def __init__(self, pin, value=90, min=0, max=180):
self.pin = pin
self.value = value
self.min = min
self.max = max
pz.setOutputConfig(self.pin, 2)
pz.setOutput(self.pin, self.value)
def __init__(self):
pz.init()
self._pan = 0
self._tilt = 1
pz.setOutputConfig(self._pan, 2)
pz.setOutputConfig(self._tilt, 2)
self.tilt(90)
self.pan(90)
def __init__(self, intensity=100, pin=0):
'''
Itensity (0 - 100) of LED brightness and its pin on Picon Zero can be specified.
'''
pz_state_controller.ensure_piconzero_is_initialized()
self.intensity = int(intensity)
self.pin = pin
if self.intensity == 100:
pz.setOutputConfig(self.pin, 0)
else:
pz.setOutputConfig(self.pin, 1)
def __init__(self):
pz.init()
# 1= 2 place, 1 = PWM output channel
pz.setOutputConfig(1, 1)
# 2= 3 place, 1 = PWM output channel
pz.setOutputConfig(2, 1)
# Set initial state as off
pz.setOutput(1, 0)
pz.setOutput(2, 0)
# Create a lock to syncronize access to hardware from multiple threads.
self._lock = threading.Lock()
def init():
print("Simple obstacle avoider")
print("Press Ctrl-C to end")
print()
pz.init()
pz.setOutputConfig(5, 3) # set output 5 to WS2812
rev = pz.getRevision()
print(rev[0], rev[1])
hcsr04.init()
def neoPixelLight(direction):
# setup neopixel output
pz.setOutputConfig(5, 3)
if direction == "forward":
pz.setAllPixels(255, 0, 0)
elif direction == "backward":
pz.setAllPixels(255, 255, 0)
elif direction == "left":
pz.setAllPixels(127, 127, 255)
elif direction == "right":
pz.setAllPixels(255, 255, 255)
elif direction == "off":
pz.setAllPixels(0, 0, 0)
def initialise():
# Setup
pz.init()
pz.setOutputConfig(0, 2) # set output 0 to Servo
pz.setOutputConfig(1, 1) # set output 1 to PWM
pz.setOutputConfig(2, 1) # set output 2 to PWM
pz.setOutputConfig(3, 1) # set output 3 to PWM
pz.setInputConfig(0, 0) # set input 1 to digital
# Setup Action queues
global qLED
qLED = Queue(maxsize=0)
global qServo
qServo = Queue(maxsize=0)
workerLED = Thread(target=processq, args=(qLED, ))
workerLED.setDaemon(True)
workerLED.start()
workerServo = Thread(target=processq, args=(qServo, ))
workerServo.setDaemon(True)
workerServo.start()
# Initialise dropbox
global dbx
dbx = dropbox.Dropbox(get_dropboxkey())
def setup():
print('initializing servGrap')
# read channel from config
channel = int(IniReader.read('pins', 'SERVO_CHANNEL'))
# Set output mode to Servo
pz.setOutputConfig(0, channel)
pz.setOutputConfig(1, channel)
pz.setOutputConfig(2, channel)
print('resetting servo to DOWN position , waiting 1 second ...')
