def __init__(self,
PIN_IN1_L=5,
PIN_IN2_L=6,
PIN_IN1_R=7,
PIN_IN2_R=8,
PIN_VREF_L=12,
PIN_VREF_R=13):
self.PIN_IN1_L = PIN_IN1_L
self.PIN_IN1_R = PIN_IN1_R
self.PIN_IN2_L = PIN_IN2_L
self.PIN_IN2_R = PIN_IN2_R
self.PIN_VREF_L = PIN_VREF_L
self.PIN_VREF_R = PIN_VREF_R
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.PIN_IN1_L, GPIO.OUT)
GPIO.setup(self.PIN_IN2_L, GPIO.OUT)
GPIO.setup(self.PIN_IN1_R, GPIO.OUT)
GPIO.setup(self.PIN_IN2_R, GPIO.OUT)
wp.wiringPiSetupGpio()
wp.pinMode(self.PIN_VREF_L, wp.GPIO.PWM_OUTPUT)
wp.pinMode(self.PIN_VREF_R, wp.GPIO.PWM_OUTPUT)
wp.pwmSetMode(wp.PWM_MODE_MS)
wp.pwmSetRange(Drive.MaxdutyRange)
wp.pwmSetClock(400) #適当
def setup_servo():
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(18, 2) # hardware pwm only works on GPIO port 18
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(375)
wiringpi.pwmSetRange(1024)
wiringpi.pwmWrite(18, 0)
def __init__(self, name, pwm_port, backward_port, forward_port):
self.name = name
self.pwm_port = pwm_port
self.backward_port = backward_port
self.forward_port = forward_port
self.backward_value = 0
self.forward_value = 0
# initialize Raspberry Pi ports for output
wiringpi2.pinMode(self.pwm_port, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(self.backward_port, wiringpi2.GPIO.OUTPUT)
wiringpi2.pinMode(self.forward_port, wiringpi2.GPIO.OUTPUT)
# experimentally found values (use test_pwm.py):
# frequency = 19200 (not hearable)
# divisor = 2
# range = 500
# dead zone <= 53%
self.mapping_u = [0, 1, 100]
self.mapping_pwm = [0, 20, 100]
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS);
# 480 Hz
self.divisor = 40
self.pwm_range = 1000
wiringpi2.pwmSetRange(self.pwm_range)
wiringpi2.pwmSetClock(self.divisor)
# pwmFrequency in Hz = 19.2 MHz / pwmClock / pwmRange
self.logger = logging.getLogger(__name__)
def main(): print "Starting PWM" wiringpi.wiringPiSetupGpio() wiringpi.pinMode(18,2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(400) wiringpi.pwmSetRange(1024) wiringpi.pwmWrite(18,0) wiringpi.pinMode(13,2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(400) wiringpi.pwmSetRange(1024) wiringpi.pwmWrite(13,0) dtMin, dtMax = 60, 120 dt = 72 while True: try: print dt wiringpi.pwmWrite(18,dt) wiringpi.pwmWrite(13,dt) dt += 10 if dt > dtMax: dt = dtMin time.sleep(1) except: wiringpi.pwmWrite(18,0) wiringpi.pwmWrite(13,0) print "Exiting." break
def _playLoop(self, freq, music):
divisor = (19.2 * (10**3)) / freq
Music = import_module(music)
wiringpi2.pwmSetClock(int(divisor))
for note, beat in Music.melody:
if note == ' ':
wiringpi2.pwmWrite(self.SPEAKER, 0)
else:
period, dutyCycle = self._calcParams(note)
wiringpi2.pwmSetRange(period)
wiringpi2.pwmWrite(self.SPEAKER, dutyCycle)
wiringpi2.delay(Music.tempo * beat)
if note[len(note) - 1:] == ':':
wiringpi2.pwmWrite(self.SPEAKER, 0)
wiringpi2.delay(Music.tempo)
elif note[len(note) - 1:] == ';':
wiringpi2.pwmWrite(self.SPEAKER, 0)
wiringpi2.delay(int(Music.tempo / 2))
# Make sure that music stop
wiringpi2.pwmWrite(self.SPEAKER, 0)
def setup_servo():
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(18,2) # hardware pwm only works on GPIO port 18
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(375)
wiringpi.pwmSetRange(1024)
wiringpi.pwmWrite(18,0)
def __init__(self):
Pi_rev = wiringpi2.piBoardRev() #@TODO: use this?
