def api_softpwm(self, pin, command, option, req_method, req_args):
resp = copy.deepcopy(self.CHIP_INFO)
resp["connected"] = True
# Figure out our command
if command == "start" and req_method == 'GET':
# Get the arguments
duty_cycle = req_args.get('duty_cycle', 25.0)
frequency = req_args.get('frequency', 35.0)
polarity = req_args.get('polarity', 0)
# Start the SoftPWM
SPWM.start(pin, duty_cycle, frequency, polarity)
resp[
"message"] = "Setting {0} to duty cycle: {1}, frequency: {2}, and polarity {3}".format(
pin, duty_cycle, frequency, polarity)
elif command == "stop" and req_method == 'GET':
SPWM.stop(pin)
resp["message"] = "Stopping {0}".format(pin)
elif command == "cleanup" and req_method == 'GET':
SPWM.cleanup(pin)
resp["message"] = "Cleaning up {0}".format(pin)
elif command == "duty_cycle" and req_method in ['GET', 'PUT', 'POST']:
SPWM.set_duty_cycle(pin, float(option))
resp["message"] = "Changing duty cycle on {0} to {1}".format(
pin, option)
elif command == "frequency" and req_method in ['GET', 'PUT', 'POST']:
SPWM.set_frequency(pin, float(option))
resp["message"] = "Changing duty cycle on {0} to {1}".format(
pin, option)
return jsonify(resp)
def sig_handler(signal, frame):
OM.unload("PWM0")
GPIO.cleanup()
PWM.cleanup()
SPWM.cleanup()
UT.disable_1v8_pin()
sys.exit(0)
def test_start_pwm(self):
PWM.start("XIO-P7", 50, 10)
base = GPIO.get_gpio_base() + 7
gfile = '/sys/class/gpio/gpio%d' % base
assert os.path.exists(gfile)
direction = open(gfile + '/direction').read()
assert(direction == 'out\n')
PWM.cleanup()
def test_start_pwm(self):
PWM.start("XIO-P7", 50, 10)
base = GPIO.get_gpio_base() + 7
gfile = '/sys/class/gpio/gpio%d' % base
assert os.path.exists(gfile)
direction = open(gfile + '/direction').read()
assert(direction == 'out\n')
PWM.cleanup()
def RestApp(host="0.0.0.0", port=1883, debug=False):
try:
app.run(host=host, port=port, debug=debug)
except KeyboardInterrupt:
GPIO.cleanup()
PWM.cleanup()
SPWM.cleanup()
UT.disable_1v8_pin()
sys.exit(0)
def pwm():
rospy.init_node('pwm')
rospy.Subscriber('speeds', Speeds, callback)
while not rospy.is_shutdown():
rospy.spin()
SPWM.cleanup()
UT.unexport_all()
def test_pwm_duty_cycle_invalid_key(self):
with pytest.raises(ValueError):
PWM.set_duty_cycle("P9_15", 100)
PWM.cleanup()
def test_pwm_duty_cycle_invalid_value_string(self):
PWM.start("XIO-P7", 0)
with pytest.raises(TypeError):
PWM.set_duty_cycle("XIO-P7", "a")
PWM.cleanup()
def test_pwm_duty_cycle_invalid_key(self):
with pytest.raises(ValueError):
PWM.set_duty_cycle("P9_15", 100)
PWM.cleanup()
def test_pwm_duty_cycle_non_setup_key(self):
with pytest.raises(RuntimeError):
PWM.set_duty_cycle("XIO-P7", 100)
PWM.cleanup()
def test_pwm_frequency_invalid_value_negative(self):
PWM.start("XIO-P7", 0)
with pytest.raises(ValueError):
PWM.set_frequency("XIO-P7", -1)
PWM.cleanup()
print(f)
time.sleep(.1)
# Hold at high 50%
print("Holding high at 50% duty")
SPWM.set_duty_cycle("XIO-P7", 50)
SPWM.set_frequency("XIO-P7", 5000)
time.sleep(3)
# Hold at high 100%
print("Holding high at 100% duty")
SPWM.set_duty_cycle("XIO-P7", 100)
SPWM.set_frequency("XIO-P7", 5000)
time.sleep(3)
# Try higher frequency
print("Holding high at 10000Hz")
SPWM.set_frequency("XIO-P7", 10000)
time.sleep(3)
except:
print("An error hath occurred.")
