPIOFactory
# Initialize Logging
logging.basicConfig(level=logging.WARNING)
logger = logging.getLogger('main')
logger.setLevel(logging.INFO)
# Initialise GPIOZero
Device.pin_factory = PiGPIOFactory()
BUTTON_GPIO_PIN = 23
button = None
LED_STATES = ['off', 'on', 'blink']
current_led_state = 0 # off
# Make sure thing_name matches the "dweet_led thing" you want to control.
thing_name = '747a1500'
URL = 'https://dweet.io'
def init_button():
"""Setup button"""
global button
button = Button(BUTTON_GPIO_PIN, pull_up=True, bounce_time=0.1)
"""
from gpiozero import LED #to use LED from gpiozero
from gpiozero import Button #to use Button from gpiozero
import multiprocessing #to use multiprocessing
from gpiozero.pins.pigpio import PiGPIOFactory #to use the remote GPIO pins
import time #to use time in the code
__author__ = "Senne De Winter"
__email__ = "*****@*****.**"
__status__ = "Development"
IP = PiGPIOFactory(host='192.168.1.39') #to set the Raspberry Pi IP adress to '....', to use the GPIO pins on this IP
LED_1= LED(16, pin_factory=IP) #to set LED_1 to remote GPIO pin 16
LED_2= LED(20, pin_factory=IP) #to set LED_2 to remote GPIO pin 20
BUTTON_1= Button(26,pin_factory=IP) #to set BUTTON_1 to remote GPIO pin 26
BUTTON_2 = Button(19, pin_factory=IP) #to set BUTTON_2 to remote GPIO pin 19
def set_leds_on_off(): #to turn the leds turn on or off
while True: #to repeat this function untill program is stopped
if BUTTON_1.is_pressed: #to do something if BUTTON_1 is pressed
time.sleep(0.5) #to wait half a second, to debounce the button
LED_1.toggle()
LED_2.toggle()
from gpiozero import LED from gpiozero.pins.pigpio import PiGPIOFactory from signal import pause factory = PiGPIOFactory(host='192.168.1.3') button = Button(2) led = LED(17, pin_factory=factory) led.source = button.values pause()
#!/usr/bin/env python
"""
Maak een teller. Je hebt een drukknop die optelt en één die naar beneden telt.
"""
from gpiozero.pins.pigpio import PiGPIOFactory
from gpiozero import Button
import time
__author__ = "Myrthe Diepeveen"
__email__ = "*****@*****.**"
__status__ = "Development"
remote_factory = PiGPIOFactory(host='192.168.1.31')
Button1 = Button(pin=17, pin_factory=remote_factory)
Button2 = Button(pin=22, pin_factory=remote_factory)
Button3 = Button(pin=23, pin_factory=remote_factory)
def main():
counter = 0
while True:
if Button1.is_pressed:
time.sleep(1)
counter = counter + 1
print(counter)
if Button2.is_pressed:
time.sleep(1)
counter = counter - 1
print(counter)
