def __init__(self, server, sock, address):
super(RobotControl, self).__init__(server, sock, address)
# setup GPIO pins for proximity sensors
for PIN in self.PROXIMITY_GPIO:
GPIO.setup(PIN, GPIO.IN)
# try to add event detection for proximity GPIO pins
for PIN, val in self.PROXIMITY_GPIO.items():
# wait until the GPIO is configured as an input
while GPIO.gpio_function(PIN) != GPIO.IN:
GPIO.setup(PIN, GPIO.IN)
GPIO.add_event_detect(PIN, GPIO.FALLING, self.__proximityDetect,
10)
for LED in self.LEDS_GPIO.itervalues():
GPIO.setup(LED, GPIO.OUT)
GPIO.output(LED, GPIO.LOW)
# Connected to Sabertooth S2 as "emergency stop" button
GPIO.setup(self.STOP_GPIO, GPIO.OUT)
GPIO.output(self.STOP_GPIO, GPIO.HIGH)
# Triggers when button pressed
GPIO.setup(self.STOP_BUTTON, GPIO.IN)
while GPIO.gpio_function(self.STOP_BUTTON) != GPIO.IN:
GPIO.setup(self.STOP_BUTTON, GPIO.IN)
GPIO.add_event_detect(self.STOP_BUTTON, GPIO.RISING, self.__stopButton,
10)
# HMC5883L Magnetometer
self.mag = MAG(declination=(11, 35))
# HC-SR04 pin setup
# ECHO_TRIGGER initiates ultrasonic pulse
GPIO.setup(self.ECHO_TRIGGER, GPIO.OUT)
# ECHO_RETURN - needs to be level shifted from 5.0V to 3.3V
# time of +ve pulse is the distance
GPIO.setup(self.ECHO_RETURN, GPIO.IN)
while GPIO.gpio_function(self.ECHO_RETURN) != GPIO.IN:
GPIO.setup(self.ECHO_RETURN, GPIO.IN)
GPIO.add_event_detect(self.ECHO_RETURN, GPIO.BOTH, self.__measureEcho,
1)
GPIO.output(self.ECHO_TRIGGER, GPIO.LOW)
# Start servo scanning movement thread
self.SCAN = True
threading.Thread(target=self.__servoScan).start()
# Start HC-SR04 timing/measurement thread
threading.Thread(target=self.__HCSR04).start()
self.do_beep(0.25)
GPIO.output(self.LEDS_GPIO["RED_pin"], GPIO.HIGH)
self.saber = Sabertooth(self.UART, self.TTY)
self.saber.setRamp(15)
def __init__(self, server, sock, address):
super(RobotControl, self).__init__(server, sock, address)
# setup GPIO pins for proximity sensors
for PIN in self.PROXIMITY_GPIO:
GPIO.setup(PIN, GPIO.IN)
# try to add event detection for proximity GPIO pins
for PIN, val in self.PROXIMITY_GPIO.items():
# wait until the GPIO is configured as an input
while GPIO.gpio_function(PIN) != GPIO.IN:
GPIO.setup(PIN, GPIO.IN)
GPIO.add_event_detect(PIN, GPIO.FALLING, self.__proximityDetect, 10)
for LED in self.LEDS_GPIO.itervalues():
GPIO.setup(LED, GPIO.OUT)
GPIO.output(LED, GPIO.LOW)
# Connected to Sabertooth S2 as "emergency stop" button
GPIO.setup(self.STOP_GPIO, GPIO.OUT)
GPIO.output(self.STOP_GPIO, GPIO.HIGH)
# Triggers when button pressed
GPIO.setup(self.STOP_BUTTON, GPIO.IN)
while GPIO.gpio_function(self.STOP_BUTTON) != GPIO.IN:
GPIO.setup(self.STOP_BUTTON, GPIO.IN)
GPIO.add_event_detect(self.STOP_BUTTON, GPIO.RISING, self.__stopButton, 10)
# HMC5883L Magnetometer
self.mag = MAG(declination=(11,35))
# HC-SR04 pin setup
# ECHO_TRIGGER initiates ultrasonic pulse
GPIO.setup(self.ECHO_TRIGGER, GPIO.OUT)
# ECHO_RETURN - needs to be level shifted from 5.0V to 3.3V
# time of +ve pulse is the distance
GPIO.setup(self.ECHO_RETURN, GPIO.IN)
while GPIO.gpio_function(self.ECHO_RETURN) != GPIO.IN:
GPIO.setup(self.ECHO_RETURN, GPIO.IN)
GPIO.add_event_detect(self.ECHO_RETURN, GPIO.BOTH, self.__measureEcho, 1)
GPIO.output(self.ECHO_TRIGGER, GPIO.LOW)
# Start servo scanning movement thread
self.SCAN = True
threading.Thread(target=self.__servoScan).start()
# Start HC-SR04 timing/measurement thread
threading.Thread(target=self.__HCSR04).start()
self.do_beep(0.25)
GPIO.output(self.LEDS_GPIO["RED_pin"], GPIO.HIGH)
self.saber = Sabertooth(self.UART, self.TTY)
self.saber.setRamp(15)
def __init__(self, server, sock, address):
super(RobotControl, self).__init__(server, sock, address)
# setup GPIO pins for proximity sensors
for PIN in self.PROXIMITY_GPIO:
GPIO.setup(PIN, GPIO.IN)
# try to add event detection for proximity GPIO pins
for PIN, val in self.PROXIMITY_GPIO.items():
# wait until the GPIO is configured as an input
while GPIO.gpio_function(PIN) != GPIO.IN:
GPIO.setup(PIN, GPIO.IN)
GPIO.add_event_detect(PIN, GPIO.FALLING, self.__proximityDetect, 10)
for LED in self.LEDS_GPIO.itervalues():
GPIO.setup(LED, GPIO.OUT)
GPIO.output(LED, GPIO.LOW)
GPIO.output(self.LEDS_GPIO["RED_pin"], GPIO.HIGH)
self.saber = Sabertooth(self.UART, self.TTY)
self.saber.setRamp(15)
def test_direction_readback(self):
GPIO.setup("P8_10", GPIO.OUT)
direction = GPIO.gpio_function("P8_10")
assert direction == GPIO.OUT
# Initialise the Count() callback function variables
Count.counting = False
Count.startTime = None
Count.endTime = None
# This keeps Python happy and makes delta a datetime.timedelta type
Count.delta = datetime.now() - datetime.now()
# Trigger output pin
GPIO.setup("P9_14", GPIO.OUT)
# Echo input pin - remember to level shift to 3.3V
GPIO.setup("P8_15", GPIO.IN)
# Sometimes it takes a little while for the GPIO to be setup and adding event
# detection fails, so we'll go around in circles until the GPIO is ready
while GPIO.gpio_function("P8_15") != GPIO.IN:
GPIO.setup("P8_15", GPIO.IN)
# Python bindings can only handle one event per GPIO, so bind to both
# the callback function will work out if it is rising or falling.
GPIO.add_event_detect("P8_15", GPIO.BOTH, Count, 1)
# Set trigger to LOW initially
GPIO.output("P9_14", GPIO.LOW)
try:
while 1:
# We'll take an average over 3 measurements
total = 0
for x in range(0,3):
# Set Trigger to HIGH
def test_direction_readback(self):
GPIO.setup("P8_10", GPIO.OUT)
direction = GPIO.gpio_function("P8_10")
assert direction == GPIO.OUT