self.GPIOS = {
'internal_buzzer': 11,
'latch': 7,
'unlock_LED': 15,
'deny_LED': 13,
'buzzer': 12,
'doorStatus1': 19,
'doorStatus2': 21,
}
#set up I/O pins
wiringpi2.wiringPiSetupPhys()
wiringpi2.pinMode(self.GPIOS['unlock_LED'], 1)
wiringpi2.pinMode(self.GPIOS['deny_LED'], 1)
wiringpi2.pinMode(self.GPIOS['latch'], 1)
wiringpi2.pinMode(self.GPIOS['internal_buzzer'], 1)
wiringpi2.pinMode(self.GPIOS['doorStatus1'], 0)
wiringpi2.pinMode(self.GPIOS['doorStatus2'], 0)
GPIO.setup(9, GPIO.IN)
GPIO.setup(10, GPIO.IN)
#GPIO.add_event_detect(9, GPIO.FALLING, callback=self.arm_security, bouncetime=300)
#Set up Hardware PWM - Only works on GPIO 18 (Phys 12)
wiringpi2.pwmSetMode(0) # set PWM to markspace mode
wiringpi2.pinMode(self.GPIOS['buzzer'], 2) # set pin to PWM mode
wiringpi2.pwmSetClock(750) # set HW PWM clock division (frequency)
wiringpi2.pwmWrite(self.GPIOS['buzzer'], 0)
proc = subprocess.Popen(['nfc-list'], stderr=subprocess.PIPE)
result = proc.stderr.read()
self.PN532 = False if 'Timeout' in result else True
if not self.PN532:
self.nfc = NFC.MFRC522()
def set_pwm(self):
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(self.gpio_pin, 2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(self.clock)
wiringpi.pwmSetRange(self.range)
wiringpi.pwmWrite(self.gpio_pin, 0)
def _playLoop(self, freq, music):
divisor = (19.2*(10**3))/freq
Music = import_module(music)
wiringpi2.pwmSetClock(int(divisor))
for note, beat in Music.melody:
if note == ' ':
wiringpi2.pwmWrite(self.SPEAKER, 0)
else:
period, dutyCycle = self._calcParams(note)
wiringpi2.pwmSetRange(period)
wiringpi2.pwmWrite(self.SPEAKER, dutyCycle)
wiringpi2.delay(Music.tempo*beat)
if note[len(note)-1:] == ':':
wiringpi2.pwmWrite(self.SPEAKER, 0)
wiringpi2.delay(Music.tempo)
elif note[len(note)-1:] == ';':
wiringpi2.pwmWrite(self.SPEAKER, 0)
wiringpi2.delay(int(Music.tempo/2))
# Make sure that music stop
wiringpi2.pwmWrite(self.SPEAKER, 0)
def __init__(self):
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(SERVO_PIN,2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(375)
angle = 90
dutyCycle = int(angle/180.0*(0.14*1024)) + 6
wiringpi.pwmWrite(SERVO_PIN,dutyCycle)
def __init__(self, freq = 100.0):
self.freq = freq
output_pins.append(12)
wp.pinMode(12, PWM)
wp.pwmSetRange(4000) #range can go up to 4096, 4000 is good because it's large and a multiple of 100
clock = 19.2e6 / (4000.0 * freq) #set the divisor so the frequency comes out right
wp.pwmSetClock(int(clock)) #this function needs an int
wp.pwmSetMode(0) # necessary or else it's in a weird mode where nothing works
wp.pwmWrite(12, 0) # stop for safety
def __init__(self, base0 = 27, base90 = 73):
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(18,2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(400)
wiringpi.pwmSetRange(1024)
wiringpi.pwmWrite(18, 0)
self.base0 = base0
self.base90 = base90
self.setAngle(90)
def __init__(self,in1,in2,in3):
self.in1 = in1
self.in2 = in2
self.in3 = in3
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.in1,GPIO.OUT)
GPIO.setup(self.in2,GPIO.OUT)
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(self.in3, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetClock(375)
wiringpi.pwmWrite(self.in3,0)
def __init__(self):
self.thrd_sleep_duration = 0.2 # sec
self.light_pin = 18
self.started = False
self.exit_flag = threading.Event()
self.brightness = 0.0 # 0.0 to 1.0
self.ctrl_events = []
if not TEST_MODE:
IO.wiringPiSetupGpio()
IO.pinMode(self.light_pin, IO.GPIO.PWM_OUTPUT)
IO.pwmSetClock(1920)
IO.pwmSetRange(100)
def __init__(self, pin):
self.dtMin, self.dtMax, self.dtMed = 35, 120, 65
self.dt = self.dtMed
self.pin = pin
self.direction = ''
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(self.pin, 2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(400)
wiringpi.pwmSetRange(1024)
try:
wiringpi.pwmWrite(self.pin, 40)
except Exception as e:
print str(e)