#! /usr/bin/env python3
# -*- coding: utf-8 -*-
# vim:fenc=utf-8
#
# Distributed under terms of the MIT license.
"""
GPIO module
"""
import asyncio
import logging
import gpiozero
from gpiozero.pins.pigpio import PiGPIOFactory
gpiozero.Device.pin_factory = PiGPIOFactory()
class GPIOController:
def __init__(self, gpiomap, queue, debounce_time, loop):
self.gpiomap = gpiomap
self.queue = queue
self.debounce_time = debounce_time
self.btnstrmap = {}
self._setup_gpios()
self.loop = loop
def _setup_gpios(self):
self.btnmap = {}
for i in self.gpiomap:
btn_name = self.gpiomap[i].lower()
if not btn_name.startswith("none"):
self.btnmap[btn_name] = gpiozero.Button(
"""
A house installation of a raspberry pi that controls 2 relays
"""
from gpiozero.pins.pigpio import PiGPIOFactory
from guizero import App, PushButton
from gpiozero import OutputDevice
import sys
__author__ = "Jens Vansteenvoort"
__email__ = "*****@*****.**"
__status__ = "Development"
relay1_pin = 17
relay2_pin = 22
IP = PiGPIOFactory(host='192.168.0.242')
relay1 = OutputDevice(relay1_pin, pin_factory=IP)
relay2 = OutputDevice(relay2_pin, pin_factory=IP)
#code to close program
def exitApp():
sys.exit()
#code to toggle relay1
def toggle_relay1():
relay1.toggle()
if relay1.is_lit:
relay1Button.text = "RELAY OFF"
else:
class Motor:
motors = PiGPIOFactory(host='192.168.1.21') #Create Factory
TRACK_STEP = PWMLED(2)
TRACK_DIR = PWMLED(3)
ROTATE_STEP = PWMLED(12)
ROTATE_DIR = PWMLED(16)
TILT_STEP = PWMLED(20)
TILT_DIR = PWMLED(21)
delay = .005
def __init__(self, name):
self.data = []
self.name = name
#RIGHT
def right(self, speed, length):
motors = self.motors
if self.name == "track":
dir = self.TRACK_DIR
step = self.TRACK_STEP
for x in range(length):
print(self.name)
dir.value = 0
step.value = .5
sleep(speed)
step.value = 0
if self.name == "tilt":
dir = self.TILT_DIR
step = self.TILT_STEP
for x in range(length):
print(self.name)
dir.value = 0
step.value = .5
sleep(speed)
step.value = 0
if self.name == "rotate":
dir = self.TILT_DIR
step = self.TILT_STEP
for x in range(length):
print(self.name)
dir.value = 0
step.value = .5
sleep(speed)
step.value = 0
#LEFT
def leftt(self, speed, length):
motors = self.motors
if self.name == "track":
dir = self.TRACK_DIR
step = self.TRACK_STEP
for x in range(length):
print(self.name)
dir.value = 1
step.value = .5
sleep(speed)
step.value = 0
if self.name == "tilt":
dir = self.TILT_DIR
step = self.TILT_STEP
for x in range(length):
print(self.name)
dir.value = 1
step.value = .5
sleep(speed)
step.value = 0
if self.name == "rotate":
dir = self.TILT_DIR
step = self.TILT_STEP
for x in range(length):
print(self.name)
dir.value = 1
step.value = .5
sleep(speed)
step.value = 0
#STEP LEFT
def stepleft(self, steps):
motors = self.motors
if self.name == "track" and self.name != "chk":
dir = self.CAR_DIR
step = self.CAR_STEP
print(self.name, "<", steps)
for x in range(steps):
dir.value = 1
step.on()
sleep(self.delay)
step.off()
sleep(self.delay)
if self.name == "chk" and self.name != "track":
dir = self.CHK_DIR
step = self.CHK_STEP
print(self.name, "<", steps)
for x in range(steps):
dir.value = 1
step.on()
sleep(self.delay)
step.off()
sleep(self.delay)
#STEP RIGHT
def stepright(self, steps):
motors = self.motors
if self.name == "track" and self.name != "chk":
dir = self.CAR_DIR
step = self.CAR_STEP
print(self.name, steps, ">")
for x in range(steps):
dir.value = 0
step.on()
sleep(self.delay)
step.off()
sleep(self.delay)
if self.name == "chk" and self.name != "track":
dir = self.CHK_DIR
step = self.CHK_STEP
print(self.name, steps, ">")
for x in range(steps):
dir.value = 0
step.on()
sleep(self.delay)
step.off()
sleep(self.delay)
import logging
import signal
import sys
import json
from time import sleep
from gpiozero import Device, PWMLED
from gpiozero.pins.pigpio import PiGPIOFactory
import paho.mqtt.client as mqtt # (1)
# Initialize Logging
logging.basicConfig(level=logging.WARNING) # Global logging configuration
logger = logging.getLogger("main") # Logger for this module
logger.setLevel(logging.INFO) # Debugging for this file.
# Initialize GPIO
Device.pin_factory = PiGPIOFactory() # Set GPIOZero to use PiGPIO by default.
