def main():
global lcd
global inactivity_timer
global motion_sensor
global distance_sensor
global lcd
global buzzer
global led
global last_pullup_time
global pullup_count_alltime
global pullups_to_go
global storage
wiringpi.wiringPiSetupGpio()
init_storage()
inactivity_timer = InactivityTimer(wakeup, shutdown, config.SHUTDOWN_DELAY)
motion_sensor = MotionSensor(wiringpi, config.MOTION, inactivity_timer.trigger)
distance_sensor = DistanceSensor(wiringpi, config.SONIC_ECHO, config.SONIC_TRIG)
lcd = Display(config.LCD_RS, config.LCD_E, config.LCD_D4, config.LCD_D5, config.LCD_D6, config.LCD_D7, config.LCD_K)
buzzer = Buzzer(wiringpi, config.BUZZER)
led = Led(wiringpi, config.LED_PIN)
distance_resetted = True
shutdown()
while True:
if inactivity_timer.is_active():
distance = distance_sensor.measure()
distance_str = "{:13.2f}".format(distance)
if config.DEBUG:
print(distance_str + " cm")
# if wiringpi.millis() % 5 == 0:
# lcd.message(0, 0, distance_str + " cm")
# only count a pullup if:
# - distance is smaller than 5cm
# - distance was resetted (athlete moved more than 20 cm away from sensor)
# - last pullup was done more than 1 second ago
if 0 < distance < config.COUNT_DISTANCE and distance_resetted and wiringpi.millis() > (last_pullup_time + config.RESET_TIME):
buzzer.beep(5000)
distance_resetted = False
cnt = count_pullup()
lcd.clear()
lcd.message(0, 0, "Pullups: " + str(cnt).rjust(5))
lcd.message(0, 1, "2do2day: " + str(pullups_to_go).rjust(5))
elif distance > config.RESET_DISTANCE:
distance_resetted = True
delay_milli(100)
inactivity_timer.loop()
motion_sensor.sense()
if config.DEBUG and inactivity_timer.is_active() == 1:
print("shutting down in " + inactivity_timer.get_seconds_till_shutdown() + " seconds")
def count_pullup():
global pullup_count_today
global pullups_to_go
global pullup_count_alltime
global last_pullup_time
global storage
storage.count_pullup()
pullup_count_today += 1
pullup_count_alltime += 1
pullups_to_go -= 1
last_pullup_time = wiringpi.millis()
return pullup_count_today
import wiringpi2 import sys OUTPUT = 1 PIN_TO_PWM = 1 # pin 1 to output pwm # wiringpi2.wiringPiSetup() wiringpi2.wiringPiSetupPhys() wiringpi2.pinMode(PIN_TO_PWM, OUTPUT) wiringpi2.softPwmCreate(PIN_TO_PWM, 0, 100) time = wiringpi2.millis() print "----------milliseconds-------------" print time print "-----------------------------------" time = wiringpi2.micros() print "----------microseconds-------------" print time print "-----------------------------------"
def getMsTicks():
"""
Get number of milliseconds
"""
return wiringpi2.millis()
def await_dispenser_done():
timeout_time = millis() + dispenser_finish_wait_ms
while GPIO.input(dispenser_busy_pin) == 0 and millis() < timeout_time:
pass
return GPIO.input(dispenser_busy_pin)
def await_dispenser_start():
timeout_time = millis() + dispenser_start_wait_ms
while GPIO.input(dispenser_busy_pin) and millis() < timeout_time:
pass
return not GPIO.input(dispenser_busy_pin)
def main():
noleds = False
noservos = False
noimage = False
nothreshold = False
next_servo_update = 0
try:
opts, args = getopt.getopt(
sys.argv[1:], None,
["help", "noservos", "noleds", "noimage", "nothreshold"])
except getopt.GetoptError as err:
usage()
sys.exit(2)
for option, value in opts:
if option == "--noleds":
noleds = True
elif option == "--noservos":
