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alphabot2/bsp.py

422 lines
12 KiB

import RPi.GPIO as GPIO
from rpi_ws281x import Adafruit_NeoPixel, Color
import time
import math
import smbus
class motor ():
def __init__(self, ain1=12, ain2=13, ena=6, bin1=20, bin2=21, enb=26):
self.AIN1 = ain1
self.AIN2 = ain2
self.BIN1 = bin1
self.BIN2 = bin2
self.ENA = ena
self.ENB = enb
self.PA = 50
self.PB = 50
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(self.AIN1, GPIO.OUT)
GPIO.setup(self.AIN2, GPIO.OUT)
GPIO.setup(self.BIN1, GPIO.OUT)
GPIO.setup(self.BIN2, GPIO.OUT)
GPIO.setup(self.ENA, GPIO.OUT)
GPIO.setup(self.ENB, GPIO.OUT)
self.PWMA = GPIO.PWM(self.ENA, 500)
self.PWMB = GPIO.PWM(self.ENB, 500)
self.PWMA.start(self.PA)
self.PWMB.start(self.PB)
self.stop()
def forward(self, PWM=30):
self.PWMA.ChangeDutyCycle(PWM)
self.PWMB.ChangeDutyCycle(PWM)
GPIO.output(self.AIN1, GPIO.LOW)
GPIO.output(self.AIN2, GPIO.HIGH)
GPIO.output(self.BIN1, GPIO.LOW)
GPIO.output(self.BIN2, GPIO.HIGH)
def stop(self):
self.PWMA.ChangeDutyCycle(0)
self.PWMB.ChangeDutyCycle(0)
GPIO.output(self.AIN1, GPIO.LOW)
GPIO.output(self.AIN2, GPIO.LOW)
GPIO.output(self.BIN1, GPIO.LOW)
GPIO.output(self.BIN2, GPIO.LOW)
def backward(self, PWM=30):
self.PWMA.ChangeDutyCycle(PWM)
self.PWMB.ChangeDutyCycle(PWM)
GPIO.output(self.AIN1, GPIO.HIGH)
GPIO.output(self.AIN2, GPIO.LOW)
GPIO.output(self.BIN1, GPIO.HIGH)
GPIO.output(self.BIN2, GPIO.LOW)
def left(self, PWM=30):
self.PWMA.ChangeDutyCycle(PWM)
self.PWMB.ChangeDutyCycle(PWM)
GPIO.output(self.AIN1, GPIO.HIGH)
GPIO.output(self.AIN2, GPIO.LOW)
GPIO.output(self.BIN1, GPIO.LOW)
GPIO.output(self.BIN2, GPIO.HIGH)
def right(self, PWM=30):
self.PWMA.ChangeDutyCycle(PWM)
self.PWMB.ChangeDutyCycle(PWM)
GPIO.output(self.AIN1, GPIO.LOW)
GPIO.output(self.AIN2, GPIO.HIGH)
GPIO.output(self.BIN1, GPIO.HIGH)
GPIO.output(self.BIN2, GPIO.LOW)
def setMotor(self, left, right):
left = -left
right = -right
if((right >= 0) and (right <= 100)):
GPIO.output(self.AIN1, GPIO.HIGH)
GPIO.output(self.AIN2, GPIO.LOW)
self.PWMA.ChangeDutyCycle(right)
elif((right < 0) and (right >= -100)):
GPIO.output(self.AIN1, GPIO.LOW)
GPIO.output(self.AIN2, GPIO.HIGH)
self.PWMA.ChangeDutyCycle(0 - right)
if((left >= 0) and (left <= 100)):
GPIO.output(self.BIN1, GPIO.HIGH)
GPIO.output(self.BIN2, GPIO.LOW)
self.PWMB.ChangeDutyCycle(left)
elif((left < 0) and (left >= -100)):
GPIO.output(self.BIN1, GPIO.LOW)
GPIO.output(self.BIN2, GPIO.HIGH)
self.PWMB.ChangeDutyCycle(0 - left)
class beep():
def __init__(self):
self.BUZ = 4
GPIO.setup(self.BUZ, GPIO.OUT)
def on(self):
GPIO.output(self.BUZ, GPIO.HIGH)
def off(self):
GPIO.output(self.BUZ, GPIO.LOW)
class joystick ():
def __init__(self):
self.CTR = 7
self.A = 8
self.B = 9
self.C = 10
self.D = 11
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(self.CTR, GPIO.IN, GPIO.PUD_UP)
GPIO.setup(self.A, GPIO.IN, GPIO.PUD_UP)
GPIO.setup(self.B, GPIO.IN, GPIO.PUD_UP)
GPIO.setup(self.C, GPIO.IN, GPIO.PUD_UP)
GPIO.setup(self.D, GPIO.IN, GPIO.PUD_UP)
def check_ctr(self):
return (GPIO.input(self.CTR) == 0)
def check_a(self):
return (GPIO.input(self.A) == 0)
def check_b(self):
return (GPIO.input(self.B) == 0)
def check_c(self):
return (GPIO.input(self.C) == 0)
def check_d(self):
return (GPIO.input(self.D) == 0)
class ir_controll ():
def __init__(self):
self.IR = 17
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(self.IR, GPIO.IN)
def getkey(self):
if GPIO.input(self.IR) == 0:
count = 0
while GPIO.input(self.IR) == 0 and count < 200: # 9ms
