def __del__(self):
print('motor drive ... bye')
self.allStop()
self.motor0.stop()
self.motor1.stop()
self.motor2.stop()
self.motor3.stop()
cleanup()
def quit(app):
app.stop_prog()
if app.state.stop:
app.new_loop.call_soon_threadsafe(app.nope,
app.state.stop.cancel())
if app.pwsThread:
app.pwsThread.join()
if app.state.power == "ON":
queue_msg(app.state, "setPower")
cleanup()
print("\nBye\n")
sys.exit()
def poll (self) :
'''Initiate polling
'''
while True:
try:
self.__update()
# in tests needed
# print('now: '+str(dt.now())+' --- alarm: '+str(self._alarm_hour)+':'+str(self._alarm_minute))
sleep (LATENCY)
except (KeyboardInterrupt, SystemExit):
cleanup ()
exit ('Program was manually ended')
except:
cleanup ()
exit ('Unexpected error:\n'+sys.exc_info()[0])
def start(self):
try:
self.m.move_forward()
print("move_speed:", self.m.move_speed)
self.m.roam()
except KeyboardInterrupt: # Reset by pressing CTRL + C
print("Error:", traceback.format_exc())
print("Stopping motors...:")
self.m.move_stop()
cleanup()
except Exception:
print("Error:", traceback.format_exc())
print("Stopping motors...:")
self.m.move_stop()
cleanup()
pins = [17, 27, 22, 23]
setmode(BCM)
setwarnings(False)
for i in pins:
setup(i, OUT)
output(i, 0)
c = [
[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]
]
for i in range(512):
for i in range(8):
for j in range(4):
output(pins[j], c[i][j])
sleep(0.01)
cleanup()
def destroy() :
'''Clean every PINs
'''
cleanup ()
"f": forward,
"s": stop,
"r": right,
"l": left,
"st": straight}
def move(request):
commands_dict.get(request.matchdict['direction'], default)()
return default_response()
fspeed = 0
rspeed = 0
if __name__ == '__main__':
config = Configurator()
config.add_route('move', '/move/{direction}')
config.add_view(move, route_name='move')
app = config.make_wsgi_app()
server = make_server('0.0.0.0', 8081, app)
server.serve_forever()
p.stop()
cleanup(17)
cleanup(20)
cleanup(22)
cleanup(5)
cleanup(6)
cleanup(13)
from RPi.GPIO import cleanup
try:
while True:
resetGPIO()
resetAction()
t_health = health.healthThread(1)
t_fire = fire.fireThread(2)
t_health.start()
t_fire.start()
while True:
if not t_health.isAlive():
gameOverAction()
while not isReset():
sleep(0.1)
break
if isReset():
break
sleep(0.05)
t_health.kill()
t_fire.kill()
t_health.join()
t_fire.join()
cleanup()
except KeyboardInterrupt:
t_health.kill()
t_fire.kill()
t_health.join()
t_fire.join()
cleanup() # clean up GPIO on CTRL+C exit
def _cleanup(): ''' Release pins on exit ''' cleanup()
def stop(self):
print("Bluedot stopping motors...:")
self.m.move_stop()
cleanup()
def main():
"""Main method."""
parser = argparse.ArgumentParser(
prog="rpi-mini-battery-display",
description="Control a mini battery display with TM1651 or TM1637 chip",
)
parser.add_argument(
"-c",
"--clock-pin",
type=int,
default=24,
help="Clock pin in BCM notation (default: 24, range: 0-27)",
)
parser.add_argument(
"-d",
"--data-pin",
type=int,
default=23,
help="Data pin in BCM notation (default: 23, range: 0-27)",
)
parser.add_argument(
"-b",
"--brightness",
type=int,
default=2,
help="Brightness (default: 2, range: 0-7)",
)
parser.add_argument(
"-s",
"--segments",
type=int,
default=7,
help="Number of LED segments (default: 7, range: 1-7)",
)
command = parser.add_mutually_exclusive_group(required=True)
command.add_argument("-l",
"--level",
type=int,
help="Set battery level (range: 0-segments)")
command.add_argument("-p",
"--processor",
action="store_true",
help="Show CPU percentage")
args = parser.parse_args()
exit_code = 0
try:
display = BatteryDisplay(args.clock_pin, args.data_pin, args.segments)
display.set_brightness(args.brightness)
if args.level:
display.set_level(args.level)
elif args.processor:
while True:
# Map a percentage from 0 to 100 to a level from 0 to number of segments
display.set_level(
min(int(cpu_percent() / 100 * (args.segments + 1)),
args.segments))
sleep(2)
except InvalidPinError as error:
print("Invalid pin number: {}. {}".format(error.pin, str(error)))
exit_code = 1
except InvalidBrightnessError as error:
print("Invalid brightness: {}. {}".format(error.brightness,
str(error)))
exit_code = 2
except InvalidLevelError as error:
print("Invalid level: {}. {}".format(error.level, str(error)))
exit_code = 3
except NoDisplayFoundError as error:
print("No display found on clock pin {} and data pin {}.".format(
error.clock_pin, error.data_pin))
exit_code = 4
except InvalidSegmentsError as error:
print("Invalid number of segments: {}. {}".format(
error.segments, str(error)))
exit_code = 5
finally:
if exit_code != 1:
cleanup()
sys.exit(exit_code)
def __del__(self):
"""Reset all GPIO pins."""
cleanup()
def _cleanup():
''' Release pins on exit '''
cleanup()
