def __init__(self, parent, controller, background_img):
tk.Frame.__init__(self, parent)
self.COLOR_BUTTON_BACKGROUND = "#0C4323"
self.controller = controller
self.frame = tk.Frame(self, relief="solid", height=60)
self.frame.pack(side="left", fill="both", expand=True)
self.bg_image = background_img
background_label = tk.Label(self.frame, image=self.bg_image)
background_label.place(x=0, y=0, relwidth=1, relheight=1)
self.imgBtnBack = tk.PhotoImage(file='images/btnBack.png')
self.btnHome = tk.Button(self.frame,
relief="solid",
bd=0,
highlightthickness=0,
image=controller.imgBtnBack,
bg=self.COLOR_BUTTON_BACKGROUND,
command=lambda: self.go_start_page())
self.imgBtnUp = tk.PhotoImage(file='images/btnUp.png')
self.imgBtnDown = tk.PhotoImage(file='images/btnDown.png')
if platform.system() == "Linux":
wpi.wiringPiSetup()
wpi.pinMode(4, 1)
def main():
wpi.wiringPiSetup()
args = parse_args()
# Get requested state from user
requested_state = args.state
# Get actual current state
current_state = lights_are_actually_on()
if current_state == requested_state:
print(f"Lights are already {current_state}; exiting", file=sys.stderr)
return False
physical_pin_number = 11
# Set pin to "write" mode
wpi.pinMode(physical_pin_number, 1)
# Perform the write
wpi.digitalWrite(
ODROID_N2_PIN_MAP[physical_pin_number]["wpi_num"],
1 if requested_state == "on" else 0,
)
# Wait a bit; it takes the LED driver a few tenths to activate
time.sleep(0.5)
# Now the lights _should_ be on, but let's make sure
current_state = lights_are_actually_on()
if current_state != requested_state:
print(
f"ERROR: Changed state of pin {physical_pin_number} to {requested_state}, "
f"but lights did not go {requested_state}",
file=sys.stderr,
)
sys.exit(1)
return True
def init_spray(self):
self.spray_on_check = False
if super().is_linux_system():
wpi.wiringPiSetup()
# wpi.pinMode(ConfigValue.SPRAY_WPI_NUM, 1)
# wpi.pinMode(ConfigValue.VALVE_WPI_NUM, 1)
wpi.digitalWrite(ConfigValue.SPRAY_WPI_NUM, 0)
wpi.digitalWrite(ConfigValue.VALVE_WPI_NUM, 0)
def __init__(self):
super().__init__("door_status")
self.publisher = self.create_publisher(Int8, "door_status", 10)
timer = 0.5
wpi.wiringPiSetup()
wpi.pinMode(27, 0)
wpi.pullUpDnControl(27, 2)
self.timer = self.create_timer(timer, self.measure)
self.i = 0
def __init__(self):
self.ser = serial.Serial("/dev/ttyS1", 115200)
wpi.wiringPiSetup()
self.curtime = 0
self.out_valve_start_time = None
self.cur_spray_on = None
try:
if self.ser.isOpen() == False:
self.ser.open()
except KeyboardInterrupt(): # ctrl + c in terminal.
if self.ser != None:
self.ser.close()
print("program interrupted by the user")
#!/usr/bin/env python
import time
import odroid_wiringpi as wpi
import rospy
from std_msgs.msg import Float32
if __name__ == '__main__':
wpi.wiringPiSetup()
# ROS setup
pub = rospy.Publisher('voltage', Float32)
rospy.init_node('battery_voltage_indicator', anonymous=True)
rate = rospy.Rate(1)
while not rospy.is_shutdown():
battery = wpi.analogRead(1) # Read ADC.AIN1 (physical port #37)
pub.publish((battery * (1.8 / 1024)) *
11.0034) # Convert bit to actual voltage
rate.sleep()
def init_WPI(self):
if super().is_linux_system():
wpi.wiringPiSetup()
wpi.pinMode(ConfigValue.SPRAY_WPI_NUM, 1)
wpi.pinMode(ConfigValue.VALVE_WPI_NUM, 1)
wpi.digitalWrite(ConfigValue.SPRAY_WPI_NUM, 0)
import socket
import sys
import time
import threading
import odroid_wiringpi as wiringpi
OUTPUT = 1
left_motor_speed_pin = 23
wiringpi.wiringPiSetup()
wiringpi.pinMode(left_motor_speed_pin, OUTPUT)
wiringpi.softPwmCreate(left_motor_speed_pin, 0, 100)
left_truck_speed = 0
right_truck_speed = 0
left_truck_operational = True
pulse_delay = 0.01
def left_truck_movement_loop():
print("Starting left track")
while left_truck_operational:
if left_truck_speed == 0:
wiringpi.softPwmWrite(left_motor_speed_pin, 0)
continue
wiringpi.softPwmWrite(left_motor_speed_pin, left_truck_speed)
left_truck = threading.Thread(target=left_truck_movement_loop)
left_truck.start()
# Create a TCP/IP socket
def init():
gpio.wiringPiSetup()
gpio.pinMode(8, 1)
gpio.pinMode(9, 1)
gpio.pinMode(7, 1)
gpio.pinMode(0, 1)
def setup_gpio() -> None:
wp.wiringPiSetup()
wp.pinMode(AC_OK, IN)
wp.pinMode(BATT_OK, IN)
wp.pinMode(POWER_LATCH, OUT)
wp.digitalWrite(POWER_LATCH, 1)