def init(): GPIO.setmode(GPIO.BCM) wiringpi.wiringPiSetupGpio() wiringpi.pinMode(LEFT_MOTOR_PWM, 2) wiringpi.pinMode(RIGHT_MOTOR_PWM, 2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(CLK_DIVISOR) wiringpi.pwmSetRange(MAX_SPEED) wiringpi.pwmWrite(LEFT_MOTOR_PWM, 0) wiringpi.pwmWrite(RIGHT_MOTOR_PWM, 0) GPIO.setup(LEFT_MOTOR_A, GPIO.OUT) GPIO.setup(LEFT_MOTOR_B, GPIO.OUT) GPIO.setup(RIGHT_MOTOR_A, GPIO.OUT) GPIO.setup(RIGHT_MOTOR_B, GPIO.OUT)
def setupIO():
# Initialisation des entrées sorties sur le GrovePi #
grovepi.pinMode(relay_pin,"OUTPUT")
grovepi.pinMode(RGB_pin,"OUTPUT")
grovepi.pinMode(PIR_pin, "INPUT")
grovepi.chainableRgbLed_init(RGB_pin,8)
# On génère un PWM hardware de fréquence 50Hz #
# La largeur de l'impulsion est entre 0,8 et 2ms #
wiringPi.wiringPiSetupGpio()
wiringPi.pinMode(PWM_GPIO, 2)
wiringPi.pwmSetMode(0)
wiringPi.pwmSetClock(384)
wiringPi.pwmSetRange(1024)
wiringPi.pwmWrite(PWM_GPIO,75)
def io_init():
global io_initialized
if io_initialized:
return
wiringpi2.wiringPiSetupGpio()
wiringpi2.pinMode(12, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(13, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmSetRange(MAX_SPEED)
wiringpi2.pwmSetClock(2)
wiringpi2.pinMode(5, wiringpi2.GPIO.OUTPUT)
wiringpi2.pinMode(6, wiringpi2.GPIO.OUTPUT)
io_initialized = True
def io_init():
global io_initialized
if io_initialized:
return
wiringpi2.wiringPiSetupGpio()
wiringpi2.pinMode(12, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(13, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmSetRange(MAX_SPEED)
wiringpi2.pwmSetClock(2)
wiringpi2.pinMode(5, wiringpi2.GPIO.OUTPUT)
wiringpi2.pinMode(6, wiringpi2.GPIO.OUTPUT)
io_initialized = True
def listener():
rospy.init_node('listener', anonymous=True)
rospy.Subscriber("chatter", String, callback)
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(pin,2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(400)
wiringpi.pwmSetRange(1024)
wiringpi.pwmWrite(pin,0)
wiringpi.pinMode(pin_dir[0],1)
wiringpi.pinMode(pin_dir[1],1)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
def main(self):
wiringpi2.pwmSetClock(int(self.divisor))
for i, note in enumerate(Music.melody):
if len(note) == 0:
wiringpi2.pwmWrite(self.SPEAKER, 0)
else:
period, dutyCycle = self.calcParams(note)
wiringpi2.pwmSetRange(period)
wiringpi2.pwmWrite(self.SPEAKER, dutyCycle)
wiringpi2.delay(Music.delay*(Music.beats[i]+1))
if note[len(note)-1:] == ':':
wiringpi2.pwmWrite(self.SPEAKER, 0)
wiringpi2.delay(Music.delay)
curses.endwin()
wiringpi2.pinMode(self.SPEAKER, 0)
def io_init():
global io_initialized
if io_initialized:
return
wiringpi2.wiringPiSetupGpio()
wiringpi2.pinMode(MODE, wiringpi2.GPIO.OUTPUT)
wiringpi2.digitalWrite(MODE, LOW)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmSetRange(PWM_RANGE_HIGH)
wiringpi2.pwmSetClock(2)
wiringpi2.pinMode(AIN1, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(BIN1, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(AIN2, wiringpi2.GPIO.OUTPUT)
wiringpi2.pinMode(BIN2, wiringpi2.GPIO.OUTPUT)
wiringpi2.softPwmCreate(AIN2, PWM_RANGE_LOW, PWM_RANGE_HIGH)
wiringpi2.softPwmCreate(BIN2, PWM_RANGE_LOW, PWM_RANGE_HIGH)
io_initialized = True
def main(self):
wiringpi2.pwmSetClock(int(self.divisor))
for i, note in enumerate(Music.melody):
if len(note) == 0:
wiringpi2.pwmWrite(self.SPEAKER, 0)
else:
period, dutyCycle = self.calcParams(note)
wiringpi2.pwmSetRange(period)
wiringpi2.pwmWrite(self.SPEAKER, dutyCycle)
wiringpi2.delay(Music.delay * (Music.beats[i] + 1))
if note[len(note) - 1:] == ':':
wiringpi2.pwmWrite(self.SPEAKER, 0)
wiringpi2.delay(Music.delay)
curses.endwin()
wiringpi2.pinMode(self.SPEAKER, 0)
def Init():
global on
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(13, 2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(400)
wiringpi.pwmSetRange(1024)
wiringpi.pinMode(18, 2)
wiringpi.pwmSetMode(0)
wiringpi.pwmSetClock(400)
wiringpi.pwmSetRange(1024)
SetSP(1, 0.0)
SetSP(2, 0.0)
on = True
procComms.PrintLog('Initialized servo control.')
