def setupLED():
global PWM_pin
global board
PWM_pin = 5
# use pin D5 as pwm to adjest LED.
board = PyMata('/dev/ttyS0', verbose = True)
board.set_pin_mode(PWM_pin, board.PWM, board.DIGITAL)
print "Start PWM test by pin D5"
class smartkitdata(object):
def __init__(self):
self.board = PyMata(ARDUINO_ADDRESS)
self.board.set_pin_mode(1, self.board.INPUT, self.board.ANALOG)
self._data = self.gen_data()
def get_data(self):
return pd.DataFrame(self._data)[-60:]
def update_data(self):
self._data = np.vstack([self._data, self.gen_data()])
def gen_data(self):
return np.array(self.board.analog_read(1))
def __init__(self, name, broker, port, keepalive, state_topic, command_topic, qos, retain,
payload_on, payload_off, optimistic, value_template,serial_port,switch_pin):
self._switch_pin = switch_pin
self._board = PyMata(serial_port,False,verbose=True)
self._board.set_pin_mode(self._switch_pin,self._board.OUTPUT,self._board.DIGITAL)
A0 = 7
def pin_callback(data):
print("Analog Data: ",
" Pin: ", data[PIN_NUMBER],
" Pin Mode: ", data[PIN_MODE],
" Data Value: ", data[DATA_VALUE])
self._board.set_analog_latch(A0,self._board.ANALOG_LATCH_GT,500,pin_callback)
# self._board.set_pin_mode(A0, self._board.INPUT, self._board.ANALOG)
# self._board.set_sampling_interval(100)
# self._board.set_analog_latch(A0,self._board.ANALOG_LATCH_GT,500,pin_callback)
# while True:
# time.sleep(0.1)
# value = self._board.analog_read(A0)
# print(value)
self._mqtt = mqtt.Client()
self._switch = None
self._state_topic = state_topic
self._command_topic = command_topic
self._qos = qos
self._retain = retain
self._payload_on = payload_on
self._payload_off = payload_off
self._optimistic = optimistic
self._state = False
def on_message( _mqtt, userdata, msg):
topic = msg.topic,
qos = msg.qos,
payload = msg.payload.decode('utf-8'),
payload = payload[0]
print(msg.topic+" "+payload)
if payload == payload_on:
self.turn_on()
elif payload == payload_off:
self.turn_off()
self._mqtt.on_message = on_message
self._mqtt.connect(broker, port, keepalive)
self._mqtt.subscribe(command_topic,qos)
self._mqtt.loop_forever()
def __init__(self, port = '/dev/ttyACM0'):
#Warn experimenter that ports are going to switch on, before they are turned off again after initialization
raw_input('WARNING: Switch off your instruments, all ports are going to turn on. Press ANY KEY to continue')
self.board = PyMata(port)
#Look at pymata.py and pymata_command_handler.py if you want to follow the logic. PyMata instances have a _command_handler instance in them - this _command_handler instance has two variables - total_pins_discovered and number_of_analog_pins_discovered. This sets digital pins 0 to (total_pins_discovered - number_of analog_pins_discovered - 1) to 0
dio = self.board._command_handler.total_pins_discovered - self.board._command_handler.number_of_analog_pins_discovered
for i in range(dio):
self.board.digital_write(i, 0)
print 'It is safe to turn your instruments on now. All digital ports have been switched off'
def search_port(self):
#returns all serial COM-Ports
possible_ports = serial_ports()
print
for com_port in possible_ports:
logging.info('com port = %s' % com_port)
try:
# instantiate PyMata
self.firmata = PyMata(com_port) # pragma: no cover
self.com_port = com_port
return 1
except Exception:
print('Could not instantiate PyMata - is your Arduino plugged in?')
logging.exception('Could not instantiate PyMata on Port %s' % com_port)
return 0
def __init__(self):
Thread.__init__(self)
self.daemon = True
self.board = PyMata()
def signal_handler(sig, frame):
self.stop_motors()
self.board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
self.board.set_pin_mode(self.MOTOR_1_PWM, self.board.PWM, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_1_A, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_1_B, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_2_PWM, self.board.PWM, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_2_A, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_2_B, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_3_PWM, self.board.PWM, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_3_A, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_3_B, self.board.OUTPUT, self.board.DIGITAL)
self.dx, self.dy = 0, 0
def __init__(self, port=None):
try:
from PyMata.pymata import PyMata
except ImportError:
msg = 'pingo.arduino.Arduino requires PyMata installed'
raise ImportError(msg)
super(ArduinoFirmata, self).__init__()
self.port = port
self.PyMata = PyMata(self.port)
detected_digital_pins = len(self.PyMata._command_handler.digital_response_table)
detected_analog_pins = len(self.PyMata._command_handler.analog_response_table)
self._add_pins(
[DigitalPin(self, location)
for location in range(detected_digital_pins)] +
[AnalogPin(self, 'A%s' % location, resolution=10)
for location in range(detected_analog_pins)]
)
def __init__(self, options):
super(Firmata, self).__init__(options)
if 'port' not in options:
raise self.ParameterRequired(
'A port must be specified for Firmata connection.'
)
self.port = options.get('port')
self.board = PyMata('/dev/ttyACM0', verbose=True)
signal.signal(signal.SIGINT, self.signal_handler)
self.pins = {
'digital': [],
'analog': [],
'pwm': [],
'servo': [],
'i2c': [],
}
def __init__(self):
# Initialize fingers and wrist pos
self.finger_pos = [0, 0, 0, 0, 0, 90]
# Initialize sensor values
self.sensor_val = [0, 0, 0, 0, 0]
# Initialize the arduino
self.arduino = PyMata("/dev/ttyACM0", verbose=True)
# Initialize the servos and sensors on arduino
for servo_pin in SERVO_PINS:
self.arduino.servo_config(servo_pin)
for sensor_pin in SENSOR_PINS:
self.arduino.enable_analog_reporting(sensor_pin)
# Initialize the hand states
self.curstate = 'open'
self.states = {}
self.transitionTable = {}
def __init__(self, port=None):
try:
from PyMata.pymata import PyMata as PyMata # noqa
except ImportError:
msg = 'pingo.arduino.Arduino requires PyMata installed'
raise ImportError(msg)
super(ArduinoFirmata, self).__init__()
self.port = port
self.firmata_client = PyMata(self.port, verbose=VERBOSE)
self.firmata_client.capability_query()
time.sleep(10) # TODO: Find a small and safe value
capability_query_results = self.firmata_client.get_capability_query_results()
capability_dict = pin_list_to_board_dict(capability_query_results)
self._add_pins(
[DigitalPin(self, location)
for location in capability_dict['digital']] +
[PwmPin(self, location)
for location in capability_dict['pwm']] +
[AnalogPin(self, 'A%s' % location, resolution=10)
for location in capability_dict['analog']]
)
# pymata_analogRead.py
# PyMata analog read example
from PyMata.pymata import PyMata
import time
# Pin no. A0
pinNo = 0
# connection port
PORT = '/dev/ttyACM0'
# Create PyMata instance
board = PyMata(PORT, verbose=True)
# Set digital pin 13 to be an output port
board.set_pin_mode(pinNo, board.INPUT, board.ANALOG)
while True:
pin = board.analog_read(pinNo)
print 'analog read : A0: {}'.format(pin)
time.sleep(0.5)
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
"""
import time
import sys
import signal
from PyMata.pymata import PyMata
# Ping callback function
def cb_ping(data):
print((str(data[2]) + ' centimeters'))
# Create a PyMata instance
board = PyMata("/dev/ttyACM0", verbose=True)
# you may need to press control-c twice to exit
def signal_handler(sig, frame):
print('You pressed Ctrl+C!!!!')
if board is not None:
board.reset()
board.close()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# Configure Trigger and Echo pins
# Using default of 50 ms ping interval and max distance of 200 cm.
board.sonar_config(12, 12, cb_ping)
self.btn_serv_pos.config(state = NORMAL)
self.btn_serv_neg.config(state = NORMAL)
else:
#el switch esta presionado, los botones se deshabilitan
self.lbl_switch.set("HIGH")
self.btn_serv_pos.config(state = DISABLED)
self.btn_serv_neg.config(state = DISABLED)
elif(key == "pot"):
#actualizo el valor escalado del potenciometro
self.lbl_val_pote.set(value)
else:
break
def alert(self):
'''
muestro un mensaje de error en el caso de llegar a un
valor de 0 o de 180 en la variable servo_pos
'''
showerror("ERROR", self.lbl_servo_err)
if __name__ == "__main__":
ard = PyMata()
app = simple(None)
app.title('my app')
app.focus_set()
config_ardu()
app.mainloop()
ard.close()
class ShotManager():
def __init__(self):
# see the shotlist in app/shots/shots.py
self.currentShot = shots.APP_SHOT_NONE
self.currentModeIndex = DEFAULT_APM_MODE
self.curController = None
def Start(self, vehicle):
logger.log("+-+-+-+-+-+-+ Starting up %s +-+-+-+-+-+-+" % VERSION)
### initialize dronekit vehicle ###
self.vehicle = vehicle
### switch vehicle to loiter mode ###
self.vehicle.mode = VehicleMode("LOITER")
### initialize rc manager ###
self.rcMgr = rcManager.rcManager(self)
### initialize app manager ###
self.appMgr = appManager.appManager(self)
### initialize button manager ###
self.buttonManager = buttonManager.buttonManager(self)
### initialize gopro manager ###
self.goproManager = GoProManager.GoProManager(self)
### Initialize GeoFence manager ###
self.geoFenceManager = GeoFenceManager.GeoFenceManager(self)
# instantiate rewindManager
self.rewindManager = rewindManager.RewindManager(self.vehicle, self)
# Create a PyMata instance and initialize the object avoidance toggles
self.led_left_state = 0
self.led_right_state = 0
self.led_center_state = 0
self.led_beam_angle_state = 0
self.center_collision_state = 0
try:
self.arduinoBoard = PyMata("/dev/ttyACM0", verbose=True)
self.arduinoBoard.set_pin_mode(COLL_RIGHT, self.arduinoBoard.INPUT,
self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(COLL_CENTER,
self.arduinoBoard.INPUT,
self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(COLL_LEFT, self.arduinoBoard.INPUT,
self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT1, self.arduinoBoard.INPUT,
self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT2, self.arduinoBoard.INPUT,
self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT3, self.arduinoBoard.INPUT,
self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT4, self.arduinoBoard.INPUT,
self.arduinoBoard.DIGITAL)
except:
logger.log("[shotmanager]: Error in communication to Arduino")
### init APM stream rates ###
self.initStreamRates()
### register callbacks ###
self.registerCallbacks()
# Try to maintain a constant tick rate
self.timeOfLastTick = monotonic.monotonic()
# how many ticks have we performed since an RC update?
# register all connections (gopro manager communicates via appMgr's socket)
self.inputs = [self.rcMgr.server, self.appMgr.server]
self.outputs = []
#check if gimbal is present
if self.vehicle.gimbal.yaw is not None:
logger.log("[shot]: Gimbal detected.")