# Global Variables
LED_GPIO_PIN = 21
BROKER_HOST = "localhost" # (2)
BROKER_PORT = 1883
CLIENT_ID = "LEDClient" # (3)
TOPIC = "led" # (4)
client = None # MQTT client instance. See init_mqtt() # (5)
led = None # PWMLED Instance. See init_led()
"""
GPIO Related Functions
"""
def init_led():
"""
info about project here
"""
import multiprocessing
import time
from gpiozero import Button, LED
from gpiozero.pins.pigpio import PiGPIOFactory
...
__author__ = "Johannes Coolen"
__email__ = "*****@*****.**"
__status__ = "development"
IP = PiGPIOFactory(host='192.168.0.196') # instellen ip rpi
BUTTON1 = Button(pin=4, pin_factory=IP, pull_up=True,
bounce_time=0.3) # knoppen instellen
BUTTON2 = Button(pin=5, pin_factory=IP, pull_up=True, bounce_time=0.3)
BUTTON3 = Button(pin=6, pin_factory=IP, pull_up=True, bounce_time=0.3)
LED1 = LED(pin=17, pin_factory=IP) # leds instellen
LED2 = LED(pin=18, pin_factory=IP)
LED3 = LED(pin=19, pin_factory=IP)
def toggle_Led1():
while True:
if BUTTON1.is_pressed:
LED1.toggle()
time.sleep(1)
file_handler.setFormatter(file_formatter)
# create logger
logger = logging.getLogger(__name__)
logger.setLevel(logging.DEBUG)
# add the handlers to the logger
logger.addHandler(console_handler)
logger.addHandler(except_handler)
logger.addHandler(file_handler)
# log initial message
logger.info('Start of the log of {}'.format(conf.name))
# in case the pin number is None (null in json), a dummy object is assigned
hatch = (gpiozero.Servo(
conf.hatch_pin, conf.hatch_closed, pin_factory=PiGPIOFactory())
if conf.hatch_pin else dummy.Output('hatch'))
buzzer = (BeepingTonalBuzzer(conf.buzzer_pin, octaves=4)
if conf.buzzer_pin else dummy.Output('buzzer'))
status_LED = (gpiozero.RGBLED(*conf.status_LED_pins, pwm=True)
if all(conf.status_LED_pins) else dummy.Output('status_LED'))
arm_switch = (gpiozero.Button(conf.arm_switch_pin)
if conf.arm_switch_pin else dummy.Input('arm_switch'))
breakwire = (gpiozero.Button(conf.breakwire_pin)
if conf.breakwire_pin else dummy.Input('breakwire'))
gpiobjects = [hatch, buzzer, status_LED, arm_switch]
imu = altimu10v5.IMU()
# automatic dummy assignment if the sensors are not present, to allow for easier testing
if sensors_present():
baro = Sensor('baro', conf.sensor_intervals['baro'],
from gpiozero.pins.pigpio import PiGPIOFactory
from gpiozero import AngularServo, Button, RotaryEncoder
from signal import pause
from time import sleep
import threading
from pythonosc import udp_client
client = udp_client.SimpleUDPClient("192.168.205.40", "12000")
IS_AV_MODE = False
# create a custom pin-factory to fix servo jitter
# more info heere: https://gpiozero.readthedocs.io/en/stable/api_output.html#servo
# and here: https://gpiozero.readthedocs.io/en/stable/api_pins.html
pigpio_factory = PiGPIOFactory()
servo = AngularServo(22, min_angle=-90, max_angle=90, pin_factory=pigpio_factory)
ENCODER = RotaryEncoder(17, 18, max_steps=0) # Rotary encoder
ENC_SRV_RATIO = 2 # How many encoder steps is one servo angle
# Create a limit switch senseor which detects system misalignment
button = Button(27)
def servo_control(delay, servo_step):
# global IS_AV_MODE
while IS_AV_MODE:
if servo.angle + servo_step > servo.min_angle and servo.angle + servo_step < servo.max_angle:
servo.angle += servo_step
sleep(delay)
else:
from os import system
from time import sleep
from gpiozero import Buzzer
from gpiozero.pins.pigpio import PiGPIOFactory
factory = PiGPIOFactory('192.168.0.123')
buzzer = Buzzer(22, pin_factory=factory)
def element(tfrom, tto):
buzzer.on()
sleep(tfrom)
buzzer.off()
sleep(tto)
def dot():
element(0.1, 0.2)
def dash():
element(0.3, 0.1)
def letterSpace():
sleep(0.2)
def wordSpace():
sleep(0.6)
def liftToCrack(location):
factory = PiGPIOFactory(host='169.254.232.97')
# Purpose: Pick up phone from drop box
# Place it on crack platform
# Assume: Arm starts in home orientation
# LA starts at home
# Vacuum pump off
# Phone dropped and in drop box
# Location found in C#
# End: Arm in home orientation
# LA at home
# Vacuum pump off
# Phone placed on crack platform (either side face up)
# Pneumatics raised
# Inputs: location = [x, y, z, a, b]
# Outputs: True if successful (done command)
# False if unsuccessful (kill command)
# Arm movements list
moveHome = ['xh', 'yh', 'zh', 'ah', 'bh']
moveCrack0 = ['x0', 'y0', 'z0', 'a0', 'b0']
moveCrack1 = ['x1', 'y1', 'z1', 'a1', 'b1']
# Move LA out to position
if LAMove(location, factory) == False:
return False
# Move arm to above the phone
dornaMove(location)
# Turn on vacuum
vpump(True, factory)
# Lower pneumatics
raiseLower(False, factory)
# Slowly lower effector until arm transducer reads vacuum
if slowApproachArm(factory) == False:
return False
# Raise pneumatics
raiseLower(True, factory)
# Check phone hasn't been released
if ArmTrans(factory) == False:
return False
# Align arm with bottom of crack platform
## dornaMove(moveCrack0)
# Slide phone onto platform
if LAHome(factory) == False:
return False
# Check phone hasn't been accidentally released
if ArmTrans(factory) == False:
return False
# Release vacuum
vpump(False, factory)
# Check phone has been released
if ArmTrans(factory) == True:
return False
# Move arm out of the way
## dornaMove(moveCrack1)
# Move arm to its home orientation
## dornaMove(moveHome)
return True
from flask import Flask, render_template, request, json from gpiozero.pins.pigpio import PiGPIOFactory from gpiozero import OutputDevice, AngularServo, LED, PWMOutputDevice import logging app = Flask(__name__) #Define the factories factory = PiGPIOFactory(host='192.168.0.22') factory2 = PiGPIOFactory(host='192.168.0.21') # Define both robots en_1 = PWMOutputDevice(12, pin_factory=factory) en_2 = PWMOutputDevice(26, pin_factory=factory) motor_in1 = OutputDevice(13, pin_factory = factory) motor_in2 = OutputDevice(21, pin_factory = factory) motor_in3 = OutputDevice(17, pin_factory = factory) motor_in4 = OutputDevice(27, pin_factory = factory) pin1 = OutputDevice(7, pin_factory = factory2) pin2 = OutputDevice(8, pin_factory = factory2) pin3 = OutputDevice(9, pin_factory = factory2) pin4 = OutputDevice(10, pin_factory = factory2) #Define the eye linus_eye = LED(16, pin_factory=factory) # Define the servo angular_servo = AngularServo(22, min_angle=-90, max_angle=90, pin_factory=factory) angular_servo2 = AngularServo(23, min_angle=-90, max_angle=90, pin_factory=factory)
def flipStart():