def __init__(self, node_name="servo_control"):
rospy.init_node(node_name)
sub = rospy.Subscriber("deg_control", Int16, self.callback)
signal.signal(signal.SIGINT, self.exit_handler)
self.gp_out = 18
wiringpi2.wiringPiSetupGpio()
wiringpi2.pinMode(self.gp_out, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmSetClock(375)
self.RIGHT = 56
self.CENTER = 76
self.LEFT = 96
self.current_deg = self.CENTER
wiringpi2.pwmWrite(self.gp_out, self.current_deg)
wiringpi2.delay(500)
def __init__(self, node_name="telemouse_avoidance"):
rospy.init_node(node_name)
sub = rospy.Subscriber("disconfort", Int16, self.callback)
pygame.mixer.init()
self.hit_sound = pygame.mixer.Sound("n_418d125.wav")
signal.signal(signal.SIGINT, self.exit_handler)
self.gp_out = 18
wiringpi2.wiringPiSetupGpio()
wiringpi2.pinMode(self.gp_out, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmSetClock(375)
self.RIGHT = 56
self.CENTER = 76
self.LEFT = 96
self.rest_counter = 0
def main():
# use BCM GPIO numbers
wp.wiringPiSetupPhys()
# enable PWM0
wp.pinMode(12,2)
# switch from default mode to mark:space mode
wp.pwmSetMode(PWM_MODE_MS)
wp.pwmSetClock(200)
wp.pwmWrite(12, 0)
while True:
try:
wp.pwmWrite(12, 2)
time.sleep(3)
# turn then wait
wp.pwmWrite(12,128)
time.sleep(3)
# turn then wait
wp.pwmWrite(12, 256)
time.sleep(3)
def startup_event(self, db, cfg):
# config pwm
wiringpi2.pinMode(self.PWM_PIN, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmSetRange(self.PWM_RANGE)
# 19.2 / 32 = 600KHz - Also starts the PWM
wiringpi2.pwmSetClock(self.PWM_CLK_DIV)
self.logd("Finding minimum fan speed...")
if not self._find_minspeed():
return False
self.logd("Minimum fan speed: {}%".format(self._minspeed))
self.set_highest_profile()
# self.set_profile(40)
if not self.add_requests(
[["cpu_temp_profile", dict(profile="int")],
["cpu_fan_user", dict(speed="int")], ["cpu_fan_auto",
dict()]]):
return False
return True
def unlock(): print "Unlock Key" param = sys.argv setdegree = int(90) print setdegree wiringpi2.wiringPiSetupGpio() wiringpi2.pinMode(servopin,2) wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS) wiringpi2.pwmSetClock(375) wiringpi2.pwmWrite(servopin,133) for i in range(133,73-1,1): print i wiringpi2.pwmWrite(servopin, i) wiringpi2.delay(500) wiringpi2.pwmWrite(servopin,26) wiringpi2.delay(500) wiringpi2.pwmWrite(servopin,74)
#!/usr/bin/python
import wiringpi2 as gpio
import time
#init the GPIO
#prepare PWM pins
gpio.wiringPiSetupGpio()
gpio.pinMode(12, gpio.GPIO.PWM_OUTPUT)
gpio.pinMode(13, gpio.GPIO.PWM_OUTPUT)
#prepare PWM channels
gpio.pwmSetMode(gpio.GPIO.PWM_MODE_MS)
gpio.pwmSetRange(480)
gpio.pwmSetClock(2)
#prepare direction pins
gpio.pinMode(5, gpio.GPIO.OUTPUT)
gpio.pinMode(6, gpio.GPIO.OUTPUT)
#movements
def straight_fw(speed):
gpio.digitalWrite(5, 1)
gpio.digitalWrite(6, 1)
gpio.pwmWrite(12, speed)
gpio.pwmWrite(13, speed)
def straight_bw(speed):
gpio.digitalWrite(5, 0)
gpio.digitalWrite(6, 0)
gpio.pwmWrite(12, speed)
gpio.pwmWrite(13, speed)
def set_clock(self):
self.clock = int(
float(19200000) / (self.range * float(1000) / self.get_period()))
wiringpi.pwmSetClock(self.clock)