noservos = True
elif option == "--noimage":
noimage = True
elif option == "--nothreshold":
nothreshold = True
elif option == "--help":
usage()
sys.exit(0)
#setup camera capture
print('Setting up webcam'),
capture = cv2.VideoCapture(-1)
#capture.set(cv2.CAP_PROP_FRAME_HEIGHT, 320);
#capture.set(cv2.CAP_PROP_FRAME_WIDTH, 240);
if (capture is not None):
print('... OK')
else:
return
# setup wiring pi and leds
if noleds == False:
print('Setting up wiring pi'),
wiringpi.wiringPiSetup()
wiringpi.pinMode(GREEN_PIN, 1)
wiringpi.pinMode(RED_PIN, 1)
print('... OK')
else:
print "Wiringpi setup skipped"
# setup serial
if noservos == False:
print("Setting up serial connection to Arduino"),
port = serial.Serial("/dev/ttyUSB0", baudrate=115200, timeout=3.0)
if (port is not None):
print('... OK')
else:
return
else:
print "Serial setup skipped"
wiringpi.delay(16000)
print "Starting object tracking"
frames = 0
start_time = time.time()
while True:
diagonal, center_x, center_y = find_ball(capture, noimage, nothreshold)
if noservos == False:
update_servos(diagonal, center_x, center_y)
if (read_servo_update(port)):
next_servo_update = wiringpi.millis() + 100
if wiringpi.millis() > next_servo_update:
send_servo_update(port)
if noleds == False:
update_leds(diagonal)
frames += 1
currtime = time.time()
numsecs = currtime - start_time
fps = frames / numsecs
sys.stdout.write("Found ball at: (%d, %d) " %
(center_x, center_y) + " Deviation %d " %
(90 - panServoAngle) +
"Current FPS: %d \t\t\r\n" % fps)
sys.stdout.flush()
return
import wiringpi2 import sys OUTPUT = 1 PIN_TO_PWM = 1 #pin 1 to output pwm #wiringpi2.wiringPiSetup() wiringpi2.wiringPiSetupPhys() wiringpi2.pinMode(PIN_TO_PWM, OUTPUT) wiringpi2.softPwmCreate(PIN_TO_PWM, 0, 100) time = wiringpi2.millis() print "----------milliseconds-------------" print time print "-----------------------------------" time = wiringpi2.micros() print "----------microseconds-------------" print time print "-----------------------------------"
def getMsTicks():
"""
Get number of milliseconds
"""
return wiringpi2.millis()
def main():
noleds = False
noservos = False
noimage = False
nothreshold = False
next_servo_update = 0
try:
opts, args = getopt.getopt(sys.argv[1:], None, ["help","noservos","noleds","noimage","nothreshold"])
except getopt.GetoptError as err:
usage()
sys.exit(2)
for option, value in opts:
if option == "--noleds":
noleds = True
elif option == "--noservos":
noservos = True
elif option == "--noimage":
noimage = True
elif option == "--nothreshold":
nothreshold = True
elif option == "--help":
usage()
sys.exit(0)
#setup camera capture
print('Setting up webcam'),
capture = cv2.VideoCapture(-1)
#capture.set(cv2.CAP_PROP_FRAME_HEIGHT, 320);
#capture.set(cv2.CAP_PROP_FRAME_WIDTH, 240);
if (capture is not None):
print('... OK')
else:
return
# setup wiring pi and leds
if noleds == False:
print('Setting up wiring pi'),
wiringpi.wiringPiSetup()
wiringpi.pinMode(GREEN_PIN, 1)
wiringpi.pinMode(RED_PIN, 1)
print('... OK')
else:
print "Wiringpi setup skipped"
# setup serial
if noservos == False:
print("Setting up serial connection to Arduino"),
port = serial.Serial("/dev/ttyUSB0", baudrate=115200, timeout=3.0)
if (port is not None):
print('... OK')
else:
return
else:
print "Serial setup skipped"
wiringpi.delay(16000)
print "Starting object tracking"
frames = 0