count += 1
time.sleep(0.00006)
if(count < 10):
return
count = 0
while GPIO.input(self.IR) == 1 and count < 80: # 4.5ms
count += 1
time.sleep(0.00006)
idx = 0
cnt = 0
data = [0, 0, 0, 0]
for i in range(0, 32):
count = 0
while GPIO.input(self.IR) == 0 and count < 15: # 0.56ms
count += 1
time.sleep(0.00006)
count = 0
while GPIO.input(self.IR) == 1 and count < 40: # 0: 0.56mx
count += 1 # 1: 1.69ms
time.sleep(0.00006)
if count > 7:
data[idx] |= 1 << cnt
if cnt == 7:
cnt = 0
idx += 1
else:
cnt += 1
# print data
if data[0]+data[1] == 0xFF and data[2]+data[3] == 0xFF: # check
return data[2]
else:
return "repeat"
class ir_bumper ():
def __init__(self):
self.DR = 16
self.DL = 19
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(self.DR, GPIO.IN, GPIO.PUD_UP)
GPIO.setup(self.DL, GPIO.IN, GPIO.PUD_UP)
def check_r(self):
return (GPIO.input(self.DR) == 0)
def check_l(self):
return (GPIO.input(self.DL) == 0)
# Ultrasonic distance measurement
class us_sensor ():
def __init__(self):
self.TRIG = 22
self.ECHO = 27
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(self.TRIG, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(self.ECHO, GPIO.IN)
def dist(self):
GPIO.output(self.TRIG, GPIO.HIGH)
time.sleep(0.000015)
GPIO.output(self.TRIG, GPIO.LOW)
while not GPIO.input(self.ECHO):
pass
t1 = time.time()
while GPIO.input(self.ECHO):
pass
t2 = time.time()
return (t2-t1)*34000/2
COLOR_ENUM = {
"Aqua": [000, 255, 255],
"Black": [000, 000, 000],
"Blue": [000, 000, 255],
"Purple": [255, 000, 255],
"Green": [000, 255, 000],
"Red": [255, 000, 000],
"White": [255, 255, 255],
"Yellow": [255, 255, 000]
}
class rgb_led():
def __init__(self):
self.LED_COUNT = 4 # Number of LED pixels.
self.LED_PIN = 18
self.LED_FREQ_HZ = 800000
self.LED_DMA = 5
self.LED_BRIGHTNESS = 255 # Set to 0 for darkest and 255 for brightest
self.LED_INVERT = False
self.LED_CHANNEL = 0
self.strip = Adafruit_NeoPixel(
self.LED_COUNT, self.LED_PIN, self.LED_FREQ_HZ,
self.LED_DMA, self.LED_INVERT, self.LED_BRIGHTNESS)
self.strip.begin()
def color(self, N, R, G, B):
if (N < 4 and N > -1):
self.strip.setPixelColor(N, Color(R, G, B))
self.strip.show()
def color(self, N, C):
if (N < 4 and N > -1):
self.strip.setPixelColor(N, Color(COLOR_ENUM[C][0],
COLOR_ENUM[C][1], COLOR_ENUM[C][2]))
self.strip.show()
class line_sensor():
def __init__(self):
self.CS = 5
self.Clock = 25
self.Address = 24
self.DataOut = 23
self.Button = 7
self.numSensors = 5
self.calibratedMin = [0] * self.numSensors
self.calibratedMax = [1023] * self.numSensors
self.last_value = 0
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(self.Clock, GPIO.OUT)
GPIO.setup(self.Address, GPIO.OUT)
GPIO.setup(self.CS, GPIO.OUT)
GPIO.setup(self.DataOut, GPIO.IN, GPIO.PUD_UP)
GPIO.setup(self.Button, GPIO.IN, GPIO.PUD_UP)
def AnalogRead(self):
value = [0]*(self.numSensors+1)
# Read Channel0~channel6 AD value
for j in range(0, self.numSensors+1):
GPIO.output(self.CS, GPIO.LOW)
for i in range(0, 4):
# sent 4-bit self.Address
if(((j) >> (3 - i)) & 0x01):
GPIO.output(self.Address, GPIO.HIGH)
else:
GPIO.output(self.Address, GPIO.LOW)
# read MSB 4-bit data
value[j] <<= 1
if(GPIO.input(self.DataOut)):
value[j] |= 0x01
GPIO.output(self.Clock, GPIO.HIGH)
GPIO.output(self.Clock, GPIO.LOW)
for i in range(0, 6):
# read LSB 8-bit data
value[j] <<= 1
if(GPIO.input(self.DataOut)):
value[j] |= 0x01
GPIO.output(self.Clock, GPIO.HIGH)
GPIO.output(self.Clock, GPIO.LOW)
time.sleep(0.0001)
GPIO.output(self.CS, GPIO.HIGH)
return value[1:]
class CameraAngle:
# Registers/etc.
__SUBADR1 = 0x02
__SUBADR2 = 0x03
__SUBADR3 = 0x04
__MODE1 = 0x00
__PRESCALE = 0xFE
__LED0_ON_L = 0x06
__LED0_ON_H = 0x07
__LED0_OFF_L = 0x08
__LED0_OFF_H = 0x09
__ALLLED_ON_L = 0xFA
__ALLLED_ON_H = 0xFB
__ALLLED_OFF_L = 0xFC
__ALLLED_OFF_H = 0xFD
def __init__(self, address=0x40, debug=False):
self.bus = smbus.SMBus(1)
self.address = address
self.debug = debug
if (self.debug):
print("Reseting PCA9685")
self.write(self.__MODE1, 0x00)
self.setPWMFreq(50)
def write(self, reg, value):
"Writes an 8-bit value to the specified register/address"
self.bus.write_byte_data(self.address, reg, value)
if (self.debug):
print("I2C: Write 0x%02X to register 0x%02X" % (value, reg))
def read(self, reg):
"Read an unsigned byte from the I2C device"
result = self.bus.read_byte_data(self.address, reg)
if (self.debug):
print("I2C: Device 0x%02X returned 0x%02X from reg 0x%02X" %
(self.address, result & 0xFF, reg))
return result
def setPWMFreq(self, freq):
"Sets the PWM frequency"
prescaleval = 25000000.0 # 25MHz
prescaleval /= 4096.0 # 12-bit
prescaleval /= float(freq)
prescaleval -= 1.0
if (self.debug):
print("Setting PWM frequency to %d Hz" % freq)
print("Estimated pre-scale: %d" % prescaleval)
prescale = math.floor(prescaleval + 0.5)
if (self.debug):
print("Final pre-scale: %d" % prescale)
oldmode = self.read(self.__MODE1)
newmode = (oldmode & 0x7F) | 0x10 # sleep
self.write(self.__MODE1, newmode) # go to sleep
self.write(self.__PRESCALE, int(math.floor(prescale)))
self.write(self.__MODE1, oldmode)
time.sleep(0.005)
self.write(self.__MODE1, oldmode | 0x80)
def setPWM(self, channel, on, off):
"Sets a single PWM channel"
self.write(self.__LED0_ON_L+4*channel, on & 0xFF)
self.write(self.__LED0_ON_H+4*channel, on >> 8)
self.write(self.__LED0_OFF_L+4*channel, off & 0xFF)
self.write(self.__LED0_OFF_H+4*channel, off >> 8)
if (self.debug):
print("channel: %d LED_ON: %d LED_OFF: %d" % (channel, on, off))
def setServoPulse(self, channel, pulse):
"Sets the Servo Pulse,The PWM frequency must be 50HZ"
# PWM frequency is 50HZ,the period is 20000us
pulse = int(pulse*4096/20000)
self.setPWM(channel, 0, pulse)
def setCameraAngle(self, verticalAngle, horizontalAngle):
if (verticalAngle > 180):
verticalAngle = 180
if (verticalAngle < 0):
verticalAngle = 0
if (horizontalAngle > 180):
horizontalAngle = 180
if (horizontalAngle < 0):
horizontalAngle = 0
va = verticalAngle * 2000 / 180 + 500
vh = horizontalAngle * 2000 / 180 + 500
self.setServoPulse(0, va)
self.setServoPulse(1, vh)
if __name__ == '__main__':
l = line_sensor()
while True:
print(l.AnalogRead())
time.sleep(0.2)