dt_min = 125 dt_max = 175 dt_horizontal = 150 dt_vertical = 150 # changing PWM verticalPWM = 0 verticalPWMSpeed = 0.5 # enable PWM0 wiringpi.pinMode(pwm_pin_horizontal, 2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(pwm_clock) wiringpi.pwmSetRange(pwm_range) # enable PWM1 wiringpi.pinMode(pwm_pin_vertical, 2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(pwm_clock) wiringpi.pwmSetRange(pwm_range) #led faceFoundPin = 5 wiringpi.pinMode(faceFoundPin, 1) faceLost = True faceLostStart = -1 faceLostPwm = -1
dt_min = 125 dt_max = 175 dt_horizontal = 150 dt_vertical = 150 # changing PWM verticalPWM = 0 verticalPWMSpeed = 0.5 # enable PWM0 wiringpi.pinMode(pwm_pin_horizontal, 2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(pwm_clock) wiringpi.pwmSetRange(pwm_range) # enable PWM1 wiringpi.pinMode(pwm_pin_vertical, 2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(pwm_clock) wiringpi.pwmSetRange(pwm_range) #led faceFoundPin = 5 wiringpi.pinMode(faceFoundPin, 1) faceLost = True faceLostStart = -1 faceLostPwm = -1
import wiringpi2 import sys pin = 31 #wiringpi2.wiringPiSetup() #wiringpi2.wiringPiSetupSys() #wiringpi2.wiringPiSetupGpio() wiringpi2.wiringPiSetupPhys() wiringpi2.pinMode(pin,2) #PWM_OUTPUT while 1: #wiringpi2.pwmWrite(pin,128) print "===== set clock" wiringpi2.pwmSetClock(0) # 24M/120 * 256 = 781HZ wiringpi2.delay(1000) wiringpi2.pwmSetClock(1);# 24M/180 * 256 = 520.8HZ wiringpi2.delay(1000) wiringpi2.pwmSetClock(2);# 24/240 * 256 = 390HZ wiringpi2.delay(1000) #wiringpi2.pwmSetRange(255); # wiringpi2.pwmWrite(pin,1); # wiringpi2.delay(1000) # wiringpi2.pwmWrite(pin,128); # wiringpi2.delay(1000) # wiringpi2.pwmWrite(pin,255) # wiringpi2.delay(1000) # print "================>>>>" # pwmSetMode(0); #wiringpi2.pwmWrite(pin,128)
duty_range = 1024
duty_ratio = upper_pulse / interval
hz = 1 / (interval * 0.001)
clock = int(18750 / hz)
duty = int(duty_ratio * duty_range)
print("pin = ", PWM18, " interval[ms] = ", interval, " upper_pulse[ms] = ",
upper_pulse)
print("clock = ", clock, " duty=", duty, " duty_ratio=", duty_ratio)
# 初期設定
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(PWM18, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
# ClockとDutyを設定してPWMを生成する
wiringpi.pwmSetClock(clock)
wiringpi.pwmWrite(PWM18, duty)
wiringpi.pwmSetRange(duty_range)
#max min値を計算
min_duty = int((under_pulse / interval) * duty_range * 1.1)
max_duty = int((upper_pulse - under_pulse) / interval * duty_range +
min_duty * 0.9)
print("min_duty = ", min_duty, " max_duty=", max_duty)
value = min_duty
def DagToVal(dag):
par_dag = (max_duty - min_duty) / 180.0
return int(dag * par_dag + min_duty)
port_motor_left_pwm, port_motor_right_pwm, port_encoder_left_a, \
port_encoder_left_b, port_encoder_right_a, port_encoder_right_b
# ./test_pwm_encoder.py 20 100
pwm_divisor = int(sys.argv[1])
pwm_range = int(sys.argv[2])
wiringpi2.pinMode(port_motor_left_pwm, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(port_motor_right_pwm, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(port_motor_left_forward, wiringpi2.GPIO.OUTPUT)
wiringpi2.pinMode(port_motor_right_forward, wiringpi2.GPIO.OUTPUT)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmSetRange(pwm_range)