# Initialize gimbal to RC targeting
self.vehicle.gimbal.release()
else:
logger.log("[shot]: No gimbal detected.")
# mark first tick time
self.timeOfLastTick = monotonic.monotonic()
# check for In-Air start from Shotmanager crash
if self.vehicle.system_status == 'ACTIVE':
logger.log("[shot]: Restart in air.")
# load vehicle home
self.rewindManager.loadHomeLocation()
# not yet enabled until this check proves effective
#self.vehicle.mode = VehicleMode("RTL")
def Run(self):
while True:
try:
#print "in shotManager server loop"
# handle TCP/RC packets
# we set a timeout of UPDATE_TIME, so we roughly do this every UPDATE_TIME
rl, wl, el = select.select(self.inputs, self.outputs, [],
UPDATE_TIME)
# handle reads
for s in rl:
if s is self.appMgr.server: # if read is a connection attempt
self.appMgr.connectClient()
elif s is self.appMgr.client: # if read is from app
self.appMgr.parse()
elif s is self.rcMgr.server: # if read is an RC packet
self.rcMgr.parse()
elif s is self.buttonManager.client: # if read is from buttons
self.buttonManager.parse()
# now handle writes (sololink.btn_msg handles all button writes)
for s in wl:
if s is self.appMgr.client: # if write is for app
self.appMgr.write()
# exceptions
for s in el:
if s is self.appMgr.client: # if its the app socket throwing an exception
self.appMgr.exception()
else:
# otherwise remove whichever socket is excepting
if s in self.inputs:
self.inputs.remove(s)
if s in self.outputs:
self.outputs.remove(s)
s.close()
self.buttonManager.checkButtonConnection()
# Check for obstacles when the lidar is active
if (self.buttonManager.scanactive == 1):
self.checkForObstacle()
# Check if copter is outside fence or will be
self.geoFenceManager.activateGeoFenceIfNecessary()
# call main control/planning loop at UPDATE_RATE
if time.time() - self.timeOfLastTick > UPDATE_TIME:
self.Tick()
except Exception as ex:
# reset any RC timeouts and stop any stick remapping
self.rcMgr.detach()
# try to put vehicle into LOITER
self.vehicle.mode = VehicleMode("LOITER")
exceptStr = traceback.format_exc()
print exceptStr
strlist = exceptStr.split('\n')
for i in strlist:
logger.log(i)
if self.appMgr.isAppConnected():
# send error to app
packet = struct.pack(
'<II%ds' % (len(exceptStr)),
app_packet.SOLO_MESSAGE_SHOTMANAGER_ERROR,
len(exceptStr), exceptStr)
self.appMgr.client.send(packet)
# sleep to make sure the packet goes out (for some reason
# setting client.setblocking(1) doesn't work)
time.sleep(0.4)
# cleanup
for socket in self.inputs:
socket.close()
os._exit(1)
def enterShot(self, shot):
if shot not in shots.SHOT_NAMES:
logger.log("[shot]: Shot not recognized. (%d)" % shot)
return
if shot == shots.APP_SHOT_NONE:
pass
# check our EKF - if it's bad and that we can't init the shot prior to EKF being OK, reject shot entry attempt
elif self.last_ekf_ok is False and shot not in shots.CAN_START_BEFORE_EKF:
logger.log(
'[shot]: Vehicle EKF quality is poor, shot entry into %s disallowed.'
% shots.SHOT_NAMES[shot])
# set shot to APP_SHOT_NONE
shot = shots.APP_SHOT_NONE
# notify the app of shot entry failure
packet = struct.pack('<III', app_packet.SOLO_SHOT_ERROR, 4,
app_packet.SHOT_ERROR_BAD_EKF)
self.appMgr.sendPacket(packet)
# check vehicle system status - if it's CRITICAL or EMERGENCY, reject shot entry attempt
elif self.vehicle.system_status in ['CRITICAL', 'EMERGENCY']:
logger.log(
'[shot]: Vehicle in %s, shot entry into %s disallowed.' %
(self.vehicle.system_status, shots.SHOT_NAMES[shot]))
# set shot to APP_SHOT_NONE
shot = shots.APP_SHOT_NONE
# notify the app of shot entry failure
packet = struct.pack('<III', app_packet.SOLO_SHOT_ERROR, 4,
app_packet.SHOT_ERROR_RTL)
self.appMgr.sendPacket(packet)
# check if vehicle is not armed or in STANDBY and that we can't init the shot prior to arm, reject shot entry attempt
elif (self.vehicle.armed is False or self.vehicle.system_status
== 'STANDBY') and shot not in shots.CAN_START_BEFORE_ARMING:
logger.log(
'[shot]: Vehicle is unarmed, shot entry into %s disallowed.' %
shots.SHOT_NAMES[shot])
self.vehicle.mode = VehicleMode("LOITER")
# set shot to APP_SHOT_NONE
shot = shots.APP_SHOT_NONE
# notify the app of shot entry failure
packet = struct.pack('<III', app_packet.SOLO_SHOT_ERROR, 4,
app_packet.SHOT_ERROR_UNARMED)
self.appMgr.sendPacket(packet)
# OK fine, you get to start the shot.
if self.currentShot != shot:
logger.log('[shot]: Entering shot %s.' % shots.SHOT_NAMES[shot])
if self.currentShot == shots.APP_SHOT_REWIND:
# we are exiting Rewind
self.rewindManager.resetSpline()
# APP_SHOT_NONE
if shot == shots.APP_SHOT_NONE:
# mark curController for garbage collection
del self.curController
# set curController to None (should also mark for garbage collection)
self.curController = None
# re-enable manual gimbal controls (RC Targeting mode)
self.vehicle.gimbal.release()
# disable the stick re-mapper
self.rcMgr.enableRemapping(False)
# disable scanning
self.arduinoBoard.digital_write(6, 0)
# if the Rewind shot put us into RTL, lets stay there
if self.vehicle.mode.name == 'RTL':
logger.log("[shot]: Leaving vehicle in mode RTL")
# if vehicle mode is in another mode such as GUIDED or AUTO, then switch to LOITER
elif self.vehicle.mode.name in shots.SHOT_MODES:
logger.log("[shot]: Changing vehicle mode to LOITER.")
self.vehicle.mode = VehicleMode("LOITER")
else:
self.curController = ShotFactory.get_shot_obj(
shot, self.vehicle, self)
# update currentShot
self.currentShot = shot
logger.log("[shot]: Successfully entered %s." %
shots.SHOT_NAMES[shot])
# already in that shot
else:
logger.log('[shot]: Already in shot %s.' % shots.SHOT_NAMES[shot])
# let the world know
if self.appMgr.isAppConnected():
self.appMgr.broadcastShotToApp(shot)
# let Artoo know too
self.buttonManager.setArtooShot(shot)
# set new button mappings appropriately
self.buttonManager.setButtonMappings()
def mode_callback(self, vehicle, name, mode):
try:
if mode.name != self.lastMode:
logger.log("[callback]: Mode changed from %s -> %s" %
(self.lastMode, mode.name))
if mode.name == 'RTL':
logger.log(
"[callback]: System entered RTL, switch to shot!")
self.enterShot(shots.APP_SHOT_RTL)
elif self.currentShot != shots.APP_SHOT_NONE:
# looks like somebody switched us out of guided! Exit our current shot
if mode.name not in shots.SHOT_MODES:
logger.log(
"[callback]: Detected that we are not in the correct apm mode for this shot. Exiting shot!"