ServGrap.hook(ServGrap.DOWN)
time.sleep(1)
print('servGrap initialised and ready')
def initPZ():
pz.init()
# Set output mode to Servo
pz.setOutputConfig(pan, 2)
pz.setOutputConfig(tilt, 2)
# set output 5 to WS2812
pz.setOutputConfig(pixel, 3)
hcsr04.init()
# Centre all servos
panVal = 90
tiltVal = 90
pz.setOutput(pan, panVal)
pz.setOutput(tilt, tiltVal)
speed = 60
print("Tests the servos by using the arrow keys to control")
print("Press <space> key to centre")
print("Press Ctrl-C to end")
print()
# Define which pins are the servos
pan = 0
tilt = 1
grip = 2
pz.init()
# Set output mode to Servo
pz.setOutputConfig(pan, 2)
pz.setOutputConfig(tilt, 2)
pz.setOutputConfig(grip, 2)
# Centre all servos
panVal = 90
tiltVal = 90
gripVal = 90
pz.setOutput(pan, panVal)
pz.setOutput(tilt, tiltVal)
pz.setOutput(grip, gripVal)
# main loop
try:
while True:
keyp = readkey()
import piconzero as pz, time
pz.setInputConfig(0, 1) # set input 0 to Analog
pz.setOutputConfig(0, 1) # set output 0 to PWM
pz.setOutputConfig(2, 2) # set output 2 to Servo
pz.setOutputConfig(5, 3) # set output 5 to WS2812
while True:
ana0 = pz.readInput(0)
pz.setOutput(0, ana0/10)
pz.setPixel(0,0,0,ana0/4)
pz.setOutput(2, int(ana0/7))
time.sleep(0.1) # this makes 11 active lines, but can be removed
import piconzero as pz, time
from libsoc import gpio
from libsoc import GPIO
from time import sleep
def sensor_activated():
gpio_in = gpio.GPIO(GPIO.gpio_id("GPIO-A"), gpio.DIRECTION_INPUT)
with gpio.request_gpios(gpio_in):
in_val = gpio_in.is_high()
return in_val
pz.init()
pz.setOutputConfig(0, 2) # set output 0 to Servo
pz.setOutputConfig(1, 1) # set output 1 to PWM
pz.setOutputConfig(2, 1) # set output 2 to PWM
pz.setOutputConfig(3, 1) # set output 3 to PWM
rev = pz.getRevision()
print rev[0], rev[1]
try:
while True:
while not sensor_activated():
sleep(1)
for x in range(0, 50):
pz.setOutput(1, x)
time.sleep(0.04)
pz.setOutput(1, 0)
sleep(3)
import time
import sys
import random
import colorsys
import threading
# Initiate motor controller
pz.init()
animation = None
# Control Setup
left_stick = 0.0
right_stick = 0.0
# ACTIVATE BLINKY LIGHTS
pz.setOutputConfig(5, 3)
pz.setBrightness(255)
class Animation(threading.Thread):
daemon = True
def __init__(self):
super(Animation, self).__init__()
self.style = None
def run(self, target):
while self.running:
self.next_color()
time.sleep(self.sleeptime)
#set the pi we are workign with (default to local) pi = pigpio.pi() #let test this, subject to change, useful for adjusting RPM. speed = 25 #reference point to poll for changes futureTick = 20001 #pin row on piconzero turnServo = 0 pz.init() # Set output mode to Servo and frequency for servo pz.setOutputConfig(turnServo, 2) pi.set_PWM_frequency(18, 240) # Set frequency for Motor 50Hz * 25 speed = 1250RPM #20.83_ rotations per second pi.set_PWM_frequency(4, 50) #max right panMax = 180 #center pos panCenter = 90 #max left panMin = 0 #initially center panned, using this for PWM smooth transitions panValue = 90
import piconzero as pz, time
pz.init()
pz.setOutputConfig(5, 3) # set output 5 to WS2812
pz.setBrightness(15)
delay = 0.1
colour = [0,255,125] # colour format of LEDs 0 to 7 is G R B
# Set rear light to Red
for posistion in range(4, 8, 1):
pz.setPixel(posistion, 0, 255, 0)
try:
while True:
for posistion in range(0,4,1):
pz.setPixel(posistion, colour[0], colour[1], colour[2])
time.sleep(delay)
for off in range(0, 4, 1):
pz.setPixel(off, 0,0,0)
time.sleep(delay)
for posistion in range(2, 0, -1):
pz.setPixel(posistion, colour[0], colour[1], colour[2])
time.sleep(delay)
for off in range(0, 4, 1):
pz.setPixel(off, 0, 0, 0)
time.sleep(delay)
except KeyboardInterrupt:
print ('finished')
finally:
pz.cleanup()
import piconzero as pz
print("Halloween animation using servos")
print("Press Ctrl-C to end")
print
pz.init()
number_servos = 5
start_angle = 45
stop_angle = 135
delay_time = 0.3
# Define which pins are the servos and set their output and centre them
for s in range(number_servos):
pz.setOutputConfig(s, 2)
pz.setOutput(s, start_angle)
sleep(delay_time)
# main loop
try:
# while True:
for i in range(5):
for servo in range(number_servos):
pz.setOutput(servo, stop_angle)
sleep(delay_time)
pz.setOutput(servo, start_angle)
sleep(delay_time)
except KeyboardInterrupt:
print
print("Test the servos by using the arrow keys to control")
print("Press <space> key to centre")
print("Press Ctrl-C to end")
print()
# Define which pins (GPIO) are the servos
rot = 0 # bottom servo, responsible for rotation in the ground plane. Left/Right.