wiringpi2.pwmSetClock(pwm_divisor)
# pwmFrequency in Hz = 19.2 MHz / pwmClock / pwmRange
frequency = 19200000 / pwm_divisor / pwm_range
print ("frequency={} Hz (divisor={}, range={})".format(frequency, pwm_divisor, pwm_range))
#encoderLeft = EncoderReader(port_encoder_left_a, port_encoder_left_b)
encoderRight = EncoderReader(port_encoder_right_a, port_encoder_right_b)
def shutdown():
wiringpi2.pwmWrite(port_motor_left_pwm, 0)
wiringpi2.pwmWrite(port_motor_right_pwm, 0)
wiringpi2.digitalWrite(port_motor_left_backward, wiringpi2.GPIO.LOW)
wiringpi2.digitalWrite(port_motor_left_forward, wiringpi2.GPIO.LOW)
import wiringpi2
import sys
pin = 31
#wiringpi2.wiringPiSetup()
#wiringpi2.wiringPiSetupSys()
#wiringpi2.wiringPiSetupGpio()
wiringpi2.wiringPiSetupPhys()
wiringpi2.pinMode(pin, 2) #PWM_OUTPUT
while 1:
#wiringpi2.pwmWrite(pin,128)
print "===== set clock"
wiringpi2.pwmSetClock(0) # 24M/120 * 256 = 781HZ
wiringpi2.delay(1000)
wiringpi2.pwmSetClock(1)
# 24M/180 * 256 = 520.8HZ
wiringpi2.delay(1000)
wiringpi2.pwmSetClock(2)
# 24/240 * 256 = 390HZ
wiringpi2.delay(1000)
#wiringpi2.pwmSetRange(255);
# wiringpi2.pwmWrite(pin,1);
# wiringpi2.delay(1000)
# wiringpi2.pwmWrite(pin,128);
# wiringpi2.delay(1000)
# wiringpi2.pwmWrite(pin,255)
# wiringpi2.delay(1000)
# print "================>>>>"
# pwmSetMode(0);
GPIO.setmode(GPIO.BCM)
# ピンの名前を変数として定義
SPICLK = 11
SPIMOSI = 10
SPIMISO = 9
SPICS = 8
# SPI通信用の入出力を定義
GPIO.setup(SPICLK, GPIO.OUT)
GPIO.setup(SPIMOSI, GPIO.OUT)
GPIO.setup(SPIMISO, GPIO.IN)
GPIO.setup(SPICS, GPIO.OUT)
wiringpi.wiringPiSetupGpio() # GPIO名で番号を指定する
wiringpi.pinMode(18, wiringpi.GPIO.PWM_OUTPUT) # PWM出力を指定
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS) # 周波数を固定するための設定
wiringpi.pwmSetClock(375) # 50 Hz。ここには 18750/(周波数) の計算値に近い整数を入れる
# PWMのピン番号18とデフォルトのパルス幅をデューティ100%を1024として指定。
# ここでは6.75%に対応する69を指定
wiringpi.pwmWrite(18, 69)
adc_pin0 = 0
try:
while True:
inputVal0 = readadc(adc_pin0, SPICLK, SPIMOSI, SPIMISO, SPICS)
duty = servo_duty_hwpwm(inputVal0)
wiringpi.pwmWrite(18, duty)
sleep(0.2)
except KeyboardInterrupt:
pass
import wiringpi2 import sys pin = 31 #wiringpi2.wiringPiSetup() #wiringpi2.wiringPiSetupSys() #wiringpi2.wiringPiSetupGpio() wiringpi2.wiringPiSetupPhys() wiringpi2.pinMode(pin,2) #PWM_OUTPUT while 1: #wiringpi2.pwmWrite(pin,128) print "111111 set clock" wiringpi2.pwmSetClock(0) # 24M/120 wiringpi2.delay(1000) wiringpi2.pwmSetClock(1); wiringpi2.delay(1000) wiringpi2.pwmSetClock(2); wiringpi2.delay(1000) print "222222 pwmWrite" #wiringpi2.pwmSetRange(255); wiringpi2.pwmWrite(pin,1); wiringpi2.delay(1000) wiringpi2.pwmWrite(pin,128); wiringpi2.delay(1000) wiringpi2.pwmWrite(pin,255) wiringpi2.delay(1000) print "================>>>>" # pwmSetMode(0); #wiringpi2.pwmWrite(pin,128)
# period = 0.002272728*1000000
# period = 2272.728
# 3) Ciclo de trabalho
# dutyCycle = period(µs) / 2p
# dutyCycle = 2272.728 / 2
# dutyCycle = 1136.364
# 4) Divisor do clock
# divisor = clock base / frequencia de afinação
# Tendo que o clock base do pwm é 19.2mhz:
# divisor = (19.2x1000)/440
# divisor = 43.6363636364
divisor = (19.2*(10**3))/440