factory = PiGPIOFactory(host='169.254.232.97')
# Purpose: Raise pneumatics at start of sequence
# Flip phone over on crack platform
# Assume: Arm starts in home orientation
# LA starts at home
# Vacuum pump off
# Phone placed on crack platform (either side face up)
# End: Arm in home orientation
# LA at home
# Vacuum pump off
# Phone flipped over
# Pneumatics raised
# Inputs: None
# Outputs: True if successful (done command)
# False if unsuccessful (kill command)
# Arm movements list
moveHome = ['xh', 'yh', 'zh', 'ah', 'bh']
moveFlipC = ['xc', 'yc', 'zc', 'ac', 'bc']
moveFlip0 = ['x0', 'y0', 'z0', 'a0', 'b0']
moveFlip1 = ['x1', 'y1', 'z1', 'a1', 'b1']
moveFlip2 = ['x2', 'y2', 'z2', 'a2', 'b2']
# Raise pneumatics
raiseLower(True, factory)
# Center LA
## if LAMove(moveFlipC, factory) == False:
## return False
# Home Arm
robot.home("j1")
robot.home("j2")
robot.home("j3")
print(robot.homed())
# Move arm to its home orientation
## dornaMove(moveHome)
# Send LA to its home position
if LAHome(factory) == False:
return False
# Turn on vacuum
vpump(True, factory)
# Move arm to top of crack platform
## dornaMove(moveFlip0)
# Slowly lower effector until arm transducer reads vacuum
if slowApproachArm(factory) == False:
return False
# Slide phone off of platform
## if LAMove(moveFlip0, factory) == False:
## return False
# Flip phone over and
## dornaMove(moveFlip1)
# Check phone hasn't been accidentally released
if ArmTrans(factory) == False:
return False
# Slide phone onto platform
if LAHome(factory) == False:
return False
# Release vacuum
vpump(False, factory)
# Check phone has been released
if ArmTrans(factory) == True:
return False
# Move arm out of the way
## dornaMove(moveFlip2)
# Move arm to its home orientation
## dornaMove(moveHome)
return True
from gpiozero import LED from gpiozero.pins.pigpio import PiGPIOFactory factory = PiGPIOFactory(host='172.29.30.168') led = LED(20, pin_factory=factory) led.off()
from gpiozero import LEDBoard, MotionSensor
from gpiozero.pins.pigpio import PiGPIOFactory
from signal import pause
ips = ['192.168.1.3', '192.168.1.4', '192.168.1.5', '192.168.1.6']
remotes = [PiGPIOFactory(host=ip) for ip in ips]
leds = LEDBoard(2, 3, 4, 5) # leds on this pi
sensors = [MotionSensor(17, pin_factory=r) for r in remotes] # remote sensors
for led, sensor in zip(leds, sensors):
led.source = sensor
pause()
# NAME: Thomas De Witte
# VERSION: 2.0
# LIBRARIES
from gpiozero import DigitalOutputDevice # DIGITALOUTPUTDEVICE is for RELAIS
from gpiozero import Button
from gpiozero.pins.pigpio import PiGPIOFactory
import time
import timeit
# CONFIG
IP_ADRESS = PiGPIOFactory(
'192.168.0.112') # IPADRES CHANGE THE GREEN TEXT TO CHANGE IP ADRES
BOUNCE_TIME = 0.01 # CONFIG THE BOUNCE TIME HERE
TRESHOLD_LONG_PUSH = 1 # CONFIG HERE THE TIME TO HAVE A LONG PUSH
TRESHOLD_TIME_TO_PRESS = 1.5
# SETUP
# Relais
AMOUNT_CHANNELS = 4 # AMOUNT OF CHANNELS YOU WANT TO USE -- MAX 8!!
CH_PIN = [17, 22, 27, 10, 26, 19, 6,
11] # THESE ARE THE PINS YOU CAN USE FOR RELAIS -- MAX 8 RELAIS!!
# Buttons
AMOUNT_BUTTONS = 4 # AMOUNT OF BUTTONS YOU WANT TO USE -- MAX 4!!
BTN_PIN = [14, 15, 23,
12] # THESE ARE THE PINS YOU CAN USE FOR BUTTONS -- MAX 4 BUTTONS!!