)
self.enterShot(shots.APP_SHOT_NONE)
self.lastMode = mode.name
# don't do the following for guided, since we're in a shot
if self.lastMode == 'GUIDED' or mode.name == 'RTL':
return
modeIndex = modes.getAPMModeIndexFromName(
self.lastMode, self.vehicle)
if modeIndex < 0:
logger.log("couldn't find this mode index: %s" %
self.lastMode)
return
if self.currentShot == shots.APP_SHOT_NONE:
self.buttonManager.setArtooShot(-1, modeIndex)
self.currentModeIndex = modeIndex
except Exception as e:
logger.log('[shot]: mode callback error, %s' % e)
def ekf_callback(self, vehicle, name, ekf_ok):
try:
if ekf_ok != self.last_ekf_ok:
self.last_ekf_ok = ekf_ok
logger.log("[callback]: EKF status changed to %d" % (ekf_ok))
self.buttonManager.setButtonMappings()
# if we regain EKF and are landing - just push us into fly
if ekf_ok and self.vehicle.mode.name == 'LAND':
self.enterShot(shots.APP_SHOT_NONE)
# only store home in the air when no home loc exists
if self.rewindManager:
if ekf_ok and self.last_armed and self.rewindManager.homeLocation is None:
self.rewindManager.loadHomeLocation()
except Exception as e:
logger.log('[callback]: ekf callback error, %s' % e)
def armed_callback(self, vehicle, name, armed):
try:
if armed != self.last_armed:
self.last_armed = armed
logger.log("[callback]: armed status changed to %d" % (armed))
self.buttonManager.setButtonMappings()
# clear Rewind manager cache
self.rewindManager.resetSpline()
if not armed and self.currentShot not in shots.CAN_START_BEFORE_ARMING:
self.enterShot(shots.APP_SHOT_NONE)
self.vehicle.mode = VehicleMode("LOITER")
# stop recording upon disarm (landing, hopefully)
if not armed:
self.goproManager.handleRecordCommand(
self.goproManager.captureMode, RECORD_COMMAND_STOP)
# read home loc from vehicle
if armed:
self.rewindManager.loadHomeLocation()
except Exception as e:
logger.log('[callback]: armed callback error, %s' % e)
def camera_feedback_callback(self, vehicle, name, msg):
try:
if self.currentShot in shots.SITE_SCAN_SHOTS or self.vehicle.mode.name == 'AUTO':
# issue GoPro record command
self.goproManager.handleRecordCommand(CAPTURE_MODE_PHOTO,
RECORD_COMMAND_START)
except Exception as e:
logger.log('[callback]: camera feedback callback error, %s.' % e)
def initStreamRates(self):
STREAM_RATES = {
mavutil.mavlink.MAV_DATA_STREAM_EXTENDED_STATUS: 2,
mavutil.mavlink.MAV_DATA_STREAM_EXTRA1: 10,
mavutil.mavlink.MAV_DATA_STREAM_EXTRA2: 10,
mavutil.mavlink.MAV_DATA_STREAM_EXTRA3: 2,
mavutil.mavlink.MAV_DATA_STREAM_POSITION: 10,
mavutil.mavlink.MAV_DATA_STREAM_RAW_SENSORS: 2,
mavutil.mavlink.MAV_DATA_STREAM_RAW_CONTROLLER: 3,
mavutil.mavlink.MAV_DATA_STREAM_RC_CHANNELS: 5,
}
for stream, rate in STREAM_RATES.items():
msg = self.vehicle.message_factory.request_data_stream_encode(
0,
1, # target system, target component
stream, # requested stream id
rate, # rate
1 # start it
)
self.vehicle.send_mavlink(msg)
def notifyPause(self, inShot=0):
'''notify the autopilot that we would like to pause'''
if inShot:
return
msg = self.vehicle.message_factory.command_long_encode(
0, # target system
1, # target component
mavutil.mavlink.MAV_CMD_SOLO_BTN_PAUSE_CLICK, # frame
0, # confirmation
int(inShot), # param 1: 1 if Solo is in a shot mode, 0 otherwise
0,
0,
0,
0,
0,
0) # params 2-7 (not used)
# send command to vehicle
self.vehicle.send_mavlink(msg)
# This fetches and returns the value of the parameter matching the given name
# If the parameter is not found, returns the given default value instead
def getParam(self, name, default=None):
return self.vehicle.parameters.get(name, wait_ready=False) or default
# we call this at our UPDATE_RATE
# drives the shots as well as anything else timing-dependent
def Tick(self):
self.timeOfLastTick = time.time()
self.rcMgr.rcCheck()
# update rewind manager
if (self.currentShot == shots.APP_SHOT_REWIND
or self.currentShot == shots.APP_SHOT_RTL
or self.vehicle.mode.name == 'RTL') is False:
self.rewindManager.updateLocation()
# Always call remap
channels = self.rcMgr.remap()
if self.curController:
self.curController.handleRCs(channels)
def getHomeLocation(self):
if self.rewindManager.homeLocation is None or self.rewindManager.homeLocation.lat == 0:
return None
else:
return self.rewindManager.homeLocation
def enterFailsafe(self):
''' called when we loose RC link or have Batt FS event '''
# dont enter failsafe on the ground
if not self.vehicle.armed or self.vehicle.system_status != 'ACTIVE':
return
# dont enter failsafe if we are already rewinding home
if self.currentShot == shots.APP_SHOT_REWIND:
self.curController.exitToRTL = True
return
if self.currentShot == shots.APP_SHOT_RTL:
return
if self.last_ekf_ok is False:
# no GPS - force an emergency land
self.vehicle.mode = VehicleMode("LAND")
return
# ignore FS while in Auto mode
if self.vehicle.mode.name == 'AUTO' and self.rewindManager.fs_thr == 2:
return
if self.rewindManager.enabled:
self.enterShot(shots.APP_SHOT_REWIND)
self.curController.exitToRTL = True
else:
self.enterShot(shots.APP_SHOT_RTL)
def registerCallbacks(self):
self.last_ekf_ok = False
self.last_armed = False
self.lastMode = self.vehicle.mode.name
# MODE
self.vehicle.add_attribute_listener(
'mode',
self.mode_callback) #register with vehicle class (dronekit)
# EKF
# call ekf back first
self.ekf_callback(self.vehicle, 'ekf_ok', self.vehicle.ekf_ok)
self.vehicle.add_attribute_listener(
'ekf_ok',
self.ekf_callback) #register with vehicle class (dronekit)
# ARMED
self.vehicle.add_attribute_listener(
'armed',
self.armed_callback) #register with vehicle class (dronekit)
# CAMERA FEEDBACK
self.vehicle.add_message_listener(
'CAMERA_FEEDBACK', self.camera_feedback_callback
) #register with vehicle class (dronekit)
# gopro manager callbacks (defined in gopro manager)
self.vehicle.add_attribute_listener('gopro_status',
self.goproManager.state_callback)
self.vehicle.add_attribute_listener(
'gopro_get_response', self.goproManager.get_response_callback)
self.vehicle.add_attribute_listener(
'gopro_set_response', self.goproManager.set_response_callback)
def checkForObstacle(self):
# check if beam will hit the ground at altitudes lower than 3 meters then disable scan
self.pitch_angle = abs(self.vehicle.attitude.pitch)
self.check_altitude = self.vehicle.location.global_relative_frame.alt
#logger.log("pitch: %s" % self.pitch_angle)
if (self.vehicle.attitude.pitch < 0 and self.check_altitude < 3):
self.beamreach = (self.check_altitude / math.sin(self.pitch_angle))
else:
self.beamreach = 1000
if (self.beamreach > SCAN_BEAM_DISTANCE):
if (self.led_beam_angle_state == 1):
self.led_beam_angle_state = 0
self.LEDrgb(2, 2, 0, 255, 0)
self.LEDrgb(3, 2, 255, 0, 0)
if (self.arduinoBoard.digital_read(COLL_RIGHT) == 1):
if (self.led_right_state == 0):
logger.log("[objavoid]: Obstacle on the right")
# send info to app
if self.appMgr.isAppConnected():
exceptStr = "Obstacle to the right"
packet = struct.pack(
'<II%ds' % (len(exceptStr)),
app_packet.SOLO_MESSAGE_SHOTMANAGER_ERROR,
len(exceptStr), exceptStr)
self.appMgr.client.send(packet)
# sleep to make sure the packet goes out
time.sleep(0.1)
# LED right_front set to strobe magenta
self.LEDrgb(3, 2, 255, 0, 0)
self.LEDrgb(2, 4, 255, 0, 255)
self.led_right_state = 1
self.led_left_state = 0
self.led_center_state = 0
self.led_beam_angle_state = 0
elif (self.arduinoBoard.digital_read(COLL_CENTER) == 1):
if (self.led_center_state == 0):
logger.log("[objavoid]: Obstacle in center")
# when we are not in a shot, nor in RTL or LAND and flying higher than 1 meter
if (self.currentShot == shots.APP_SHOT_NONE
and (self.vehicle.mode.name != 'LAND'
or self.vehicle.mode.name != 'RTL')):
if (self.check_altitude > 1):
self.vehicle.mode = VehicleMode("BRAKE")
# all other shots and modes trigger an audio and visual warning only to not interfere with shots
# send status to app
if self.appMgr.isAppConnected():
exceptStr = "Obstacle ahead in %.1f" % self.coll_distance(
) + " meters"
packet = struct.pack(
'<II%ds' % (len(exceptStr)),
app_packet.SOLO_MESSAGE_SHOTMANAGER_ERROR,
len(exceptStr), exceptStr)
self.appMgr.client.send(packet)
# sleep to make sure the packet goes out
time.sleep(0.2)
# both LED front set to strobe magenta
self.LEDrgb(2, 4, 255, 0, 255)
self.LEDrgb(3, 4, 255, 0, 255)
self.led_right_state = 0
self.led_left_state = 0
self.led_center_state = 1
self.led_beam_angle_state = 0
elif (self.arduinoBoard.digital_read(COLL_LEFT) == 1):
if (self.led_left_state == 0):
logger.log("[objavoid]: Obstacle on the left")
# send status to app
if self.appMgr.isAppConnected():
exceptStr = "Obstacle to the left"
packet = struct.pack(
'<II%ds' % (len(exceptStr)),
app_packet.SOLO_MESSAGE_SHOTMANAGER_ERROR,
len(exceptStr), exceptStr)
self.appMgr.client.send(packet)
# sleep to make sure the packet goes out
time.sleep(0.1)
# LED left_front set to strobe magenta
self.LEDrgb(2, 2, 0, 255, 0)
self.LEDrgb(3, 4, 255, 0, 255)
self.led_right_state = 0
self.led_left_state = 1
self.led_center_state = 0
self.led_beam_angle_state = 0
else:
# no obstacle in sight reset everything
if (self.led_left_state == 1 or self.led_right_state == 1
or self.led_center_state == 1):
logger.log("[objavoid]: no obstacle in sight reset LED")
self.LEDrgb(2, 2, 0, 255, 0)
self.LEDrgb(3, 2, 255, 0, 0)
self.led_right_state = 0
self.led_left_state = 0
self.led_center_state = 0
self.led_beam_angle_state = 0
else:
if (self.led_beam_angle_state == 0):
logger.log(
"[objavoid]: pitch/altitude too low - obstacle detection disabled"
)
self.LEDrgb(2, 4, 255, 100, 0)
self.LEDrgb(3, 4, 255, 100, 0)
self.led_beam_angle_state = 1
self.led_right_state = 0
self.led_left_state = 0
self.led_center_state = 0
# send status to app
if self.appMgr.isAppConnected():
exceptStr = "Solo altitude too low for scan"
packet = struct.pack(
'<II%ds' % (len(exceptStr)),
app_packet.SOLO_MESSAGE_SHOTMANAGER_ERROR,
len(exceptStr), exceptStr)
self.appMgr.client.send(packet)
# sleep to make sure the packet goes out
time.sleep(0.1)
def coll_distance(self):
x = str(self.arduinoBoard.digital_read(SCAN_BIT4)) + str(
self.arduinoBoard.digital_read(SCAN_BIT3)) + str(
self.arduinoBoard.digital_read(SCAN_BIT2)) + str(
self.arduinoBoard.digital_read(SCAN_BIT1))
y = float(int(x, 2)) / 2
return y
def LEDpadArray(self, byteArray):
return byteArray + bytearray([0]) * (24 - len(byteArray))
# Set LED pattern and color (RGB value)
def LEDrgb(self, led, pattern, red, green, blue):
#print "rgb", led, pattern, red, green, blue
byteArray = bytearray(['R', 'G', 'B', '0', pattern, red, green, blue])
self.LEDsendMessage(led, 255, byteArray)
# reset LED to default behavior
def LEDreset(self, led):
#print "reset", led
self.LEDsendMessage(led, 0)
def LEDsendMessage(self, led, macro, byteArray=bytearray()):
#print "sendMessage", led, macro, ":".join(str(b) for b in byteArray)
msg = self.vehicle.message_factory.led_control_encode(
0, 0, led, macro, len(byteArray), self.LEDpadArray(byteArray))
self.vehicle.send_mavlink(msg)
# Can't find a functional flush() operation, so wait instead
time.sleep(0.2)
def Start(self, vehicle):
logger.log("+-+-+-+-+-+-+ Starting up %s +-+-+-+-+-+-+" % VERSION)
### initialize dronekit vehicle ###
self.vehicle = vehicle
### switch vehicle to loiter mode ###
self.vehicle.mode = VehicleMode("LOITER")
### initialize rc manager ###
self.rcMgr = rcManager.rcManager(self)
### initialize app manager ###
self.appMgr = appManager.appManager(self)
### initialize button manager ###
self.buttonManager = buttonManager.buttonManager(self)
### initialize gopro manager ###
self.goproManager = GoProManager.GoProManager(self)
### Initialize GeoFence manager ###
self.geoFenceManager = GeoFenceManager.GeoFenceManager(self)
# instantiate rewindManager
self.rewindManager = rewindManager.RewindManager(self.vehicle, self)
# Create a PyMata instance and initialize the object avoidance toggles
self.led_left_state = 0
self.led_right_state = 0
self.led_center_state = 0
self.led_beam_angle_state = 0
self.center_collision_state = 0
try:
self.arduinoBoard = PyMata("/dev/ttyACM0", verbose=True)
self.arduinoBoard.set_pin_mode(COLL_RIGHT, self.arduinoBoard.INPUT,
self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(COLL_CENTER,
self.arduinoBoard.INPUT,
self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(COLL_LEFT, self.arduinoBoard.INPUT,
self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT1, self.arduinoBoard.INPUT,
self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT2, self.arduinoBoard.INPUT,
self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT3, self.arduinoBoard.INPUT,
self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT4, self.arduinoBoard.INPUT,
self.arduinoBoard.DIGITAL)
except:
logger.log("[shotmanager]: Error in communication to Arduino")
### init APM stream rates ###
self.initStreamRates()
### register callbacks ###
self.registerCallbacks()
# Try to maintain a constant tick rate
self.timeOfLastTick = monotonic.monotonic()