wiringpi2.pwmSetClock(int(divisor))
def calcParams(freq):
period = (1/freq)*(10**6)
dutyCycle = period/2
return (int(period), int(dutyCycle))
try:
while True:
for freq in range(500, 1001, 1):
period, dutyCycle = calcParams(freq)
wiringpi2.pwmSetRange(period)
wiringpi2.pwmWrite(SPEAKER, dutyCycle)
wiringpi2.delay(1)
for freq in range(1000, 499, -1):
period, dutyCycle = calcParams(freq)
# test module for testing PWM control of hobby servos # import wiringpi2 as wiringpi import time # OK input for servos seems to be between 30 and 110, it jitters if PWM exceeds those lo = 30 hi = 110 t = 5 wiringpi.wiringPiSetupGpio() wiringpi.pinMode(13, 2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(400) wiringpi.pwmSetRange(1024) wiringpi.pinMode(18, 2) wiringpi.pwmSetMode(0) wiringpi.pwmSetClock(400) wiringpi.pwmSetRange(1024) wiringpi.pwmWrite(13, hi) time.sleep(t) wiringpi.pwmWrite(18, hi) time.sleep(t) wiringpi.pwmWrite(13, lo) time.sleep(t) wiringpi.pwmWrite(18, lo) time.sleep(t)
import wiringpi2 as wiringpi import time wiringpi.pwmSetMode(0) # PWM_MODE_MS = 0 wiringpi.wiringPiSetupGpio() wiringpi.pinMode(18, 2) # pwm only works on GPIO port 18 wiringpi.pwmSetClock(6) # this parameters correspond to 25kHz wiringpi.pwmSetRange(128) wiringpi.pwmWrite(18, 0) # minimum RPM time.sleep(1) wiringpi.pwmWrite(18, 128) # maximum RPM time.sleep(1) wiringpi.pwmWrite(18, 0)
# --------------------------------------------------------------------
import sys
import RPi.GPIO as GPIO
from time import sleep
import wiringpi2 as wiringpi
# --------------------------------------------------------------------
sys.stderr.write("*** 開始 ***\n")
#
PWM0 = 18
PWM1 = 19
wiringpi.wiringPiSetupGpio() # GPIO名で番号を指定する
wiringpi.pinMode(PWM0, wiringpi.GPIO.PWM_OUTPUT) # PWM出力を指定
wiringpi.pinMode(PWM1, wiringpi.GPIO.PWM_OUTPUT) # PWM出力を指定
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS) # 周波数を固定するための設定
wiringpi.pwmSetClock(375) # 50 Hz。18750/(周波数) の計算値に近い整数
# PWMのピン番号18とデフォルトのパルス幅をデューティ100%を1024として指定
# ここでは6.75%に対応する69を指定
wiringpi.pwmWrite(PWM0, 69)
wiringpi.pwmWrite(PWM1, 69)
count = 0
try:
while True:
sys.stderr.write("%d\n" % count)
count += 1
wiringpi.pwmWrite(PWM0, 69)
sleep(1)
wiringpi.pwmWrite(PWM0, 36)
sleep(1)
wiringpi.pwmWrite(PWM0, 102)
#
speedPrev = 0
newTrack = 0
goalComponentPrev = 0
listPosition = [LatLon(0, 0)]
#
GPIO.setmode(GPIO.BCM)
GPIO.setup(LED_RED, GPIO.OUT)
GPIO.setup(LED_GREEN, GPIO.OUT)
GPIO.setup(LED_BLUE, GPIO.OUT)
pi.wiringPiSetupGpio()
pi.pinMode(SAIL_SERVO_PIN, 2)
pi.pinMode(RUDDER_SERVO_PIN, 2)
pi.pwmSetMode(0)
pi.pwmSetRange(1024)
pi.pwmSetClock(375)
#
sailValue = (SAIL_FULLCLOSE + SAIL_FULLOPEN) / 2
if (SAIL_FULLCLOSE < 35 or SAIL_FULLOPEN > 55
or SAIL_FULLCLOSE > SAIL_FULLOPEN):
exit()
sailCntl = SailController(sailValue)
#
time.sleep(30)
#
rudderValue = RUDDER_CENTER
if (rudderValue < 40 or rudderValue > 76 or RUDDER_FULLRIGHT < 40
or RUDDER_FULLLEFT > 76 or RUDDER_FULLRIGHT > RUDDER_FULLLEFT):
exit()
def setClock(self, clock):
self.clock = clock
wiringpi.pwmSetClock(clock)
from twisted.internet.protocol import Protocol, Factory
from twisted.internet import reactor
import RPi.GPIO as GPIO
import wiringpi2 as wiringpi