# Cleanup afterwards
SPWM.stop("XIO-P7")
SPWM.cleanup()
GPIO.cleanup()
def stop():
SPWM.cleanup()
toggle = False
def test_start_pwm(self):
PWM.start("XIO-P7", 50, 10)
assert os.path.exists('/sys/class/gpio/gpio415')
direction = open('/sys/class/gpio/gpio415/direction').read()
assert direction == 'out\n'
PWM.cleanup()
time.sleep(1)
# SETUP PWM
try:
print("PWM START")
#PWM.toggle_debug()
PWM.start(PWMGPIO, 50, 45, 1)
# UNCOMMENT FOR CRASH
print("PWM SET FREQUENCY")
PWM.set_frequency(PWMGPIO, 10)
# UNCOMMENT FOR CRASH
print("PWM SET DUTY CYCLE")
PWM.set_duty_cycle(PWMGPIO, 25)
#time.sleep(COUNT*SLEEPTIME + 1)
raw_input("PRESS ENTER WHEN DONE")
except:
raise
finally:
# CLEANUP
print("CLEANUP")
PWM.stop(PWMGPIO)
PWM.cleanup()
#OM.unload("PWM0")
#GPIO.cleanup()
def test_pwm_duty_cycle_invalid_value_negative(self):
PWM.start("XIO-P7", 0)
with pytest.raises(ValueError):
PWM.set_duty_cycle("XIO-P7", -1)
PWM.cleanup()
def test_pwm_duty_cycle_invalid_value_string(self):
PWM.start("XIO-P7", 0)
with pytest.raises(TypeError):
PWM.set_duty_cycle("XIO-P7", "a")
PWM.cleanup()
def test_pwm_frequency_invalid_value_string(self):
PWM.start("XIO-P7", 0)
with pytest.raises(TypeError):
PWM.set_frequency("XIO-P7", "11")
PWM.cleanup()
def test_pwm_frequency_invalid_value_string(self):
PWM.start("XIO-P7", 0)
with pytest.raises(TypeError):
PWM.set_frequency("XIO-P7", "11")
PWM.cleanup()
def setup_method(self, test_method):
PWM.cleanup()
def test_pwm_start_valid_duty_cycle_max(self):
# testing an exception isn't thrown
PWM.start("XIO-P7", 100)
PWM.cleanup()
def test_pwm_start_valid_duty_cycle_max(self):
# testing an exception isn't thrown
PWM.start("XIO-P7", 100)
PWM.cleanup()
def teardown_module(module):
PWM.cleanup()
def teardown_module(module):
PWM.cleanup()
def test_pwm_duty_cycle_invalid_value_negative(self):
PWM.start("XIO-P7", 0)
with pytest.raises(ValueError):
PWM.set_duty_cycle("XIO-P7", -1)
PWM.cleanup()
def test_pwm_duty_cycle_non_setup_key(self):
with pytest.raises(RuntimeError):
PWM.set_duty_cycle("XIO-P7", 100)
PWM.cleanup()
def test_pwm_frequency_invalid_value_negative(self):
PWM.start("XIO-P7", 0)
with pytest.raises(ValueError):
PWM.set_frequency("XIO-P7", -1)
PWM.cleanup()
def cleanup(): motorStop() PWM.stop(pin_pwm) GPIO.cleanup(pin_forward) GPIO.cleanup(pin_back) PWM.cleanup()