# how many ticks have we performed since an RC update?
# register all connections (gopro manager communicates via appMgr's socket)
self.inputs = [self.rcMgr.server, self.appMgr.server]
self.outputs = []
#check if gimbal is present
if self.vehicle.gimbal.yaw is not None:
logger.log("[shot]: Gimbal detected.")
# Initialize gimbal to RC targeting
self.vehicle.gimbal.release()
else:
logger.log("[shot]: No gimbal detected.")
# mark first tick time
self.timeOfLastTick = monotonic.monotonic()
# check for In-Air start from Shotmanager crash
if self.vehicle.system_status == 'ACTIVE':
logger.log("[shot]: Restart in air.")
# load vehicle home
self.rewindManager.loadHomeLocation()
"""
"""
This example illustrates manipulating a servo motor.
"""
import time
import sys
import signal
from PyMata.pymata import PyMata
SERVO_MOTOR = 5 # servo attached to this pin
# create a PyMata instance
board = PyMata("/dev/ttyACM0")
def signal_handler(sig, frame):
print('You pressed Ctrl+C!!!!')
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# control the servo - note that you don't need to set pin mode
# configure the servo
board.servo_config(SERVO_MOTOR)
# move the servo to 20 degrees
Created on 16/02/2016
@author: jecrespo
@version: 1.0
@description: Blink Arduino mediante Firmata
@url: http://www.aprendiendoarduino.com/
'''
import time
import sys
from PyMata.pymata import PyMata
BOARD_LED = 13
port = input("Puerto Serie Arduino: ")
try:
arduino = PyMata(port, verbose=True)
for x in range(10):
print(x + 1)
# Set the output to 1 = High
arduino.digital_write(BOARD_LED, 1)
# Wait a half second between toggles.
time.sleep(.5)
# Set the output to 0 = Low
arduino.digital_write(BOARD_LED, 0)
time.sleep(.5)
# Close PyMata when we are done
arduino.close()
except: # catch *all* exceptions
e = sys.exc_info()[0]
# re-arm the latch to fire on the next transition to high
board.set_digital_latch(PUSH_BUTTON, board.DIGITAL_LATCH_HIGH,
cb_push_button)
def signal_handler(sig, frame):
print('You pressed Ctrl+C!!!!')
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# create a PyMata instance
board = PyMata("/dev/ttyACM0")
# set pin modes
# set the pin to light the green led
board.set_pin_mode(GREEN_LED, board.OUTPUT, board.DIGITAL)
# set the pin to receive button presses
board.set_pin_mode(PUSH_BUTTON, board.INPUT, board.DIGITAL)
# arm the digital latch to detect when the button is pressed
board.set_digital_latch(PUSH_BUTTON, board.DIGITAL_LATCH_HIGH, cb_push_button)
while 1:
pass
# LCD module HD44780
import time
import sys
import signal
import pymata_pwm
from PyMata.pymata import PyMata
board = PyMata('/dev/ttyS0', verbose = True)
###### 4-bits mode bit config ######
# bit7 ---------------------- bit0 #
# d7 d6 d5 d4 bl en rw rs #
####################################
device_addr = 0x27 # device address
bl_bit = 0x08 # backlight bit
en_bit = 0x04 # read/write enable bit
rw_bit = 0x02 #
rs_bit = 0x01 #
DATA = 0x01
COMMAND = 0x00
setBackLight = 1
def delay_ms(time_ms):
time.sleep(time_ms/1000)
# def i2c_send(value, mode):
def cb_potentiometer_latch(data):
# turn off LEDs
board.analog_write(RED_LED, 0)
board.digital_write(GREEN_LED, 0)
# print all data from the latch callback including time stamp
print('Latching Event Mode:%x Pin:%d Data Value:%d Time of Event:%s' %
(data[LATCH_TYPE], data[LATCH_PIN], data[LATCH_DATA_VALUE],
time.asctime(time.gmtime(data[LATCH_TIME_STAMP]))))
# shut things down
board.close()
# create a PyMata instance
board = PyMata("/dev/ttyACM0", True, False)
def signal_handler(sig, frame):
print('You pressed Ctrl+C!!!!')
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# set pin modes
board.set_pin_mode(GREEN_LED, board.OUTPUT, board.DIGITAL)
board.set_pin_mode(RED_LED, board.PWM, board.DIGITAL)
board.set_pin_mode(PUSH_BUTTON, board.INPUT, board.DIGITAL, cb_push_button)
This file demonstrates how to recreate the basic blink sketch using PyMata
"""
import signal
import time
from PyMata.pymata import PyMata
# Pin 13 has an LED connected on most Arduino boards.
# give it a name:
LED = 13
# Create an instance of PyMata.
SERIAL_PORT = "/dev/ttyACM0"
firmata = PyMata(SERIAL_PORT,
max_wait_time=10,
firmata_type=PyMata.STANDARD_FIRMATA)
# initialize the digital pin as an output.
firmata.set_pin_mode(LED, firmata.OUTPUT, firmata.DIGITAL)
try:
# run in a loop over and over again forever:
while True:
firmata.digital_write(
LED, firmata.HIGH) # turn the LED on (HIGH is the voltage level)
time.sleep(1.0)
# wait for a second
firmata.digital_write(
LED, firmata.LOW) # turn the LED off by making the voltage LOW
This file demonstrates how to use some of the basic PyMata operations.
"""
import time
import sys
import signal
from PyMata.pymata import PyMata
# Digital pin 13 is connected to an LED. If you are running this script with
# an Arduino UNO no LED is needed (Pin 13 is connected to an internal LED).
BOARD_LED = 13
# Create a PyMata instance
board = PyMata("/dev/ttyUSB0", verbose=True)
def signal_handler(sig, frame):
print('You pressed Ctrl+C')
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# Set digital pin 13 to be an output port
board.set_pin_mode(BOARD_LED, board.OUTPUT, board.DIGITAL)
time.sleep(2)
This demo polls the current values returned from a rotary encoder.
It will only work on an Arduino Uno and requires the PyMataPlus sketch to be installed on the Arduino
"""
import sys
import signal
from PyMata.pymata import PyMata
ENCODER_A = 14
ENCODER_B = 15
prev_value = 0
# create a PyMata instance
board = PyMata("/dev/ttyACM0")
def signal_handler(sig, frame):
print('You pressed Ctrl+C!!!!')
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# configure the pins for the encoder
board.encoder_config(ENCODER_B, ENCODER_A)
while 1:
from PyMata.pymata import PyMata
# Define some devices and their pin numbers and desired mode
RED_LED = 11 # a digital output to control an LED
WHITE_LED = 6 # a PWM output to control LED
BUTTON_SWITCH = 12 # a digital input to read a push button switch
POTENTIOMETER = 2 # this A2, an analog input
BEEPER = 3 # A digital output connected to a piezo device
SERVO_MOTOR = 5
# Create an instance of PyMata.
# The PyMata constructor will print status to the console and will return
# when PyMata is ready to accept commands or will exit if unsuccessful
firmata = PyMata("/dev/ttyACM0")
# Retrieve and print Arduino Firmware version information
firmata.refresh_report_firmware()
print firmata.get_firmata_firmware_version()
# Set the pin mode for a digital output pin
firmata.set_pin_mode(RED_LED, firmata.OUTPUT, firmata.DIGITAL)
# Turn on the RED LED
firmata.digital_write(RED_LED, 1)
# Wait 3 seconds and turn it off
time.sleep(3)
import signal
from PyMata.pymata import PyMata
def signal_handler(sig, frame):
print('You pressed Ctrl+C')
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# Create a PyMata instance
board = PyMata("/dev/ttyACM0")
# Set the pin mode
board.servo_config(5)
board.set_pin_mode(12, board.OUTPUT, board.DIGITAL)
board.set_pin_mode(0, board.INPUT, board.ANALOG)
# Send query request to Arduino
board.capability_query()
# Some boards take a long time to respond - adjust as needed
time.sleep(5)
print("Pin Capability Report")
print(board.get_capability_query_results())
print("PyMata Digital Response Table")
"""
This is a demonstration of playing a tone on a piezo device.
