def rotate_by_angle(self,
angle,
direction=MotorDriverInterface.Direction.CLOCKWISE,
speed=100):
"""Rotate the motor through a given angle.
Args:
angle (float): The angle, in degrees, through which the motor is
to be rotated.
direction (MotorDriver.Direction): The direction of rotation of the
motor. Default is clockwise.
speed (float): The desired speed as a percentage of the max speed.
Must be greater than 0. Default is 100.
"""
if angle < 0:
angle = abs(angle)
direction = direction.opposite()
steps_to_perform = int(round(
ULN2003.STEPS_PER_ROTATION * angle / 360))
delay = self._delay_for_speed(speed)
for _ in range(steps_to_perform):
self._perform_step(direction, delay)
# reset pin states.
output(ULN2003.OUTPUT_PINS, LOW)
sleep(ULN2003.MIN_DELAY)
def draw_lcd(digit, lcd):
active = []
if digit == 0:
active = [0, 1, 2, 3, 4, 5]
elif digit == 1:
active = [0, 3]
elif digit == 2:
active = [1, 2, 3, 4, 6]
elif digit == 3:
active = [0, 1, 3, 4, 6]
elif digit == 4:
active = [0, 3, 6, 5]
elif digit == 5:
active = [0, 1, 4, 5, 6]
elif digit == 6:
active = [0, 1, 2, 4, 5, 6]
elif digit == 7:
active = [0, 3, 4]
elif digit == 8:
active = [0, 1, 2, 3, 4, 5, 6]
elif digit == 9:
active = [0, 3, 4, 5, 6]
for segment in range(0, 7):
if segment in active:
output(lcd[segment], HIGH)
else:
output(lcd[segment], LOW)
def alarm() :
'''Light up the LED
On alarm, light up the led
'''
output (PIN_LED, HIGH)
print('pass')
sleep (DELAY_ALARM)
output (PIN_LED, LOW)
def alarm():
'''Light up the LED
On alarm, light up the led
'''
output(PIN_LED, HIGH)
send_sms()
sleep(DELAY_ALARM)
output(PIN_LED, LOW)
def forward(duty=50):
global isForward
global isBackward
isBackward = False
if isForward:
duty = 75
straight()
output(20, LOW)
output(22, HIGH)
p.ChangeDutyCycle(float(duty))
isForward = True
def draw_number(number, row):
binary = convert_to_binary(number)
while len(binary) < len(row):
binary = [0] + binary
for i in range(0, len(row)):
if binary[i] == 1:
output(row[i], HIGH)
else:
output(row[i], LOW)
def _perform_step(self,
direction=MotorDriverInterface.Direction.CLOCKWISE,
delay=MIN_DELAY):
"""Perform 1 full step of the motor.
Args:
direction (MotorDriver.Direction): The direction of rotation of the
motor in this step.
delay (float): Time in seconds to wait between each update to
motor controller pin states.
"""
for state in ULN2003.PIN_STATES[::direction.value]:
output(ULN2003.OUTPUT_PINS, state)
sleep(delay)
def turn(self, degrees, dir=True, speed=200, error=1):
try:
start_degrees = float(ser.readline().split()[0])
start_time = time()
if dir:
#True is right, false is left
output(self.dir_pin, 1)
else:
output(self.dir_pin, 0)
self.setSpeed(speed)
while (abs(degrees - abs(
abs(start_degrees) -
abs(float(ser.readline().split()[0])))) > error):
if time() - start_time > 1:
self.setSpeed(0)
return
except:
turn(degrees, dir, speed, error)
self.setSpeed(0)
def setup_gpio():
setmode(BCM)
setwarnings(False)
for led in BIT_LEDS + [ONE_HUNDRED_LED, TWO_HUNDRED_LED]:
setup(led, OUT)
for segment in LSD + MSD:
setup(segment, OUT)
setup(BEEPER, OUT)
setup(BUTTON, IN, pull_up_down=PUD_UP)
cleanup()
for segment in [0, 1, 2, 3, 4, 5]:
output(LSD[segment], HIGH)
output(MSD[segment], HIGH)
def loop():
'''Infinity loop
Setup the trigger
get the echo
calculate and prints distance
prints out of range if the distance is incorrect
'''
pulse_start = 0
pulse_end = 0
while True:
output(PIN_TRIGGER, False)
sleep(TIMESTAMP_SETUP)
output(PIN_TRIGGER, True)
sleep(TIMESTAMP_EXEC)
output(PIN_TRIGGER, False)
while not input(PIN_ECHO):
pulse_start = time()
while input(PIN_ECHO):
pulse_end = time()
distance = (pulse_end - pulse_start) * CM_CONVERTOR
distance = round(distance, 2)
distance -= 0.5
if 2 < distance < 250:
print("Distance: ", distance, "cm")
else:
print("Out Of Range (", distance, ")")
def get_dist() :
'''Get the distance
Returns:
Distance in cm
'''
output (PIN_TRIGGER, False)
sleep (DELAY_SETUP)
output (PIN_TRIGGER, True)
sleep (DELAY_EXEC)
output (PIN_TRIGGER, False)
