def wait_until_idle(self) -> None:
timeout = 0
while gpio.digital_read(self.busy_pin) == 0: # 0: busy, 1: idle
gpio.delay_ms(100)
timeout += 1
if timeout >= 100:
LOG.debug(
"EPAPER: busy signal did not deactivate/epaper not responding in 10 sec"
)
timeout = 0
def is_obstacle_backwards():
for sensor in rear_sensors_pin_list_bcm:
if gpio.digital_read(sensor) == 1:
return True
return False
def get_team_color():
if gpio.digital_read(color_button_pin_bcm) == 1:
return "orange"
else:
return "green"
def wait_for_catapult_up():
while gpio.digital_read(catapult_button_pin_bcm) == 0:
sleep(CATAPULT_MEASUREMENT_PERIOD)
pin_index = gpio.gpio_index_of_wpi_pin(5)
print "GPIO 5 corresponds to BCM index "+str(pin_index)
gpio.set_pin_mode(pin_index, gpio.OUTPUT)
def print_something(index, text):
print "GPIO "+str(index)+" "+text
gpio.assign_callback_on_gpio_down(pin_index, lambda: print_something(pin_index, "down"))
print ""
gpio.digital_write(pin_index, 1)
time.sleep(0.5)
print "Read "+str(gpio.digital_read(pin_index))+" on pin "+str(pin_index)
gpio.digital_write(pin_index, 0)
time.sleep(0.5)
print "Read "+str(gpio.digital_read(pin_index))+" on pin "+str(pin_index)
gpio.assign_callback_on_gpio_change(pin_index, lambda: print_something(pin_index, "changed"))
print ""
gpio.digital_write(pin_index, 1)
time.sleep(0.5)
print "Read "+str(gpio.digital_read(pin_index))+" on pin "+str(pin_index)
gpio.digital_write(pin_index, 0)
time.sleep(0.5)
print "Read "+str(gpio.digital_read(pin_index))+" on pin "+str(pin_index)
gpio.assign_callback_on_gpio_change(pin_index, lambda: print_something(pin_index, "changed (one shot, disappear after beeing triggered)"), True) # the last "True" argument is for one shot callback
switch_pin_bcm = 6
gpio.set_pull_up_down( switch_pin_bcm, gpio.PULL_UP)
gpio.set_pin_mode( switch_pin_bcm, gpio.INPUT)
pump_amplitude = 20
ax_shoot = AX12(121)
ax_shoot.move(100)
ax_pump = AX12(163)
ax_pump.move(-pump_amplitude)
ax_pump.set_speed(15)
turning_left = True
previous = gpio.digital_read(switch_pin_bcm)
while gpio.digital_read(switch_pin_bcm) == previous:
sleep(1)
i=0
while True:
i=i+1
if turning_left:
ax_pump.move(pump_amplitude)
else:
ax_pump.move(-pump_amplitude)
turning_left = not turning_left
sleep(1)
if(i==15):
ax_shoot.move(130)