# VARIABLEs
ch = []
btn = []
# GPIOZERO_PIN_FACTORY=pigpio PIGPIO_ADDR=192.168.4.158
from gpiozero import PWMLED, Button
from time import sleep
from signal import pause
from gpiozero.pins.pigpio import PiGPIOFactory
pi_host = '192.168.4.158'
factory = PiGPIOFactory(host=pi_host)
green = PWMLED(17, pin_factory=factory)
button = Button(2, pin_factory=factory)
pwm_value = 0
pwm_type = 0
while True:
if pwm_type == 0:
if button.is_active:
pwm_value += 0.1
if pwm_value >= 0.9:
pwm_type = 1
elif pwm_type == 1:
if button.is_active:
pwm_value -= 0.1
if pwm_value <= 0.1:
pwm_type = 0
print(pwm_value)
green.value = pwm_value
from gpiozero import Button, LED from gpiozero.pins.pigpio import PiGPIOFactory from gpiozero.tools import all_values from signal import pause factory3 = PiGPIOFactory(host='192.168.1.3') factory4 = PiGPIOFactory(host='192.168.1.4') led = LED(17) button_1 = Button(17, pin_factory=factory3) button_2 = Button(17, pin_factory=factory4) led.source = all_values(button_1, button_2) pause()
# Global Variables and Components
# Author: Raheel Junaid
# Date Started: 1/24/21
from gpiozero import Servo, Buzzer, RGBLED, DigitalOutputDevice, LED
from dotenv import load_dotenv
from gpiozero.pins.pigpio import PiGPIOFactory
import os
from rpi_lcd import LCD
load_dotenv()
try:
remote_factory = PiGPIOFactory(host=os.environ['REMOTEPI'])
except:
print(f'Could not connect to Raspberry Pi at {os.environ["REMOTEPI"]}')
camLED = LED(24)
servo = Servo(18, 1, pin_factory=remote_factory)
RGBLed = RGBLED(27, 23, 25)
screen = LCD()
systems = {
'fan': "T",
'servo': "T",
'keypad': "T",
'camera': "T",
'sensor': "T",
}
buzzer = Buzzer(4)
def single_factory_connector(ip):
"""
:return: returns the connection object for remote GPIO
"""
return PiGPIOFactory(host=str(ip))
#!/usr/bin/env
__author__ = "Zino Henderickx"
__version__ = "1.0"
# LIBRARIES
from gpiozero import LED
from gpiozero import Button
from gpiozero.pins.pigpio import PiGPIOFactory
import time
IP = PiGPIOFactory('192.168.0.207')
# LED's
LED1 = LED(17, pin_factory=IP)
LED2 = LED(27, pin_factory=IP)
LED3 = LED(22, pin_factory=IP)
LED4 = LED(10, pin_factory=IP)
# BUTTONS
BUTTON1 = Button(5, pin_factory=IP)
BUTTON2 = Button(6, pin_factory=IP)
BUTTON3 = Button(13, pin_factory=IP)
BUTTON4 = Button(19, pin_factory=IP)
# LISTS
led = [10, 17, 22, 27]
button = [5, 6, 13, 19]
# FUNCTIONS
# Library Import
from gpiozero import DigitalOutputDevice # DIGITALOUTPUTDEVICE is for RELAIS
from gpiozero import Button
from gpiozero.pins.pigpio import PiGPIOFactory
import time
import timeit
# IPADRES CHANGE THE GREEN TEXT TO CHANGE IP ADRES
IP_ADRESS = PiGPIOFactory('192.168.1.55')
# Setup Outputs
# Relais
AMOUNT_CHANNELS = 4 # AMOUNT OF CHANNELS YOU WANT TO USE -- MAX 8!!
CH_PIN = [14, 15, 18,
23] # THESE ARE THE PINS YOU CAN USE FOR RELAIS -- MAX 8 RELAIS!!!
# Buttons
AMOUNT_BUTTONS = 4 # AMOUNT OF BUTTONS YOU WANT TO USE -- MAX 4!!
BTN_PIN = [2, 3, 17, 27
] # THESE ARE THE PINS YOU CAN USE FOR BUTTONS -- MAX 4 BUTTONS!!!