start_time = time.time()
while True:
diagonal, center_x, center_y = find_ball(capture, noimage, nothreshold)
if noservos == False:
update_servos(diagonal, center_x, center_y)
if (read_servo_update(port)):
next_servo_update = wiringpi.millis()+100;
if wiringpi.millis() > next_servo_update:
send_servo_update(port)
if noleds == False:
update_leds(diagonal)
frames += 1
currtime = time.time()
numsecs = currtime - start_time
fps = frames / numsecs
sys.stdout.write("Found ball at: (%d, %d) "%(center_x,center_y) + " Deviation %d " %(90-panServoAngle)+"Current FPS: %d \t\t\r\n" %fps)
sys.stdout.flush()
return
def main():
pid = pidlib.PID(0.03, 0, 0.001)
pid.setPoint(0)
noleds = False
noarduino = False
noimage = False
nothreshold = False
next_servo_update = 0
try:
opts, args = getopt.getopt(sys.argv[1:], None, ["help", "noarduino", "noleds", "noimage", "nothreshold"])
except getopt.GetoptError as err:
usage()
sys.exit(2)
for option, value in opts:
if option == "--noleds":
noleds = True
elif option == "--noarduino":
noarduino = True
elif option == "--noimage":
noimage = True
elif option == "--nothreshold":
nothreshold = True
elif option == "--help":
usage()
sys.exit(0)
# setup camera capture
print ("Setting up webcam"),
capture = cv2.VideoCapture(-1)
if capture is not None:
print ("... OK")
else:
return
# setup wiring pi and leds
if noleds == False:
print ("Setting up wiring pi"),
wiringpi.wiringPiSetup()
wiringpi.pinMode(GREEN_PIN, 1)
wiringpi.pinMode(RED_PIN, 1)
print ("... OK")
else:
print "Wiringpi setup skipped"
# setup serial
if noarduino == False:
print ("Setting up serial connection to Arduino"),
port = serial.Serial("/dev/ttyUSB0", baudrate=115200, timeout=3.0)
if port is not None:
print ("... OK")
else:
return
else:
print "Serial setup skipped"
print "Starting object tracking"
frames = 0
start_time = time.time()
while True:
diagonal, center_x, center_y = find_ball(capture, noimage, nothreshold)
if diagonal > 0:
pid_value = pid.update(SCREEN_WIDTH / 2 - center_x)
if noarduino == False:
update_servos(diagonal, pid_value)
if read_servo_update(port):
next_servo_update = wiringpi.millis() + 100
send_servo_update(port)
if noleds == False:
update_leds(diagonal)
frames += 1
currtime = time.time()
numsecs = currtime - start_time
fps = frames / numsecs
sys.stdout.write(
"Found ball at: (%d, %d) diag=%d " % (center_x, center_y, diagonal)
+ " Deviation %d " % (90 - panServoAngle)
+ "Current FPS: %d \t\t\r" % fps
)
sys.stdout.flush()
return
for jm in range(0, 4):
text[im * length + jm + cursor] = eval(letters + '[' + str(jm + im * 4) + ']')
if letters == 'm' or letters == 'w':
text[im * length + 4 + cursor] = 1
else:
text[im * length + 4 + cursor] = 0
cursor += 5
cursor += 1
while True:
for i in range(0, 6):
for j in range(0, 11):
if text[i * length + j + startIndex] == 1:
wiringpi.digitalWrite(cols[j], 1)
wiringpi.digitalWrite(rows[i], 1)
wiringpi.delay(1)
wiringpi.digitalWrite(cols[j], 0)
wiringpi.digitalWrite(rows[i], 0)
if wiringpi.millis() - elapsed > speed * 1000:
elapsed += speed * 1000
if startIndex == length - 11:
startIndex = 0
wiringpi.delay(250)
else:
startIndex += 1
if startIndex == 0 and wiringpi.millis() - elapsed > speed * 1000:
elapsed += speed * 10000
if startIndex == length - 15 and wiringpi.millis() - elapsed > speed * 1000:
elapsed += speed * 10000
