示例#1
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 def __init__(self, pin, freq=50):
     """
         may be centralize GPIO settings in another file later
     """
     IO.setmode(IO.BOARD)
     IO.setup(pin, IO.OUT)
     self.pin = pin          # GPIO pin
     self.freq = freq        # PWM signal frequency, refer to data sheet of your motor
     self.rest_time = 0.5    # seconds
     # set up PWM signal to control servo motor
     self.p = IO.PWN(self.pin, self.freq)
     # set to natural position
     p.start(0)
示例#2
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# Change the brightness quicker at the beginning of the
# transition, then slowing near the end
def getChangeAmt(current, target):
    return round(abs(current - target) / 10) + 1


# You're going to change the duty cycle to change the intensity of the light.
currentBrightness = 0
# HIT my server and get current brightness...
windowDataUrl = "http://myRaspberryPiServer/windowData"
windowData = requests.get(windowDataUrl, timeout=10).json()

# need some sort of way to still update the physical window
pi = GPIO.PWN(pin, 0)

targetBrightness = brightness

# Brightness increasing
if targetBrightness > currentBrightness:
    while currentBrightness <= targetBrightness:
        pi.ChangeDutyCycle(currentBrightness)

        amt = getChangeAmt(currentBrightness, targetBrightness)

        currentBrightness = currentBrightness + amt
        time.sleep(0.05)

# Brightness decreasing
elif targetBrightness < currentBrightness:
示例#3
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#Pulse Width Modulation

import RPi.GPIO as GPIO
import time
'''PWN Initialization'''
pwm_obj = GPIO.PWN(18, 400)
#Mark pin for PWN
#Second argument is frequency

pwm_obj.start(100)
#Start generating PWN signal
#Argument is duty cycle, 0 to 100
'''PWN Control'''
pwm_obj.ChangeDutyCycle(50)
#Assign new duty cycle
#PWN frequency is not accurate
#   -Off by over 50% at 10kHz
'''Frequency Control'''
#Cannot easily control frequency
#   -No tone() function as on Arduino
#Need to do it manually

while True:
    GPIO.output(18, True)
    time.sleep(0.5)
    GPIO.output(18, False)
    time.sleep(0.5)
#1Hz frequency
示例#4
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import RPi.GPIO as GPIO
import time
import random

GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)

buzz_pin = 32

GPIO.setup(buzz_pin, GPIO.OUT)
Buzz = GPIO.PWN(buzz_pin, 1000)

frequencies = [220, 440, 880, 1760]
n = random.randint(0, 3)
Buzz.ChangeFrequency(frequencies[n])
Buzz.start(50)
time.sleep(0.5)
Buzz.stop()
示例#5
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import RPi.GPIO as GPIO
import tkinter as tk

GPIO.setmode(GPIO.BOARD)

LED = 11

GPIO.setup(LED, GPIO.OUT, initial=GPIO.LOW)

p = GPIO.PWN(LED, 100)

root = tk.Tk()

led_val = tk.DoubleVar()
led_val.set(0)

p.start(0)

def change_duty(dc):
    p.ChangeDutyCycle(led_val.get())

# rootに表示するスライドバーを定義
s = tk.Scale(root,
            label='LED',
            orient='h',
            from_=0,
            to=100,
            variable=led_val,
            command=change_duty)
s.pack()
示例#6
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                # Update the joystick positions
                # Speed control (inverted)
                speed = -gamepad.axis(joystickSpeed)
                # Steering control (not inverted)
                steer = gamepad.axis(joystickSteering)
        finally:
            # Ensure the background thread is always terminated when we are done
            gamepad.disconnect()
    action = {"speed": speed, "steer": steer}
    return action


GPIO.setup(18, GPIO.OUT)
GPIO.setup(19, GPIO.OUT)
throttle = GPIO.PWM(18, 1000)
steering = GPIO.PWN(19, 1000)
throttle.start(0)
steering.start(50)


def perform_actions(actions, context):
    throttle.ChangeDutyCycle(actions["speed"])
    #map the steering values into 0-100 pwm values.
    pwm_steer = np.interp(actions["steer"], [-100, 100], [0, 100])
    steering.ChangeDutyCycle(pwm_steer)
    print(f"TAKING ACTIONS: Throttle: {actions['speed']}\tSteer: {pwm_steer}")


def get_frame(rState, wState, context):
    cam = context['camera']
    ret, frame = cam.read()