FirmataPlus is required to be loaded on the Arduino for this to work
"""
import time
import sys
import signal
from PyMata.pymata import PyMata
BEEPER = 3 # pin that piezo device is attached to
# create a PyMata instance
board = PyMata("/dev/ttyACM0")
def signal_handler(sig, frm):
print('You pressed Ctrl+C!!!!')
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
board.play_tone(BEEPER, board.TONE_TONE, 1000, 500)
time.sleep(2)
# play a continuous tone, wait 3 seconds and then turn tone off
import logging
import os
from flask import Flask
from flask_apscheduler import APScheduler
from flask_sqlalchemy import SQLAlchemy
from PyMata.pymata import PyMata
from slackclient import SlackClient
logging.basicConfig(
level=logging.DEBUG,
format='%(asctime)s (%(threadName)-10s) %(message)s',
)
app = Flask(__name__)
app.config.from_object('config')
# instantiate db before scheduler, as it is a dependency for some jobs
db = SQLAlchemy(app)
# instantiate slack_client before scheduler, as it is a dependency for some jobs
slack_client = SlackClient(os.environ.get('SLACK_BOT_TOKEN'))
# instantiate PyMata interface to the MCU (ATmega32U4)
mcu = PyMata("/dev/ttyS0", verbose=True)
# instantiate the scheduler
scheduler = APScheduler()
scheduler.init_app(app)
from app import views, models
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
This file demonstrates using PyMata to control a stepper motor. It requires the use of the FirmataPlus
Arduino sketch included with this release.
It is based upon the following tutorial: https://learn.adafruit.com/adafruit-arduino-lesson-16-stepper-motors/overview
"""
import signal
import sys
import time
from PyMata.pymata import PyMata
# create a PyMata instance
firmata = PyMata("/dev/ttyACM0")
def signal_handler(sig, frm):
print('You pressed Ctrl+C!!!!')
if firmata is not None:
firmata.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# send the arduino a firmata reset
firmata.reset()
# configure the stepper to use pins 9.10,11,12 and specify 512 steps per revolution
signal.signal(signal.SIGINT, signal_handler)
# Data change callback functions
def cb_potentiometer(data):
print("Analog Data: ",
" Pin: ", data[PIN_NUMBER],
" Pin Mode: ", data[PIN_MODE],
" Data Value: ", data[DATA_VALUE])
def cb_push_button(data):
print("Digital Data:",
" Pin: ", data[PIN_NUMBER],
" Pin Mode: ", data[PIN_MODE],
" Data Value: ", data[DATA_VALUE])
# Instantiate PyMata
board = PyMata("/dev/ttyACM0", verbose=True)
# Set up pin modes for both pins with callbacks for each
board.set_pin_mode(PUSH_BUTTON, board.INPUT, board.DIGITAL, cb_push_button)
board.set_pin_mode(POTENTIOMETER, board.INPUT, board.ANALOG,
cb_potentiometer)
# A forever loop until user presses Ctrl+C
while 1:
pass
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
General Public License for more details.
You should have received a copy of the GNU General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
"""
import time
import sys
import signal
from PyMata.pymata import PyMata
# create a PyMata instance
board = PyMata("/dev/ttyACM0", verbose=True)
# you may need to press ctrl c twice
def signal_handler(sig, frame):
print('You pressed Ctrl+C')
if board is not None:
board.reset()
board.close()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# Configure the trigger and echo pins
board.sonar_config(12, 12)
This file demonstrates how to use some of the basic PyMata operations.
"""
import time
import sys
import signal
from PyMata.pymata import PyMata
# Digital pin 13 is connected to an LED. If you are running this script with
# an Arduino UNO no LED is needed (Pin 13 is connected to an internal LED).
BOARD_LED = 13
# Create a PyMata instance
board = PyMata("COM4", verbose=True)
def signal_handler(sig, frame):
print('You pressed Ctrl+C')
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# Set digital pin 13 to be an output port
board.set_pin_mode(BOARD_LED, board.OUTPUT, board.DIGITAL)
time.sleep(2)
import json
import threading
import time
import textwrap
import subprocess
import struct
from PyMata.pymata import PyMata
# Give the pins names:
REDPIN = 5
GREENPIN = 3
BLUEPIN = 6
# Create an instance of PyMata.
SERIAL_PORT = "/dev/ttyS0"
firmata = PyMata( SERIAL_PORT, max_wait_time=5 )
# initialize the digital pin as an output.
firmata.set_pin_mode( REDPIN, firmata.PWM, firmata.DIGITAL)
firmata.set_pin_mode( GREENPIN, firmata.PWM, firmata.DIGITAL)
firmata.set_pin_mode( BLUEPIN, firmata.PWM, firmata.DIGITAL)
api_key=''
api_secret=''
access_token_key=''
access_token_secret=''
class DisplayLoop(StreamListener):
"""
This class is a listener for tweet stream data.
def __init__(self, port):
"""Initialize the board."""
from PyMata.pymata import PyMata
self._port = port
self._board = PyMata(self._port, verbose=False)
class BiColorDisplayController:
# display blink control values
board_address = 0 # i2c address
blink_rate = 0 # blink rate
brightness = 0 # brightness
# blink rate defines
HT16K33_BLINK_CMD = 0x80
HT16K33_BLINK_DISPLAYON = 0x01
HT16K33_BLINK_OFF = 0
HT16K33_BLINK_2HZ = 1
HT16K33_BLINK_1HZ = 2
HT16K33_BLINK_HALFHZ = 3
# oscillator control values
OSCILLATOR_ON = 0x21
OSCILLATOR_OFF = 0x20
# led color selectors
LED_OFF = 0
LED_RED = 1
LED_YELLOW = 2
LED_GREEN = 3
# brightness
MAX_BRIGHTNESS = 15
# the display buffer
# This is an 16x16 matrix that stores pixel data for the display
# Even rows store the green pixel data and odd rows store the red pixel data.
#
# A physical row on the device is controlled by a row pair (ie 0,1 and 2,3, etc) for the 2 colors.
#
# To output yellow the red and green information for the rows will be set high.
#
display_buffer = [[0 for x in xrange(8)] for x in xrange(8)]
def __init__(self, address, blink_rate, brightness):
# create an instance of PyMata - we are using an Arduino UNO
"""
@param address: I2C address of the device
@param blink_rate: desired blink rate
@param brightness: brightness level for the display
"""
self.firmata = PyMata("/dev/ttyACM0")
self.board_address = address
self.blink_rate = blink_rate
self.brightness = brightness
self.clear_display_buffer()
# configure firmata for i2c on an UNO
self.firmata.i2c_config(0, self.firmata.ANALOG, 4, 5)
# turn on oscillator
self.oscillator_set(self.OSCILLATOR_ON)
# set blink rate
self.set_blink_rate(self.blink_rate)
# set brightness
self.set_brightness(self.brightness)
def set_blink_rate(self, b):
"""
Set the user's desired blink rate (0 - 3)
@param b: blink rate
"""
if (b > 3):
b = 0 # turn off if not sure
self.firmata.i2c_write(self.board_address,
(self.HT16K33_BLINK_CMD | self.HT16K33_BLINK_DISPLAYON | (b << 1)))
def oscillator_set(self, osc_mode):
"""
Turn oscillator on or off
@param osc_mode: osc mode (OSCILLATOR_ON or OSCILLATOR_OFF)
"""
self.firmata.i2c_write(self.board_address, osc_mode)
def set_brightness(self, brightness):
"""
Set the brightness level for the entire display
@param brightness: brightness level (0 -15)
"""
if brightness > 15:
brightness = 15
brightness |= 0xE0
self.brightness = brightness
self.firmata.i2c_write(0x70, brightness)
def set_pixel(self, row, column, color, suppress_write):
# rows 0,2,4,6,8,10,12,14 are green
# rows 1,3,5,7,9,11,13,15 are red
#
# A row entry consists of 2 bytes, the first always being 0 and the second
# being the state of the pixel (high or low)
"""
@param row: pixel row number
@param column: pix column number
@param color: pixel color (yellow is both red and green both on)
@param suppress_write: if true, just sets the internal data structure, else writes out the pixel to the display
"""
if (row < 0) or (row >= 8):
print "set_pixel(): ROW out of range"
return
if (column < 0) or (column >= 8):
print "set_pixel(): COLUMN out of range"
return
self.display_buffer[row][column] = color
# output changes to row on display
green = 0
red = 0
# calculate row for green rows and then adjust it for red
for col in range(0, 8):
# assemble green data for the row and output
if self.display_buffer[row][col] == self.LED_GREEN:
green |= 1 << col
elif self.display_buffer[row][col] == self.LED_RED:
red |= 1 << col
elif self.display_buffer[row][col] == self.LED_YELLOW:
green |= 1 << col
red |= 1 << col
elif self.display_buffer[row][col] == self.LED_OFF:
green &= ~(1 << col)
red &= ~(1 << col)
if suppress_write == False:
self.firmata.i2c_write(0x70, row * 2, 0, green)
self.firmata.i2c_write(0x70, row * 2 + 1, 0, red)
def set_bit_map(self, shape, color):
"""
Populate the bit map with the supplied "shape" and color
and then write the entire bitmap to the display
@param shape: pattern to display
@param color: color for the pattern
"""
for row in xrange(0, 8):
data = shape[row]
# shift data into buffer
bit_mask = 0x80
for column in xrange(0, 8):
if data & bit_mask:
self.set_pixel(row, column, color, True)
bit_mask >>= 1
self.output_entire_buffer()
def output_entire_buffer(self):
"""
Write the entire buffer to the display
"""
green = 0
red = 0
for row in xrange(0, 8):
for col in xrange(0, 8):
if self.display_buffer[row][col] == self.LED_GREEN:
green |= 1 << col
elif self.display_buffer[row][col] == self.LED_RED:
red |= 1 << col
elif self.display_buffer[row][col] == self.LED_YELLOW:
green |= 1 << col
red |= 1 << col
elif self.display_buffer[row][col] == self.LED_OFF:
green &= ~(1 << col)
red &= ~(1 << col)
self.firmata.i2c_write(0x70, row * 2, 0, green)
self.firmata.i2c_write(0x70, row * 2 + 1, 0, red)
def clear_display_buffer(self):
"""
Set all led's to off.
