def tracer_grille(grille, agrandissement, angle, origine):
n = 4000
calibre = 0.1
pwm_X = PWM(0)
pwm_Y = PWM(
1) # il n'existe que 2 canaux pour implementer les PWMs (0 et 1)
pwm_X.export()
pwm_Y.export()
pwm_X.period = 100000 # les unites sont en nanosecondes, ainsi dans cet exemple la periode vaut 100000*1ns = 100 us
pwm_Y.period = 100000
GPIO.setmode(
GPIO.BOARD) # On lit les pattes dans l'ordre classique en électronique
GPIO.setup(35, GPIO.OUT) # La broche 35 est configurée en sortie
##La fréquence max du lever/baisser de stylo et 4Hz. Donc 250ms.
### Ecriture de la grille
for i in range(0, len(grille)):
for j in range(0, len(grille[0])):
if (grille[i][j] != 0):
seq_chiffre = choix(grille[i][j], i, j, agrandissement, angle)
x = seq_chiffre[0]
y = seq_chiffre[1]
haut = seq_chiffre[2]
for k in range(0, len(x)):
x[k] += origine[0] * calibre
y[k] += origine[1] * calibre
stylo_haut()
for k in range(0, len(x)):
if (k != 0):
lever_stylo(haut[k], haut[k - 1])
pwm_X.duty_cycle = int(x[k] * pwm_X.period / 3.3)
pwm_Y.duty_cycle = int(y[k] * pwm_Y.period / 3.3)
pwm_X.enable = True
pwm_Y.enable = True
stylo_haut()
#Lorsque l'on a termine avec la table tracante
pwm_X.enable = False # On desactive la PWM
pwm_Y.enable = False
pwm_X.unexport()
pwm_Y.unexport()
GPIO.cleanup(
) # A la fin du programme on remet à 0 les broches du Rasberry PI
return (0)
def calibrage():
GPIO.setmode(
GPIO.BOARD) # On lit les pattes dans l'ordre classique en électronique
GPIO.setup(35, GPIO.OUT) # La broche 35 est configurée en sortie
pwm_X = PWM(0)
pwm_Y = PWM(
1) # il n'existe que 2 canaux pour implementer les PWMs (0 et 1)
pwm_X.export()
pwm_Y.export()
pwm_X.period = 100000 # les unites sont en nanosecondes, ainsi dans cet exemple la periode vaut 100000*1ns = 100 us
pwm_Y.period = 100000
GPIO.output(35, GPIO.HIGH)
for i in range(0, int(pwm_Y.period / 5)):
pwm_Y.duty_cycle = 5 * i
pwm_Y.enable = True
for i in range(0, int(pwm_X.period / 5)):
pwm_X.duty_cycle = 5 * i
pwm_X.enable = True
for i in range(0, int(pwm_Y.period / 5)):
pwm_Y.duty_cycle = pwm_Y.period - 5 * i
pwm_Y.enable = True
for i in range(0, int(pwm_X.period / 5)):
pwm_X.duty_cycle = pwm_X.period - 5 * i
pwm_X.enable = True
pwm_X.enable = False
pwm_Y.enable = False
stylo_haut()
time.sleep(1)
pwm_X.duty_cycle = int(pwm_X.period / 2)
pwm_X.enable = True
time.sleep(1)
camera = picamera.PiCamera()
camera.capture('calibrage.jpg')
time.sleep(1)
pwm_X.enable = False
pwm_X.unexport()
pwm_Y.unexport()
GPIO.cleanup()
return 1
import numpy as np from pwm import PWM """### Motor initialization and configuration Motor speed range [0 - stop, 1 - full speed] """ # Enable servo # object for servo MOTOR_BRAKE = 1000000 motor = PWM(0) motor.period = 20000000 motor.duty_cycle = MOTOR_BRAKE motor.enable = True #!! Wait for 3 seconds until the motor stops beeping """# Upon start of device, motor speed must be set to 0 for at least 5 seconds""" motor.duty_cycle = MOTOR_BRAKE + 120000 # Motor should run at low speed motor.duty_cycle = MOTOR_BRAKE + 1000000 # Motor full speed motor.duty_cycle = MOTOR_BRAKE # stop motor """### Servo configuration and calibration Servo angle range [-1 - full left, 0 - center, 1 - full right] * Physical calibration of steering - Mount the motor on the vehicle
from pwm import PWM pwm0 = PWM(0) pwm1 = PWM(1) pwm0.export() pwm1.export() pwm0.period = 20000000 pwm1.period = 20000000 pwm0.duty_cycle = 1000000 pwm0.enable = False pwm1.duty_cycle = 1465000 pwm1.enable = False
from pwm import PWM pwm0 = PWM(0) pwm0.export() pwm0.period = 20000000 pwm0.duty_cycle = 1000000 pwm0.enable = True pwm0.duty_cycle = 1000000
minSpeed = 1000000 # 0 speed
zeroRot = 1000000
maxRot = 500000
rot = zeroRot
pwm0 = PWM(0) # motor
pwm0.export()
pwm0.period = 20000000
pwm0.duty_cycle = minSpeed
pwm1 = PWM(1) # servo
pwm1.export()
pwm1.period = 20000000
pwm1.duty_cycle = zeroRot
pwm0.enable = True
pwm1.enable = True
if not debug:
print("waiting for moter")
sleep(3)
print("motor ready")
speed = 1200000
if debug:
speed = minSpeed
pwm0.duty_cycle = speed
camera = PiCamera()
# In[5]: '''#hardcoding speed pwm0.duty_cycle = 11000 PWM duty cycle for straightline motion: 1500000 pwm1_ref = 1465000 pwm1.duty_cycle = pwm1_ref''' pwm0 = PWM(0) pwm1 = PWM(1) pwm0.export() pwm1.export() pwm0.period = 20000000 pwm1.period = 20000000 pwm0.duty_cycle = 1000000 pwm1.duty_cycle = 1500000 pwm0.enable = True pwm1.enable = True pwm1_ref = 1465000 pwm1.duty_cycle = pwm1_ref # In[6]: #Setting parameters res = (320, 240) straight_threshold = 30 row = 100 peak_ref = 160 prev_peak_pos = 160 time_th = 0.001 peak_diff_th = 70 peak_diff_th_st = 10 ctr_3peak = 0