def setup(): #setup for DC motor pins GPIO.setFunction(Motor1A,GPIO.OUT) GPIO.setFunction(Motor1B,GPIO.OUT) GPIO.setFunction(Motor1E,GPIO.OUT) GPIO.setFunction(Motor2A,GPIO.OUT) GPIO.setFunction(Motor2B,GPIO.OUT) GPIO.setFunction(Motor2E,GPIO.OUT) GPIO.setFunction(Motor3A,GPIO.OUT) GPIO.setFunction(Motor3B,GPIO.OUT) GPIO.setFunction(Motor3E,GPIO.OUT) GPIO.setFunction(Motor4A,GPIO.OUT) GPIO.setFunction(Motor4B,GPIO.OUT) GPIO.setFunction(Motor4E,GPIO.OUT) #setup for ESC control pin #BLDCGPIO.setmode(BLDCGPIO.BCM) pigpio = pigpio.pi() # ESC calibaration: set max speed then min speed pigpio.set_servo_pulsewidth(GPIO_ESC, 2000) sleep(2) pigpio.set_servo_pulsewidth(GPIO_ESC, 1000) sleep(2)
def setSteering(direction):
pin = 17
presets = ["left", "right", "center"]
if isinstance(speed, str) and speed in presets:
pwm = [1800, 1200, 1500]
pigpio.set_servo_pulsewidth(pin, pwm[presets.index(speed)])
elif isinstance(speed, int) and speed in range(1000, 2001):
pwm = speed
pigpio.set_servo_pulsewidth(pin, pwm)
#Error Handler
else:
if reportErrors:
print("direction is invalid or incorrect type %s" %
type(direction))
def t3():
global t3_reset, t3_count, t3_on, t3_off
pw=[500.0, 1500.0, 2500.0]
dc=[0.2, 0.4, 0.6, 0.8]
print("PWM/Servo pulse accuracy tests.")
t3cb = pigpio.callback(GPIO, pigpio.EITHER_EDGE, t3cbf)
t = 0
for x in pw:
t += 1
pigpio.set_servo_pulsewidth(GPIO, x)
time.sleep(1)
t3_reset = True
time.sleep(4)
c = t3_count
on = t3_on
off = t3_off
CHECK(3, t, int((1E3*(on+off))/on), int(2E7/x), 1, "set servo pulsewidth")
pigpio.set_servo_pulsewidth(GPIO, 0)
pigpio.set_PWM_frequency(GPIO, 1000)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(3, 4, f, 1000, 0, "set/get PWM frequency")
rr = pigpio.set_PWM_range(GPIO, 100)
CHECK(3, 5, rr, 200, 0, "set PWM range")
t = 5
for x in dc:
t += 1
pigpio.set_PWM_dutycycle(GPIO, x*100)
time.sleep(1)
t3_reset = True
time.sleep(2)
c = t3_count
on = t3_on
off = t3_off
CHECK(3, t, int((1E3*on)/(on+off)), int(1E3*x), 1, "set PWM dutycycle")
pigpio.set_PWM_dutycycle(GPIO, 0)
def two(): pigpio.set_servo_pulsewidth(GPIO_ESC, 1500)
def one(): pigpio.set_servo_pulsewidth(GPIO_ESC,1000) #min speed
def stop_servo(pin):
pigpio.set_servo_pulsewidth(pin, 0)
def move_servo(pin, duty_cycle_us=0, sleep=SLEEP):
pigpio.set_servo_pulsewidth(pin, duty_cycle_us)
time.sleep(sleep)
def on_message(self, message):
self.write_message(message)
if message == '38':
#up
print 'up'
pigpio.set_servo_pulsewidth(7,2500)
pigpio.set_servo_pulsewidth(8,500)
elif message == '40':
#down
print 'down'
pigpio.set_servo_pulsewidth(7,500)
pigpio.set_servo_pulsewidth(8,2500)
elif message == '37':
#right
print 'right'
pigpio.set_servo_pulsewidth(7,1400)
pigpio.set_servo_pulsewidth(8,1400)
elif message == '39':
#right
print 'left'
pigpio.set_servo_pulsewidth(7,1800)
pigpio.set_servo_pulsewidth(8,1800)
elif message == '32':
#space
print 'stop'
pigpio.set_servo_pulsewidth(7,0)
pigpio.set_servo_pulsewidth(8,0)
elif message == '65':
print 'a'
#print self.cam_value
if (self.cam_value < 1800):
pigpio.set_servo_pulsewidth(24,self.cam_value+100)
self.cam_value+=100
else:
self.cam_value=1800
elif message == '90':
print 'z'
#print self.cam_value
if (self.cam_value > 1300):
pigpio.set_servo_pulsewidth(24,self.cam_value+100)
self.cam_value-=100
else:
self.cam_value=1300
servMid = 1400
servMin = 600
delayTime1 = 0.01
servStep = 20
servPin1 = 18 #GPIO 18
#Reset pigpio
pigpio.stop()
time.sleep(.5)
pigpio.start()
#Initialize PWM values
pigpio.set_PWM_frequency(servPin1, 50)
pigpio.set_PWM_range(servPin1, servMax)
pigpio.set_servo_pulsewidth(servPin1, servMin) #pulsewidth sets position - start at minimum
### END SERVO SETUP
### MAIN LOOP ###
try:
while True:
print "Play sound"
os.system('mpg321 "./sounds/Sci Fi Beep 02.mp3" &')
setDir("fwd")
pigpio.set_servo_pulsewidth(servPin1, servMin)
time.sleep(2)
1230) #back motor speed initialised at 1230 ms pulse width
motors = [] #array of motors to be controlled
motors.append(motor1)
motors.append(motor2)
if pigpio.start(''): # must run notification test on localhost
print("Connected to pigpio daemon.")