"""
for row in range(0, 8):
self.firmata.i2c_write(0x70, row * 2, 0, 0)
self.firmata.i2c_write(0x70, (row * 2) + 1, 0, 0)
for column in range(0, 8):
self.display_buffer[row][column] = 0
def close(self):
"""
close the interface down cleanly
"""
self.firmata.close()
# Motor pins on Arduino
MOTOR_1_PWM = 2
MOTOR_1_A = 3
MOTOR_1_B = 4
MOTOR_2_PWM = 5
MOTOR_2_A = 6
MOTOR_2_B = 7
MOTOR_3_PWM = 8
MOTOR_3_A = 9
MOTOR_3_B = 10
def signal_handler(sig, frame):
board.reset()
# Here we initialize the motor pins on Arduino
board = PyMata(bluetooth=False)
signal.signal(signal.SIGINT, signal_handler)
board.set_pin_mode(MOTOR_1_PWM, board.PWM, board.DIGITAL)
board.set_pin_mode(MOTOR_1_A, board.OUTPUT, board.DIGITAL)
board.set_pin_mode(MOTOR_1_B, board.OUTPUT, board.DIGITAL)
board.set_pin_mode(MOTOR_2_PWM, board.PWM, board.DIGITAL)
board.set_pin_mode(MOTOR_2_A, board.OUTPUT, board.DIGITAL)
board.set_pin_mode(MOTOR_2_B, board.OUTPUT, board.DIGITAL)
board.set_pin_mode(MOTOR_3_PWM, board.PWM, board.DIGITAL)
board.set_pin_mode(MOTOR_3_A, board.OUTPUT, board.DIGITAL)
board.set_pin_mode(MOTOR_3_B, board.OUTPUT, board.DIGITAL)
class MotorThread(Thread):
def __init__(self):
Thread.__init__(self)
self.daemon = True
# re-arm the latch to fire on the next transition to high
board.set_digital_latch(PUSH_BUTTON, board.DIGITAL_LATCH_HIGH, cb_push_button)
def signal_handler(sig, frame):
print('You pressed Ctrl+C!!!!')
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# create a PyMata instance
board = PyMata("/dev/ttyACM0")
# set pin modes
# set the pin to light the green led
board.set_pin_mode(GREEN_LED, board.OUTPUT, board.DIGITAL)
# set the pin to receive button presses
board.set_pin_mode(PUSH_BUTTON, board.INPUT, board.DIGITAL)
# arm the digital latch to detect when the button is pressed
board.set_digital_latch(PUSH_BUTTON, board.DIGITAL_LATCH_HIGH, cb_push_button)
while 1:
pass
class ArduinoFirmata(Board, AnalogInputCapable):
def __init__(self, port=None):
try:
from PyMata.pymata import PyMata
except ImportError:
msg = 'pingo.arduino.Arduino requires PyMata installed'
raise ImportError(msg)
super(ArduinoFirmata, self).__init__()
self.port = port
self.PyMata = PyMata(self.port)
detected_digital_pins = len(self.PyMata._command_handler.digital_response_table)
detected_analog_pins = len(self.PyMata._command_handler.analog_response_table)
self._add_pins(
[DigitalPin(self, location)
for location in range(detected_digital_pins)] +
[AnalogPin(self, 'A%s' % location, resolution=10)
for location in range(detected_analog_pins)]
)
def cleanup(self):
#self.PyMata.close() has sys.exit(0)
if hasattr(self, 'PyMata'):
try:
self.PyMata.transport.close()
except AttributeError:
pass
def __repr__(self):
cls_name = self.__class__.__name__
return '<{cls_name} {self.port!r}>'.format(**locals())
def _set_pin_mode(self, pin, mode):
self.PyMata.set_pin_mode(
pin.location,
PIN_MODES[mode],
self.PyMata.DIGITAL
)
def _get_pin_state(self, pin):
_state = self.PyMata.digital_read(pin.location)
if _state == self.PyMata.HIGH:
return pingo.HIGH
return pingo.LOW
def _set_pin_state(self, pin, state):
self.PyMata.digital_write(
pin.location,
PIN_STATES[state]
)
def _set_analog_mode(self, pin, mode):
pin_id = int(pin.location[1:])
self.PyMata.set_pin_mode(
pin_id,
self.PyMata.INPUT,
self.PyMata.ANALOG
)
def _get_pin_value(self, pin):
pin_id = int(pin.location[1:])
return self.PyMata.analog_read(pin_id)
import time
import sys
import signal
from PyMata.pymata import PyMata
# define Digital pin 12-6
COLL_RIGHT = 4
COLL_CENTER = 3
COLL_LEFT = 2
TOGGLE_SWITCH = 5
SCAN_ENABLE = 6
# Create a PyMata instance
board = PyMata("/dev/ttyACM0", verbose=True)
def signal_handler(sig, frame):
print('You pressed Ctrl+C')
print("Stop Scanning")
board.digital_write(SCAN_ENABLE, 0)
time.sleep(2)
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# Set digital pins
class blech_board:
def __init__(self, port='/dev/ttyACM0'):
#Warn experimenter that ports are going to switch on, before they are turned off again after initialization
raw_input(
'WARNING: Switch off your instruments, all ports are going to turn on. Press ANY KEY to continue'
)
self.board = PyMata(port)
#Look at pymata.py and pymata_command_handler.py if you want to follow the logic. PyMata instances have a _command_handler instance in them - this _command_handler instance has two variables - total_pins_discovered and number_of_analog_pins_discovered. This sets digital pins 0 to (total_pins_discovered - number_of analog_pins_discovered - 1) to 0
dio = self.board._command_handler.total_pins_discovered - self.board._command_handler.number_of_analog_pins_discovered
for i in range(dio):
self.board.digital_write(i, 0)
print 'It is safe to turn your instruments on now. All digital ports have been switched off'
def calibrate(self, port, on_time, repeats, iti):
for i in range(repeats):
sleep(iti)
start = time() * 1000.0
self.board.digital_write(port, 1)
while True:
if (time() * 1000.0 - start) >= on_time * 1000.0:
self.board.digital_write(port, 0)
break
def passive_deliveries_constant(self,
ports=[0, 1, 2, 3],
iti=15.0,
deliveries_per_channel=30,
on_time=[0.02, 0.02, 0.02, 0.02]):
num_tastes = len(ports)
total_deliveries = num_tastes * deliveries_per_channel
self.delivery_arr = []
for i in range(total_deliveries):
self.delivery_arr.append(i % num_tastes)
shuffle(self.delivery_arr)
for i in self.delivery_arr:
sleep(iti)
start = time() * 1000.0
self.board.digital_write(ports[i], 1)
while True:
if (time() * 1000.0 - start) >= on_time[i] * 1000.0:
self.board.digital_write(ports[i], 0)
break
def clear_tastes(self, ports=[2, 3, 4, 5], open_time=200.0):
for i in ports:
self.board.digital_write(i, 1)
sleep(open_time)
for i in ports:
self.board.digital_write(port, 0)
def np_no_switch(self,
poke_ports=[8, 9],
taste_ports=[2, 3],
deliveries_per_channel=50,
iti=5.0,
on_time=[0.02, 0.02]):
for i in poke_ports:
self.board.set_pin_mode(i, self.board.INPUT, self.board.DIGITAL)
sleep(2.0)
total_deliveries = len(poke_ports) * deliveries_per_channel
delivery_counter = 0
while (delivery_counter < total_deliveries):
sleep(iti)
for i in range(len(poke_ports)):
if self.board.digital_read(poke_ports[i]) == 0:
start = time() * 1000.0
self.board.digital_write(taste_ports[i], 1)
while True:
if (time() * 1000.0 - start) >= on_time[i] * 1000.0:
self.board.digital_write(taste_ports[i], 0)
break
print 'Trial ', delivery_counter + 1, ' of ', total_deliveries, ' done'
delivery_counter += 1
print 'All done'
def np_switching(self,
poke_ports=[8, 9],
taste_ports=[2, 3],
deliveries_per_channel=30,
iti=15.0,
switching_every=1,
on_time=[0.02, 0.02]):
for i in poke_ports:
self.board.set_pin_mode(i, self.board.INPUT, self.board.DIGITAL)
sleep(2.0)
total_deliveries = len(poke_ports) * deliveries_per_channel
self.poke_array = []
for i in range(total_deliveries):
self.poke_array.append((i / switching_every) % len(poke_ports))
delivery_counter = 0
for i in self.poke_array:
sleep(iti)
while True:
if self.board.digital_read(poke_ports[i]) == 0:
start = time() * 1000.0
self.board.digital_write(taste_ports[i], 1)
while True:
if (time() * 1000.0 - start) >= on_time[i] * 1000.0:
self.board.digital_write(taste_ports[i], 0)
break
print 'Trial ', delivery_counter + 1, ' of ', total_deliveries, ' done'
delivery_counter += 1
break
print 'All done'
"""
This example illustrates manipulating a servo motor.
"""
import time
import sys
import signal
from PyMata.pymata import PyMata
SERVO_MOTOR = 9 # servo attached to this pin
# create a PyMata instance
board = PyMata("/dev/ttyACM0")
def signal_handler(sig, frame):
print('You pressed Ctrl+C!!!!')