import time
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(18, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS)
wiringpi.pwmSetClock(400)
wiringpi.pwmSetRange(1024)
# 速度の調整
duty = 3
unduty = -3
set_time = 0.01
class RaspberryLight(Protocol):
def connectionMade(self):
self.factory.clients.append(self)
def connectionLost(self, reason):
self.factory.clients.remove(self)
def dataReceived(self, data):
if (data == "start"):
print "start"
# 回転角の調整
for deg in range(0, 171, duty):
wiringpi.pwmWrite(18, deg / 2 + 910)
midiOutput = pygame.midi.Output(port)
midiOutput.set_instrument(instrument)
def getServoDutyForWebIOPi(val):
val_min = 0.0
val_max = 1.0
servo_min = 48
servo_max = 90
duty = int((servo_max-servo_min)*(val-val_min)/(val_max-val_min) + servo_min)
return duty
wiringpi.wiringPiSetupGpio() # GPIO名で番号指定
wiringpi.pinMode(CAMERA_SERVO, wiringpi.GPIO.PWM_OUTPUT)
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS) # 周波数固定
wiringpi.pwmSetClock(375) # 50 Hz
wiringpi.pwmWrite(CAMERA_SERVO, getServoDutyForWebIOPi(0.5))
# デバッグ出力を有効に
webiopi.setDebug()
# GPIOライブラリの取得
GPIO = webiopi.GPIO
# WebIOPiの起動時に呼ばれる関数
def setup():
webiopi.debug("Script with macros - Setup")
# GPIOのセットアップ
GPIO.setFunction(PWM1, GPIO.PWM)
GPIO.setFunction(PWM2, GPIO.PWM)
GPIO.setmode(GPIO.BCM)
# ピンの名前を変数として定義
SPICLK = 11
SPIMOSI = 10
SPIMISO = 9
SPICS = 8
# SPI通信用の入出力を定義
GPIO.setup(SPICLK, GPIO.OUT)
GPIO.setup(SPIMOSI, GPIO.OUT)
GPIO.setup(SPIMISO, GPIO.IN)
GPIO.setup(SPICS, GPIO.OUT)
wiringpi.wiringPiSetupGpio() # GPIO名で番号を指定する
wiringpi.pinMode(18, wiringpi.GPIO.PWM_OUTPUT) # PWM出力を指定
wiringpi.pwmSetMode(wiringpi.GPIO.PWM_MODE_MS) # 周波数を固定するための設定
wiringpi.pwmSetClock(375) # 50 Hz。ここには 18750/(周波数) の計算値に近い整数を入れる
# PWMのピン番号18とデフォルトのパルス幅をデューティ100%を1024として指定。
# ここでは6.75%に対応する69を指定
wiringpi.pwmWrite(18, 69)
adc_pin0 = 0
try:
while True:
inputVal0 = readadc(adc_pin0, SPICLK, SPIMOSI, SPIMISO, SPICS)
duty = servo_duty_hwpwm(inputVal0)
wiringpi.pwmWrite(18, duty)
sleep(0.2)
except KeyboardInterrupt:
pass
from ports import port_motor_left_forward, port_motor_right_forward, \
port_motor_left_pwm, port_motor_right_pwm
pwm_divisor = int(sys.argv[1])
pwm_range = int(sys.argv[2])
percentage = int(sys.argv[3])
wiringpi2.pinMode(port_motor_left_pwm, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(port_motor_right_pwm, wiringpi2.GPIO.PWM_OUTPUT)
wiringpi2.pinMode(port_motor_left_forward, wiringpi2.GPIO.OUTPUT)
wiringpi2.pinMode(port_motor_right_forward, wiringpi2.GPIO.OUTPUT)
wiringpi2.pwmSetMode(wiringpi2.GPIO.PWM_MODE_MS)
wiringpi2.pwmSetRange(pwm_range)
wiringpi2.pwmSetClock(pwm_divisor)
# pwmFrequency in Hz = 19.2 MHz / pwmClock / pwmRange
frequency = 19200000 / pwm_divisor / pwm_range
pwm_value = pwm_range * percentage / 100
print ("frequency={} Hz (divisor={}, range={}, value={})".format(frequency, pwm_divisor, pwm_range, pwm_value))
for i in range(1, 5):
print "on"
wiringpi2.digitalWrite(port_motor_left_forward, wiringpi2.GPIO.HIGH)
wiringpi2.digitalWrite(port_motor_right_forward, wiringpi2.GPIO.HIGH)
wiringpi2.pwmWrite(port_motor_left_pwm, pwm_value)
wiringpi2.pwmWrite(port_motor_right_pwm, pwm_value)
time.sleep(2)