#initialisation
pigpio.set_mode(pin1, pigpio.OUTPUT)
pigpio.set_mode(pin2, pigpio.OUTPUT)
pigpio.set_PWM_range(pin1, 255)
pigpio.set_PWM_range(pin2, 255)
pigpio.set_PWM_frequency(pin1, 50)
pigpio.set_PWM_frequency(pin2, 50)
pigpio.set_servo_pulsewidth(pin1, 0)
pigpio.set_servo_pulsewidth(pin2, 0)
#open the serial port rfcomm1 defined in rfcomm.conf file
ser = serial.Serial('/dev/rfcomm1', 38400, timeout=.08)
print("\nConnected\n")
ser.write('Connected') #send message to the smartphone
raw = ser.readline()
while (raw != 'stop'): #message 'stop' terminates the program
raw = ser.readline()
if (raw != ''): #ignore empty messages
print(raw + '\n')
if (raw == 's'): #stop both motors
pigpio.set_servo_pulsewidth(motor1.pin, 0)
motor2 = motor(pin2, 1230) # back motor speed initialised at 1230 ms pulse width
motors = [] # array of motors to be controlled
motors.append(motor1)
motors.append(motor2)
if pigpio.start(""): # must run notification test on localhost
print("Connected to pigpio daemon.")
# initialisation
pigpio.set_mode(pin1, pigpio.OUTPUT)
pigpio.set_mode(pin2, pigpio.OUTPUT)
pigpio.set_PWM_range(pin1, 255)
pigpio.set_PWM_range(pin2, 255)
pigpio.set_PWM_frequency(pin1, 50)
pigpio.set_PWM_frequency(pin2, 50)
pigpio.set_servo_pulsewidth(pin1, 0)
pigpio.set_servo_pulsewidth(pin2, 0)
# open the serial port rfcomm1 defined in rfcomm.conf file
ser = serial.Serial("/dev/rfcomm1", 38400, timeout=0.08)
print("\nConnected\n")
ser.write("Connected") # send message to the smartphone
raw = ser.readline()
while raw != "stop": # message 'stop' terminates the program
raw = ser.readline()
if raw != "": # ignore empty messages
print(raw + "\n")
if raw == "s": # stop both motors
pigpio.set_servo_pulsewidth(motor1.pin, 0)
def stop_servo():
move_servo(CENTER)
pigpio.set_servo_pulsewidth(PIN, 0)
def move_servo(duty_cycle_us=0):
pigpio.set_servo_pulsewidth(PIN, duty_cycle_us)
time.sleep(SLEEP)
def three(): pigpio.set_servo_pulsewidth(GPIO_ESC, 2000) #max speed
def set_duty_cycle(self, pulse_width_us):
pigpio.set_servo_pulsewidth(self.pin, pulse_width_us)
self.logger.info("Position = %s" % pulse_width_us)
def stopbldc(): pigpio.set_servo_pulsewidth(GPIO_ESC, 0) #stop the pulses
#!/usr/bin/python
import tornado.web
import tornado.websocket
import tornado.ioloop
import pigpio
from time import sleep
import os.path
pigpio.start(port='8889')
#
cam_value = 1400
#
pigpio.set_servo_pulsewidth(7,0)
pigpio.set_servo_pulsewidth(8,0)
pigpio.set_servo_pulsewidth(24,cam_value)
# This is our WebSocketHandler - it handles the messages
# from the tornado server
class MainHandler(tornado.web.RequestHandler):
def get(self):
self.render("index.html")
class WebSocketHandler(tornado.websocket.WebSocketHandler):
cam_value = 1400
# the client connected
def open(self):
print "New client connected"
self.write_message("You are connected")
# the client sent the message
#!/usr/bin/env python
import time
import pigpio
servos = [14,15,18,23] #GPIO number
pigpio.start()
#pulsewidth can only set between 500-2500
try:
while True:
pigpio.set_servo_pulsewidth(servos[1], 1000) #servo 1 to 0 degree
print("Servo {} {} micro pulses".format(servos, 1000))
time.sleep(1)
pigpio.set_servo_pulsewidth(servos[3], 600) #servo 2 to 90 degree
print("Servo {} {} micro pulses".format(servos, 600))
time.sleep(3)
pigpio.set_servo_pulsewidth(servos[1], 2400) #servo 1 to 0 degree
print("Servo {} {} micro pulses".format(servos, 2400))
time.sleep(1)
pigpio.set_servo_pulsewidth(servos[2], 1000) #servo 1 to 0 degree
print("Servo {} {} micro pulses".format(servos, 1000))
time.sleep(1)
pigpio.set_servo_pulsewidth(servos[0], 2200)
print("Servo {} {} micro pulses".format(servos, 2200))
time.sleep(3)
pigpio.set_servo_pulsewidth(servos[2], 2500)
print("Servo {} {} micro pulses".format(servos, 2500))
time.sleep(1)
#Author : Nikunj Parmar
import time
import pigpio
servos = 11 #gpio no
pigpio.start()
try:
while True:
pigpio.set_servo_pulsewidth(servos, 500)
print("servo {} {} micro pulses".format(servos, 1000))
time.sleep(1)
pigpio.set_servo_pulsewidth(servos, 1500)
print("servo {} {} micro pulses".format(servos, 1500))
time.sleep(1)
pigpio.set_servo_pulsewidth(servos, 2500)
print("servo {} {} micro pulses".format(servos, 2500))
time.sleep(1)
pigpio.set_servo_pulsewidth(servos, 1500)
print("servo {} {} micro pulses".format(servos, 1500))
time.sleep(1)
except KeyboardInterrupt:
pigpio.set_servo_pulsewidth(servos, 0)
pigpio.stop()