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# control the servo - note that you don't need to set pin mode
# configure the servo
board.servo_config(SERVO_MOTOR)
while (1):
# move the servo to 20 degrees
class Motors(Thread):
MOTOR_1_PWM = 2
MOTOR_1_A = 3
MOTOR_1_B = 4
MOTOR_2_PWM = 5
MOTOR_2_A = 6
MOTOR_2_B = 7
MOTOR_3_PWM = 8
MOTOR_3_A = 9
MOTOR_3_B = 10
def __init__(self):
Thread.__init__(self)
self.daemon = True
self.board = PyMata()
def signal_handler(sig, frame):
self.stop_motors()
self.board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
self.board.set_pin_mode(self.MOTOR_1_PWM, self.board.PWM,
self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_1_A, self.board.OUTPUT,
self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_1_B, self.board.OUTPUT,
self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_2_PWM, self.board.PWM,
self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_2_A, self.board.OUTPUT,
self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_2_B, self.board.OUTPUT,
self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_3_PWM, self.board.PWM,
self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_3_A, self.board.OUTPUT,
self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_3_B, self.board.OUTPUT,
self.board.DIGITAL)
self.dx, self.dy = 0, 0
def stop_motors(self):
self.board.digital_write(self.MOTOR_1_B, 0)
self.board.digital_write(self.MOTOR_1_A, 0)
self.board.digital_write(self.MOTOR_2_B, 0)
self.board.digital_write(self.MOTOR_2_A, 0)
self.board.digital_write(self.MOTOR_3_B, 0)
self.board.digital_write(self.MOTOR_3_A, 0)
def run(self):
while True:
# Reset all direction pins to avoid damaging H-bridges
# TODO: USE dx,dy now in (-1,1)+(None,None) range
self.stop_motors()
dist = abs(self.dx)
if dist > 0.2: #was 2
if self.dx > 0:
print("Turning left")
self.board.digital_write(self.MOTOR_1_B, 1)
self.board.digital_write(self.MOTOR_2_B, 1)
self.board.digital_write(self.MOTOR_3_B, 1)
else:
print("Turning right")
self.board.digital_write(self.MOTOR_1_A, 1)
self.board.digital_write(self.MOTOR_2_A, 1)
self.board.digital_write(self.MOTOR_3_A, 1)
self.board.analog_write(self.MOTOR_1_PWM,
int(dist**0.7 + 25))
self.board.analog_write(self.MOTOR_2_PWM,
int(dist**0.7 + 25))
self.board.analog_write(self.MOTOR_3_PWM,
int(dist**0.7 + 25))
# elif self.dy > 30:
else:
print("Going forward")
self.board.digital_write(self.MOTOR_1_B, 1)
self.board.digital_write(self.MOTOR_3_A, 1)
self.board.analog_write(self.MOTOR_1_PWM,
int(self.dy**0.5) + 30)
self.board.analog_write(self.MOTOR_2_PWM, 0)
self.board.analog_write(self.MOTOR_3_PWM,
int(self.dy**0.5) + 30)
sleep(0.03)
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
General Public License for more details.
You should have received a copy of the GNU General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
"""
import time
import sys
import signal
from PyMata.pymata import PyMata
# create a PyMata instance
board = PyMata("/dev/ttyACM0", verbose=True)
# you may need to press ctrl c twice
def signal_handler(sig, frame):
print('You pressed Ctrl+C')
if board is not None:
board.reset()
board.close()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# Configure the trigger and echo pins
board.sonar_config(12, 12)
class ArduinoBoard(object):
""" Represents an Arduino board. """
def __init__(self, port):
self._port = port
self._board = PyMata(self._port, verbose=False)
def set_mode(self, pin, direction, mode):
""" Sets the mode and the direction of a given pin. """
if mode == 'analog' and direction == 'in':
self._board.set_pin_mode(pin,
self._board.INPUT,
self._board.ANALOG)
elif mode == 'analog' and direction == 'out':
self._board.set_pin_mode(pin,
self._board.OUTPUT,
self._board.ANALOG)
elif mode == 'digital' and direction == 'in':
self._board.set_pin_mode(pin,
self._board.OUTPUT,
self._board.DIGITAL)
elif mode == 'digital' and direction == 'out':
self._board.set_pin_mode(pin,
self._board.OUTPUT,
self._board.DIGITAL)
elif mode == 'pwm':
self._board.set_pin_mode(pin,
self._board.OUTPUT,
self._board.PWM)
def get_analog_inputs(self):
""" Get the values from the pins. """
self._board.capability_query()
return self._board.get_analog_response_table()
def set_digital_out_high(self, pin):
""" Sets a given digital pin to high. """
self._board.digital_write(pin, 1)
def set_digital_out_low(self, pin):
""" Sets a given digital pin to low. """
self._board.digital_write(pin, 0)
def get_digital_in(self, pin):
""" Gets the value from a given digital pin. """
self._board.digital_read(pin)
def get_analog_in(self, pin):
""" Gets the value from a given analog pin. """
self._board.analog_read(pin)
def get_firmata(self):
""" Return the version of the Firmata firmware. """
return self._board.get_firmata_version()
def disconnect(self):
""" Disconnects the board and closes the serial connection. """
self._board.reset()
self._board.close()
def s2a_fm():
"""
This is the "main" function of the program.
It will instantiate PyMata for communication with an Arduino micro-controller
and the command handlers class.
It will the start the HTTP server to communicate with Scratch 2.0
@return : This is the main loop and should never return
"""
# total number of pins on arduino board
total_pins_discovered = 0
# number of pins that are analog
number_of_analog_pins_discovered = 0
# make sure we have a log directory and if not, create it.
if not os.path.exists('log'):
os.makedirs('log')
# turn on logging
logging.basicConfig(filename='./log/s2a_fm_debugging.log', filemode='w', level=logging.DEBUG)
logging.info('s2a_fm version 1.5 Copyright(C) 2013-14 Alan Yorinks All Rights Reserved ')
print 's2a_fm version 1.5 Copyright(C) 2013-14 Alan Yorinks All Rights Reserved '
# get the com_port from the command line or default if none given
# if user specified the com port on the command line, use that when invoking PyMata,
# else use '/dev/ttyACM0'
if len(sys.argv) == 2:
com_port = str(sys.argv[1])
else:
com_port = '/dev/ttyACM0'
logging.info('com port = %s' % com_port)
try:
# instantiate PyMata
firmata = PyMata(com_port) # pragma: no cover
except Exception:
print 'Could not instantiate PyMata - is your Arduino plugged in?'
logging.exception('Could not instantiate PyMata - is your Arduino plugged in?')
logging.debug("Exiting s2a_fm")
return
# determine the total number of pins and the number of analog pins for the Arduino
# get the arduino analog pin map
# it will contain an entry for all the pins with non-analog set to firmata.IGNORE
firmata.analog_mapping_query()
capability_map = firmata.get_analog_mapping_request_results()
firmata.capability_query()
print "Please wait for Total Arduino Pin Discovery to complete. This can take up to 30 additional seconds."
# count the pins
for pin in capability_map:
total_pins_discovered += 1
# non analog pins will be marked as IGNORE
if pin != firmata.IGNORE:
number_of_analog_pins_discovered += 1
# log the number of pins found
logging.info('%d Total Pins and %d Analog Pins Found' % (total_pins_discovered, number_of_analog_pins_discovered))
# instantiate the command handler
scratch_command_handler = ScratchCommandHandlers(firmata, com_port, total_pins_discovered,
number_of_analog_pins_discovered)
# wait for a maximum of 30 seconds to retrieve the Arduino capability query
start_time = time.time()
pin_capability = firmata.get_capability_query_results()
while not pin_capability:
if time.time() - start_time > 30:
print ''
print "Could not determine pin capability - exiting."
firmata.close()
# keep sending out a capability query until there is a response
pin_capability = firmata.get_capability_query_results()
time.sleep(.1)
# we've got the capability, now build a dictionary with pin as the key and a list of all the capabilities
# for the pin as the key's value
pin_list = []
total_pins_discovered = 0
for entry in pin_capability:
# bump up pin counter each time IGNORE is found
if entry == firmata.IGNORE:
scratch_command_handler.pin_map[total_pins_discovered] = pin_list
total_pins_discovered += 1
pin_list = []
else:
pin_list.append(entry)
print "Arduino Total Pin Discovery completed in %d seconds" % (int(time.time() - start_time))
try:
# start the server passing it the handle to PyMata and the command handler.
scratch_http_server.start_server(firmata, scratch_command_handler)
except Exception:
logging.debug('Exception in s2a_fm.py %s' % str(Exception))
firmata.close()
return
except KeyboardInterrupt:
# give control back to the shell that started us
logging.info('s2a_fm.py: keyboard interrupt exception')
firmata.close()
return
def s2a_fm():
"""
This is the "main" function of the program.
It will instantiate PyMata for communication with an Arduino micro-controller
and the command handlers class.
It will the start the HTTP server to communicate with Scratch 2.0
@return : This is the main loop and should never return
"""
# total number of pins on arduino board
total_pins_discovered = 0
# number of pins that are analog
number_of_analog_pins_discovered = 0
# make sure we have a log directory and if not, create it.
if not os.path.exists('log'):
os.makedirs('log')
# turn on logging
logging.basicConfig(filename='./log/s2a_fm_debugging.log',
filemode='w',
level=logging.DEBUG)
logging.info(
's2a_fm version 1.5 Copyright(C) 2013-14 Alan Yorinks All Rights Reserved '
)
print 's2a est la version entierement en francais de s2a_fm, une sorte de s2a_fr v1.7'
print 's2a_fm version 1.5 Copyright(C) 2013-14 Alan Yorinks Tous droits reserves '
# print 'Traductions francaises : Sebastien Canet'
# get the com_port from the command line or default if none given
# if user specified the com port on the command line, use that when invoking PyMata,
# else use '/dev/ttyACM0'
if len(sys.argv) == 2:
com_port = str(sys.argv[1])
else:
com_port = '/dev/ttyACM0'
logging.info('com port = %s' % com_port)
try:
# instantiate PyMata
firmata = PyMata(com_port) # pragma: no cover
except Exception:
print 'Impossible de communiquer avec PyMata - votre carte Arduino est bien connectee ??'
logging.exception(
'Could not instantiate PyMata - is your Arduino plugged in?')
logging.debug("Exiting s2a_fm")
return
# determine the total number of pins and the number of analog pins for the Arduino
# get the arduino analog pin map
# it will contain an entry for all the pins with non-analog set to firmata.IGNORE
firmata.analog_mapping_query()
capability_map = firmata.get_analog_mapping_request_results()
firmata.capability_query()
print "Merci de patienter pendant la detection du nombre de pins de votre Arduino. Cela peut prendre pres de 30s de plus."
