def gpio_setup():
"""
Setup GPIO_PIN as PWM input and start fan
"""
try:
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(GPIO_PIN, GPIO.OUT)
fan = GPIO.PWM(GPIO_PIN, PWM_FREQ)
return fan
except IndexError:
print('\n Error: Pin "{0}" does not exist.\n')
sys.exit(2)
else:
print('\n Error: Could not setup GPIO pin "{0}".\n'.format(GPIO_PIN))
sys.exit(4)
def __init__(self):
# rospy.init_node("spinny")
self.command_topic = '/motor_speed'
self.sub = rospy.Subscriber(self.command_topic, Int32,
self.speed_callback)
print("Setting up GPIO pins")
# rospy.on_shutdown(self.shut)
self.pwm_pin = 16
self.power_pin = 18
GPIO.setwarnings(True)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(self.pwm_pin, GPIO.OUT)
GPIO.setup(self.power_pin, GPIO.OUT, initial=GPIO.HIGH)
print("Starting PWM output")
self.p = GPIO.PWM(self.pwm_pin, 50)
self.p.start(0)
GPIO.setwarnings(True)
GPIO.setmode(GPIO.ROCK)
GPIO.setup(var_gpio_out, GPIO.OUT, initial=GPIO.HIGH) # Set up GPIO as an output, with an initial state of HIGH
GPIO.setup(var_gpio_in, GPIO.IN, pull_up_down=GPIO.PUD_UP) # Set up GPIO as an input, pullup enabled
# Test Output
print("")
print("Testing GPIO Input/Output:")
var_gpio_state = GPIO.input(var_gpio_out) # Return state of GPIO
print("Output State : " + str(var_gpio_state)) # Print results
sleep(1)
GPIO.output(var_gpio_out, GPIO.LOW) # Set GPIO to LOW
# Test PWM Output
p=GPIO.PWM(var_gpio_out, 60) # Create PWM object/instance
print("")
print("Testing PWM Output - DutyCycle - High Precision:")
print("60Hz at 50% duty cycle for 1 second")
p.start(50)
sleep(1)
print("60Hz at 25% duty cycle for 1 second")
p.ChangeDutyCycle(25)
sleep(1)
print("60Hz at 10% duty cycle for 1 second")
p.ChangeDutyCycle(10)
sleep(1)
print("60Hz at 1% duty cycle for 1 second")
p.ChangeDutyCycle(1)
sleep(1)
#!/usr/bin/env python
import R64.GPIO as GPIO
from time import sleep
import rospy
from std_msgs.msg import Int32
pwm_pin=16
power_pin=18
GPIO.setwarnings(True)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(pwm_pin, GPIO.OUT)
GPIO.setup(power_pin, GPIO.OUT, initial=GPIO.HIGH)
print("Starting PWM output")
p=GPIO.PWM(pwm_pin,50)
p.start(0)
def speed_callback(msg):
num = msg.data
p.ChangeDutyCycle(num)
print("Changing Duty Cycle")
print(num)
if __name__ == "__main__":
rospy.init_node("spinny")
print("Setting up GPIO pins")
import R64.GPIO as GPIO from time import sleep GPIO.setmode(GPIO.BOARD) GPIO.setup(16, GPIO.OUT) GPIO.setup(18, GPIO.OUT, initial=GPIO.HIGH) p = GPIO.PWM(16, 50) p.start(0) sleep(5) p.ChangeDutyCycle(20) sleep(5) p.ChangeDutyCycle(40) sleep(5) p.ChangeDutyCycle(60) sleep(5) p.ChangeDutyCycle(80) sleep(5) p.ChangeDutyCycle(98) sleep(5) p.stop() GPIO.cleanup()