while not input (PIN_ECHO):
pulse_start = time()
while input (PIN_ECHO):
pulse_end = time()
distance = (pulse_end - pulse_start) * CM_CONVERTOR
distance = round (distance, 2)
if not MIN_DIST < distance < MAX_DIST:
distance = 0
return distance
def cleanup():
for led in BIT_LEDS + [ONE_HUNDRED_LED, TWO_HUNDRED_LED]:
output(led, LOW)
for segment in LSD + MSD:
output(segment, LOW)
output(BEEPER, LOW)
def blink (iterations, delay) :
for x in range (iterations):
output (PIN_LED, HIGH)
sleep (delay)
output (PIN_LED, LOW)
sleep (delay)
def off():
output(7, False)
def stop(duty=0):
straight()
output(20, LOW)
output(22, LOW)
return default_response()
def low(self):
output(self.gpio, LOW)
def randomize(led):
if random.randint(0, 1) == 1:
output(led, HIGH)
else:
output(led, LOW)
def turnOn(self):
output(ELEMENT_GPIO_PIN, HIGH)
def right(duty=100):
output(5, HIGH)
output(6, LOW)
p2.ChangeDutyCycle(float(duty))
def on():
output(7, True)
'''
import RPi.GPIO
from RPi.GPIO import cleanup
from RPi.GPIO import output
from RPi.GPIO import setup
from RPi.GPIO import setmode
from RPi.GPIO import BCM
from RPi.GPIO import HIGH
from RPi.GPIO import LOW
from RPi.GPIO import OUT
import time
from time import sleep
DELAY = 1
PIN_LED = 18
if __name__ == '__main__':
setmode(BCM)
setup(PIN_LED, OUT)
while True:
try:
output(PIN_LED, HIGH)
sleep(DELAY)
output(PIN_LED, LOW)
sleep(DELAY)
except (KeyboardInterrupt, SystemExit) as e:
cleanup()
def turnOff(self):
output(ELEMENT_GPIO_PIN, LOW)
def statusOff(self): output(STATUS_GPIO_PIN, LOW)
def draw(number):
binary = convert_to_8_bit_binary(number)
for i in range(0, 8):
if binary[i] == 1:
output(BIT_LEDS[i], HIGH)
else:
output(BIT_LEDS[i], LOW)
numberstring = str(number).zfill(2)
draw_lcd(int(numberstring[-1]), LSD)
draw_lcd(int(numberstring[-2]), MSD)
if len(numberstring) > 2:
if numberstring[0] == "1":
output(ONE_HUNDRED_LED, HIGH)
output(TWO_HUNDRED_LED, LOW)
elif numberstring[0] == "2":
output(ONE_HUNDRED_LED, HIGH)
output(TWO_HUNDRED_LED, HIGH)
else:
output(ONE_HUNDRED_LED, LOW)
output(TWO_HUNDRED_LED, LOW)
def statusOn(self): output(STATUS_GPIO_PIN, HIGH)
from RPi.GPIO import setmode, setwarnings, setup, output, BCM, HIGH, LOW, OUT, cleanup
from time import sleep
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)
def left(duty=100):
output(5, LOW)
output(6, HIGH)
p2.ChangeDutyCycle(float(duty))
return default_response()
def __init__(self):
self.count = 0
def increment(self):
if self.count < 255:
self.count += 1
draw(self.count)
def reset(self):
self.count = 0
draw(self.count)
if __name__ == "__main__":
setup_gpio()
try:
counter = Counter()
while True:
wait_for_input()
output(BEEPER, HIGH)
counter.increment()
time.sleep(0.2)
output(BEEPER, LOW)
except KeyboardInterrupt:
cleanup()
def straight(duty=100):
output(5, LOW)
output(6, LOW)
setmode(BCM)
# pins are called by the number on the pi
ledRED = 17
ledGREEN = 16
# red led = pin 17
# green led = pin 16
setup(ledRED, OUT)
setup(ledGREEN, OUT)
# sets led pins as outputs
count = 0
# counter starts at 0
while count < 10:
# until each led has blinked 10 times
output(ledRED, HIGH)
output(ledGREEN, LOW)
# turns the red led on and green one off
sleep(1)
output(ledRED, LOW)
output(ledGREEN, HIGH)
# turns the red led off and green one on
sleep(1)
count = count + 1
# adds one to the counter
output(ledGREEN, LOW)
# turns off the green led
def cleanup():
for led in LEDS:
output(led, LOW)
txLedOn = 1
txLedOff = 0
else:
print("No BPF")
txLed = 27
txLedOn = 1
txLedOff = 0
# GPIO.setup(txLed, GPIO.OUT)
# output(txLed, txLedOff)
GPIO.setmode(GPIO.BCM) # Repeat to make LED work on Pi 4
GPIO.setwarnings(False)
GPIO.setup(txLed, GPIO.OUT)
output(txLed, txLedOn)
sleep(1)
output(txLed, txLedOff)
# print(txLedOn)
print(txLed)
# GPIO.setup(27, GPIO.OUT)
# GPIO.output(27, 0)
debug_mode = 0
if __name__ == "__main__":
if (len(sys.argv)) > 1:
# print("There are arguments!")
if (('d' == sys.argv[1]) or ('-d' in sys.argv[1])):
def on():
setup(7, OUT)
output(7, True)