tilt = 1 # left servo, moves the claw Forward/Backward
lift = 2 # right servo, moves the claw Up/Down
grip = 3 # head servo, Opens/Closes the grip
pz.init()
# Set output mode to Servo
pz.setOutputConfig(rot, 2)
pz.setOutputConfig(tilt, 2)
pz.setOutputConfig(lift, 2)
pz.setOutputConfig(grip, 2)
# Operational angles of servos (between 0 and 180) limited by device geometry
tiltMax = 115
tiltMin = 55
rotMin = 0
rotMax = 180
liftMax = 75
liftMin = 0
gripMin = 0
gripMax = 110
# Initial position of all servos at the beginning of operation
#! /usr/bin/env python
#testLedNumbers.py
# Testing McRoboFace led positions.
# requires picon zero hardware plus software library
import piconzero as pz, time
pz.init()
pz.setOutputConfig(5, 3) # set output 5 to WS2812 (code 3)
try:
while True:
for i in xrange(0, 17):
pz.setPixel(i, 0, 0, 255)
time.sleep(0.5)
pz.setAllPixels(0, 0, 0)
time.sleep(0.5)
except KeyboardInterrupt:
print
finally:
pz.cleanup() #reset picon zero board
speed = 60
print "Tests the servos by using the arrow keys to control"
print "Press <space> key to centre"
print "Press Ctrl-C to end"
print
# Define which pins are the servos
pan = 0
tilt = 1
grip = 2
pz.init()
# Set output mode to Servo
pz.setOutputConfig(pan, 2)
pz.setOutputConfig(tilt, 2)
pz.setOutputConfig(grip, 2)
# Centre all servos
panVal = 90
tiltVal = 90
gripVal = 90
pz.setOutput (pan, panVal)
pz.setOutput (tilt, tiltVal)
pz.setOutput (grip, gripVal)
# main loop
try:
while True:
keyp = readkey()
from __future__ import absolute_import
import piconzero as pz, time
pz.setInputConfig(0, 1) # set input 0 to Analog
pz.setOutputConfig(0, 1) # set output 0 to PWM
pz.setOutputConfig(2, 2) # set output 2 to Servo
pz.setOutputConfig(5, 3) # set output 5 to WS2812
while True:
ana0 = pz.readInput(0)
pz.setOutput(0, ana0/10)
pz.setPixel(0,0,0,ana0/4)
pz.setOutput(2, int(ana0/7))
time.sleep(0.1) # this makes 11 active lines, but can be removed
#init servo outputs
#ch0
servoPort0 = 0
#ch1
servoPort1 = 1
#ch2
servoPort2 = 2
#define input ports
analogPort0 = 0 #input port 0
analogPort1 = 1 #input port 1
# Set output mode
pz.setOutputConfig(servoPort0, 2) #set to output Servo (0 - 180)
#pz.setOutputConfig(servoPort0, 1) # set output 0 to PWM (100)
# Set input mode
pz.setInputConfig(analogPort0, 1) # set input 0 to Analog
def motor(servoPort, speed): #activate servo hat servo motor
pz.setOutput(servoPort, speed)
class Encoder(threading.Thread):
'Class for Analog encoder on continous rotation servo motors'
def __init__(self, servo_port, analog_port, threshold):
threading.Thread.__init__(self)
self.epoll = select.epoll()
self.fdmap = {}
def register(self, obj, flags):
fd = obj.fileno()
self.epoll.register(fd, flags)
self.fdmap[fd] = obj
def unregister(self, obj):
fd = obj.fileno()
del self.fdmap[fd]
self.epoll.unregister(fd)
def poll(self):
evt = self.epoll.poll()
for fd, flags in evt:
yield self.fdmap[fd], flags
if __name__ == "__main__":
pollster = EPoll()
pollster.register(Server(("", 54321), pollster), select.EPOLLIN)
pz.init()
pz.setOutputConfig(5, 3) # set output 5 to WS2812
hcsr04.init()
while True:
evt = pollster.poll()
for obj, flags in evt:
readwrite(obj, flags)
# current sensor state leftState=0 rightState=0 # running total of change of state leftTotal=0 rightTotal=0 # init all hardware pz.init() # Set output mode to Servo pz.setOutputConfig(pan, 2) pz.setOutputConfig(tilt, 2) pz.setOutputConfig(cam, 2) pz.setInputConfig(irSen, 1) # set input 0 to Analog pz.setInputConfig(leftCounter, 0) # set input 0 to Analog pz.setInputConfig(rightCounter, 0) # set input 0 to Analog # Centre positions for all servos panVal = 90 tiltVal = 90 camVal = 90 pz.setOutput (pan, panVal) pz.setOutput (tilt, tiltVal)