# count the pins
for pin in capability_map:
total_pins_discovered += 1
# non analog pins will be marked as IGNORE
if pin != firmata.IGNORE:
number_of_analog_pins_discovered += 1
# log the number of pins found
logging.info('%d Total Pins and %d Analog Pins Found' %
(total_pins_discovered, number_of_analog_pins_discovered))
# instantiate the command handler
scratch_command_handler = ScratchCommandHandlers(
firmata, com_port, total_pins_discovered,
number_of_analog_pins_discovered)
# wait for a maximum of 30 seconds to retrieve the Arduino capability query
start_time = time.time()
pin_capability = firmata.get_capability_query_results()
while not pin_capability:
if time.time() - start_time > 30:
print ''
print "Impossible de determiner le nombre de pins - sortie du script."
firmata.close()
# keep sending out a capability query until there is a response
pin_capability = firmata.get_capability_query_results()
time.sleep(.1)
# we've got the capability, now build a dictionary with pin as the key and a list of all the capabilities
# for the pin as the key's value
pin_list = []
total_pins_discovered = 0
for entry in pin_capability:
# bump up pin counter each time IGNORE is found
if entry == firmata.IGNORE:
scratch_command_handler.pin_map[total_pins_discovered] = pin_list
total_pins_discovered += 1
pin_list = []
else:
pin_list.append(entry)
print "Detection des pins de la carte Arduino faite en %d secondes" % (
int(time.time() - start_time))
try:
# lance un script pour automatiser l'ouverture de Scratch pendant que le serveur se met en route
# il est separe pour permettre aux utilisateurs de le modifier en direct, dans le batch, ca simplifie
# os.startfile('Scratch2.bat')
# start the server passing it the handle to PyMata and the command handler.
scratch_http_server.start_server(firmata, scratch_command_handler)
except Exception:
logging.debug('Erreur dans s2a_fm.py %s' % str(Exception))
firmata.close()
return
except KeyboardInterrupt:
# give control back to the shell that started us
logging.info('s2a_fm.py: keyboard interrupt exception')
firmata.close()
return
import time
from PyMata.pymata import PyMata
addr = 0x48
# Initialize Arduino using port name
port = PyMata("/dev/cu.usbmodem621")
# Configure I2C pin
port.i2c_config(0, port.ANALOG, 4, 5)
# one shot read asking peripheral to send 2 bytes
port.i2c_read(addr, 0, 2, port.I2C_READ)
# Wait for peripheral to send the data
time.sleep(3)
# Read from the peripheral
data = port.i2c_get_read_data(addr)
# Obtain temperature from received data
TemperatureSum = (data[1] << 8 | data[2]) >> 4
celsius = TemperatureSum * 0.0625
print celsius
fahrenheit = (1.8 * celsius) + 32
print fahrenheit
firmata.close()
This file demonstrates how to use some of the basic PyMata operations.
"""
import time
import sys
import signal
from PyMata.pymata import PyMata
from pprint import pprint
# Digital pin 13 is connected to an LED. If you are running this script with
# an Arduino UNO no LED is needed (Pin 13 is connected to an internal LED).
BOARD_LED = 13
# Create a PyMata instance
board = PyMata("COM4", verbose=True)
def signal_handler(sig, frame):
print('You pressed Ctrl+C')
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# Set digital pin 13 to be an output port
board.set_pin_mode(BOARD_LED, board.OUTPUT, board.DIGITAL)
board.enable_digital_reporting(BOARD_LED)
time.sleep(2)
def __init__(self, port):
from PyMata.pymata import PyMata
self._port = port
self._board = PyMata(self._port, verbose=False)
import time
from PyMata.pymata import PyMata
board = PyMata("/dev/ttyACM0")
# for leonardo
board.i2c_config(0, board.DIGITAL, 3, 2)
# for uno
# board.i2c_config(0, board.ANALOG, 4, 5)
while True:
try:
board.i2c_write(
0x23,
board.I2C_READ_CONTINUOUSLY) # same results with board.I2C_READ
time.sleep(.2)
board.i2c_read(
0x23, 0, 2,
board.I2C_READ) # same results with board.I2C_READ_CONTINUOUSLY
time.sleep(.3)
data = board.i2c_get_read_data(0x23)
print('Got read data: %s' % data)
lux = (data[1] << 8 | data[2]) >> 4
lux /= 1.2
print(str(lux) + ' lux')
except KeyboardInterrupt:
board.close()
This example illustrates using callbacks for digital and analog input.
Monitor the current analog input and digital input of two pins.
"""
import signal
import sys
import time
from PyMata.pymata import PyMata
# Instantiate PyMata
board = PyMata("/dev/ttyACM0", verbose=True)
board.encoder_config(7,2)
# Set up pin modes for both pins with callbacks for each
board.set_pin_mode(5, board.PWM, board.DIGITAL)
board.set_pin_mode(6, board.PWM, board.DIGITAL)
board.analog_write(5, 255)
board.analog_write(6, 0)
time.sleep(2)
count = board.digital_read(2)
print count
time.sleep(2)
board.analog_write(5, 0)
def __init__(self, port):
self._port = port
self._board = PyMata(self._port, verbose=False)
def __init__(self, port_id='/dev/ttyACM0', bluetooth=True, verbose=True):
# PyMata is an old style class so you can't use super.
PyMata.__init__(self, port_id, bluetooth, verbose)
#!/usr/bin/python
import time
import sys
import signal
import paho.mqtt.client as mqtt
from PyMata.pymata import PyMata
DEBUG = True
BOARD_LED = 13
board = PyMata("/dev/ttyS0", verbose=False)
def on_connect(client, userdata, flags, rc):
print("Connected with result code " + str(rc))
def signal_handler(sig, frame):
print('You pressed Ctrl+C')
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
board.set_pin_mode(BOARD_LED, board.OUTPUT, board.DIGITAL)
board.i2c_config(0, board.DIGITAL, 3, 2)
# Setup MQTT Client
client = mqtt.Client()
client.username_pw_set("********", password="******")
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
This file demonstrates using PyMata to control a stepper motor. It requires the use of the FirmataPlus
Arduino sketch included with this release.
It is based upon the following tutorial: https://learn.adafruit.com/adafruit-arduino-lesson-16-stepper-motors/overview
"""
import signal
import sys
import time
from PyMata.pymata import PyMata
# create a PyMata instance
firmata = PyMata("/dev/ttyACM0")
def signal_handler(sig, frm):
print('You pressed Ctrl+C!!!!')
if firmata is not None:
firmata.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
# send the arduino a firmata reset
firmata.reset()
# configure the stepper to use pins 9.10,11,12 and specify 512 steps per revolution
class ArduinoBoard:
"""Representation of an Arduino board."""
def __init__(self, port):
"""Initialize the board."""
self._port = port
self._board = PyMata(self._port, verbose=False)
def set_mode(self, pin, direction, mode):
"""Set the mode and the direction of a given pin."""
if mode == "analog" and direction == "in":
self._board.set_pin_mode(pin, self._board.INPUT,
self._board.ANALOG)
elif mode == "analog" and direction == "out":
self._board.set_pin_mode(pin, self._board.OUTPUT,
self._board.ANALOG)
elif mode == "digital" and direction == "in":
self._board.set_pin_mode(pin, self._board.INPUT,
self._board.DIGITAL)
elif mode == "digital" and direction == "out":
self._board.set_pin_mode(pin, self._board.OUTPUT,
self._board.DIGITAL)
elif mode == "pwm":
self._board.set_pin_mode(pin, self._board.OUTPUT, self._board.PWM)
def get_analog_inputs(self):
"""Get the values from the pins."""
self._board.capability_query()
return self._board.get_analog_response_table()
def set_digital_out_high(self, pin):
"""Set a given digital pin to high."""
self._board.digital_write(pin, 1)
def set_digital_out_low(self, pin):
"""Set a given digital pin to low."""
self._board.digital_write(pin, 0)
def get_digital_in(self, pin):
"""Get the value from a given digital pin."""
self._board.digital_read(pin)
def get_analog_in(self, pin):
"""Get the value from a given analog pin."""
self._board.analog_read(pin)
def get_firmata(self):
"""Return the version of the Firmata firmware."""
return self._board.get_firmata_version()
def disconnect(self):
"""Disconnect the board and close the serial connection."""
self._board.reset()
self._board.close()
# Copyright (C) 2015 by sailoog <https://github.com/sailoog/openplotter>
# e-sailing <https://github.com/e-sailing/openplotter>
# Openplotter is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 2 of the License, or
# any later version.
# Openplotter is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Openplotter. If not, see <http://www.gnu.org/licenses/>.
import signal, sys, time
from PyMata.pymata import PyMata
def signal_handler(sig, frame):
print('You pressed Ctrl+C!!!!')
board.close()
if board is not None:
board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
board = PyMata("/dev/ttyOP_FIRM")
time.sleep(1)
board.reset
board.close
def __init__(self, port_id='/dev/ttyACM0', bluetooth=True, verbose=True):
# PyMata is an old style class so you can't use super.
PyMata.__init__(self, port_id, bluetooth, verbose)
# Setup handler for response data.
# Note that the data length (1) appears to be unused for these sysex
# responses.
self._command_handler.command_dispatch.update({CP_COMMAND: [self._response_handler, 1]})
# Setup configured callbacks to null.
self._accel_callback = None
self._tap_callback = None
self._temp_callback = None
self._cap_callback = None
def __init__(self, address, blink_rate, brightness):
# create an instance of PyMata - we are using an Arduino UNO
"""
@param address: I2C address of the device
@param blink_rate: desired blink rate
@param brightness: brightness level for the display
"""
self.firmata = PyMata("/dev/ttyACM0")
self.board_address = address
self.blink_rate = blink_rate
self.brightness = brightness
self.clear_display_buffer()
# configure firmata for i2c on an UNO
self.firmata.i2c_config(0, self.firmata.ANALOG, 4, 5)
# turn on oscillator
self.oscillator_set(self.OSCILLATOR_ON)
# set blink rate
self.set_blink_rate(self.blink_rate)
# set brightness
self.set_brightness(self.brightness)
def __init__(self):
# Initialize fingers and wrist pos
self.t_pos = 0
self.i_pos = 0
self.m_pos = 0
self.r_pos = 0
self.l_pos = 0
self.w_pos = 90
# Initialize sensor values
self.t_sen = 0
self.i_sen = 0
self.m_sen = 0
self.r_sen = 0
self.l_sen = 0
# Initialize the arduino
self.arduino = PyMata("/dev/ttyACM0", verbose=True)
# Initialize the servos and sensors on arduino
for pin in SERVO_PINS:
self.arduino.servo_config(pin)
sensor_pin = 0
self.arduino.enable_analog_reporting(sensor_pin)
sensor_pin += 1
# Initialize the hand states
self.curstate = 'open'
self.states = {}
self.transitionTable = {}