# Variables
ch = []
btn = []
# Functions
def ch_setup():
for j in range(AMOUNT_CHANNELS):
ch.append(
# import libraries
from guizero import App, PushButton, Slider, Text, Window
from gpiozero import Robot, CamJamKitRobot, AngularServo
from gpiozero.pins.pigpio import PiGPIOFactory
#Define the app and window for the servo sliders
app = App("Dual Robot Control", layout='grid')
servo_window = Window(app, "Servo Movement")
servo_window.bg = (51, 165, 255)
app.bg = (51, 246, 255)
#Define the factories
# insert IP addresses of both robots here
factory = PiGPIOFactory(host='')
# Define both robots
linus = Robot(left=(13, 21), right=(17, 27), pin_factory=factory)
torvalds = CamJamKitRobot()
# Define the servos
servo = AngularServo(22, min_angle=-90, max_angle=90, pin_factory=factory)
servo_two = AngularServo(23, min_angle=-90, max_angle=90, pin_factory=factory)
# Define the functions
def direction_one():
linus.forward()
def direction_two():
linus.backward()
def toCarriage(sequence):
factory = PiGPIOFactory(host='169.254.232.97')
# Purpose: Lift phone from either top or bottom of crack platform
# Move phone to carriage
# Attach to carriage and release phone
# Move out of the way and trigger drop
# Assume: Arm starts in home orientation
# LA starts at home
# Vacuum pump off
# Phone placed on crack platform (either side face up)
# Sequence pregenerated in C#
# End: Arm in home orientation
# LA at home
# Vacuum pump off
# Phone dropped and in drop box
# Pneumatics raised
# Inputs: sequence = [x, y, z, a, b, ud]
# Outputs: True if successful (done command)
# False if unsuccessful (kill command)
# Arm movements list
moveHome = ['xh', 'yh', 'zh', 'ah', 'bh']
moveCarrU = ['xu', 'yu', 'zu', 'au', 'bu']
moveCarrD = ['xd', 'yd', 'zd', 'ad', 'bd']
moveCarr0 = ['x0', 'y0', 'z0', 'a0', 'b0']
moveCarr1 = ['x1', 'y1', 'z1', 'a1', 'b1']
# Check whether to grab top of phone or bottom
if ud == 1:
# Move arm above phone
## dornaMove(moveCarrU)
# Turn on vacuum
vpump(True, factory)
# Slow approach until vacuum
if slowApproachArm(factory) == False:
return False
else:
# Move arm to underside of phone
## dornaMove(moveCarrD)
# Turn on vacuum
vpump(True, factory)
# Check phone has been grabbed
if ArmTrans(factory) == False:
return False
# Slide phone off of platform
if LAMove(sequence, factory) == False:
return False
# Move arm up to carriage
## dornaMove(moveCarr0)
## dornaMove(moveCarr1)
dornaMove(sequence)
# Check phone hasn't been accidentally released
if ArmTrans(factory) == False:
return False
# Slow approach at different angles until carriage vacuum achieved
## if sequence[3] == "aBottom":
## slowApproachCar("up", factory)
## else if sequence[3] == "aSide":
## slowApproachCar("away", factory)
## else if sequence[3] == "a45":
## slowApproachCar("45", factory)
# Check phone is still on arm
if ArmTrans(factory) == False:
return False
# Release vacuum
vpump(False, factory)
# Check phone has been released
if ArmTrans(factory) == True:
return False
# Move arm to home position
dornaMove(moveHome)
# Move LA home and out of the way of carriage
if LAHome(factory) == False:
return False
# Trigger drop
drop(factory)
sleep(5)
return True
from gpiozero import Robot, Button, LED from gpiozero.pins.pigpio import PiGPIOFactory from signal import pause import time piozero.Device.pin_factory = PiGPIOFactory(host='192.168.7.96') factory = PiGPIOFactory(host='192.168.7.59') led = LED(18, pin_factory=factory) led.on() time.sleep(1) led.off() factory2 = PiGPIOFactory(host='192.168.7.96') robby = Robot(left=(7, 8), right=(9, 10), pin_factory=factory2) robby.forward() time.sleep(0.5) robby.stop() pause()
char_released(key.char)
elif key == Key.space:
char_to_motor["w"].unboost()
def disconnect():
stop_ud()
stop_lr()
# any code you want to run during loss of connection with the controller or keyboard interrupt
pass
_stop_flag = object()
if (run_on_remote):
print("connecting with remote ... ")
remote_factory = PiGPIOFactory(host=remote_host)
left = PWMLED(27, pin_factory=remote_factory)
right = PWMLED(22, pin_factory=remote_factory)
vor = PWMLED(13, pin_factory=remote_factory)
back = PWMLED(19, pin_factory=remote_factory)
control_led = LED(17, pin_factory=remote_factory)
control_led.on()
sleep(1)
control_led.off()
print("connected")
else:
left = PWMLED(27)
right = PWMLED(22)
vor = PWMLED(13)
back = PWMLED(19)