class GPIO():
def __init__(self):
pass
def __enter__(self):
self.GP = GPIOProcessor()
self.forward_pin = self.GP.getPin25()
self.forward_pin.out()
self.right_high = self.GP.getPin26()
self.right_high.out()
self.right_low = self.GP.getPin27()
self.right_low.out()
self.left_high = self.GP.getPin29()
self.left_high.out()
self.left_low = self.GP.getPin30()
self.left_low.out()
return self
def __exit__(self, exc_type, exc_val, exc_tb):
self.GP.cleanup()
def brake(self):
self.forward_pin.low()
def unbrake(self):
self.forward_pin.high()
def turn_left(self):
self.left_low.low()
self.left_high.high()
def turn_right(self):
self.right_low.low()
self.right_high.high()
# Stepper motor switching sequence
seq = [[1, 0, 0, 0], [1, 1, 0, 0], [0, 1, 0, 0], [0, 1, 1, 0], [0, 0, 1, 0],
[0, 0, 1, 1], [0, 0, 0, 1], [1, 0, 0, 1]]
stepAngle = 5.625
delay = 0.0003
#delay = 1
GP = GPIOProcessor()
try:
# Use pins 231, 33, 30, and 34 to control motor
out0 = GP.getPin29() # Blue
out1 = GP.getPin33() # Pink
out2 = GP.getPin30() # Yellow
out3 = GP.getPin34() # Orange
outl = [out0, out1, out2, out3]
outl.reverse()
# Set the pin direction to out
for k in range(4):
outl[k].out()
# Rotation in degrees
degrees = 90
steps_per_deg = 4076.0 / 360.0
steps = math.floor(steps_per_deg * degrees)
for k in range(steps):
from GPIOLibrary import GPIOProcessor
import time
import numpy as np
GP = GPIOProcessor()
try:
trig = GP.getPin29()
trig.out()
echo = GP.getPin30()
echo.input()
trig.low()
print("Wait for sensor to settle")
time.sleep(2)
distances = []
for i in range(15):
pulseStart = 0
pulseEnd = 0
isOutR = False
init = time.clock()
trig.high()
time.sleep(0.00001)
trig.low()
while (echo.getValue() == 0):
pulseStart = time.clock()
if (pulseStart - init > 0.3):
print("out of range")
isOutR = True
break
pulseEnd = time.clock()
#Ind = 30
Din = GP.getPin27()
Din.input()
A1 = GP.getPin34()
A1.out()
A2 = GP.getPin33()
A2.out()
A3 = GP.getPin24()
A3.out()
A4 = GP.getPin26()
A4.out()
PIR = GP.getPin29()
PIR.out()
PIR.low()
Ind = GP.getPin30()
Ind.out()
Ind.low()
# Remote Average Pulse
M = 800
# Stepper Motor Delay
t = 0.001
# Stepper Motor Sequence (Forward / Reverse)
A = [[[0,1,0,1],[1,0,0,1],[1,0,1,0],[0,1,1,0]],
[[0,1,0,1],[0,1,1,0],[1,0,1,0],[1,0,0,1]]]
# Indicators
FR = 0
# Stepper motor switching sequence
seq = [[1,0,0,0], [1,1,0,0], [0,1,0,0], [0,1,1,0],
[0,0,1,0], [0,0,1,1], [0,0,0,1], [1,0,0,1]]
stepAngle = 5.625
delay = 0.0003
#delay = 1
GP = GPIOProcessor()
try:
# Use pins 231, 33, 30, and 34 to control motor
out0 = GP.getPin29() # Blue
out1 = GP.getPin33() # Pink
out2 = GP.getPin30() # Yellow
out3 = GP.getPin34() # Orange
outl = [out0, out1, out2, out3]
outl.reverse()
# Set the pin direction to out
for k in range(4):
outl[k].out()
# Rotation in degrees
degrees = 90
steps_per_deg =4076.0/360.0
steps = math.floor(steps_per_deg * degrees)
for k in range(steps):
#Ind = 30
Din = GP.getPin27()
Din.input()
A1 = GP.getPin34()
A1.out()
A2 = GP.getPin33()
A2.out()
A3 = GP.getPin24()
A3.out()
A4 = GP.getPin26()
A4.out()
PIR = GP.getPin29()
PIR.out()
PIR.low()
Ind = GP.getPin30()
Ind.out()
Ind.low()
# Remote Average Pulse
M = 800
# Stepper Motor Delay
t = 0.001
# Stepper Motor Sequence (Forward / Reverse)
A = [[[0, 1, 0, 1], [1, 0, 0, 1], [1, 0, 1, 0], [0, 1, 1, 0]],
[[0, 1, 0, 1], [0, 1, 1, 0], [1, 0, 1, 0], [1, 0, 0, 1]]]
# Indicators
FR = 0
