compAIR/compLIB
compAIR/compLIB
Archived
4
0
Fork 0
Code Issues Pull requests Projects Releases 1 Packages Wiki Activity Actions

Fix motor, remove idea

Browse source
This commit is contained in:
Konstantin Lampalzer 2021-01-15 23:06:35 +01:00
parent 71a3decedf
commit 8db1b94ad5
No known key found for this signature in database
GPG key ID: 9A60A522835A2AD9
14 changed files with 33 additions and 386 deletions
Download patch file Download diff file Expand all files Collapse all files

3
.idea/.gitignore generated vendored
View file

@ -1,3 +0,0 @@
# Default ignored files
/shelf/
/workspace.xml

11
.idea/compLIB.iml generated
View file

@ -1,11 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<module type="PYTHON_MODULE" version="4">
<component name="NewModuleRootManager">
<content url="file://$MODULE_DIR$">
<sourceFolder url="file://$MODULE_DIR$/compLIB" isTestSource="false" />
<excludeFolder url="file://$MODULE_DIR$/venv" />
</content>
<orderEntry type="jdk" jdkName="Python 3.8 (compLIB)" jdkType="Python SDK" />
<orderEntry type="sourceFolder" forTests="false" />
</component>
</module>

6
.idea/inspectionProfiles/profiles_settings.xml generated
View file

@ -1,6 +0,0 @@
<component name="InspectionProjectProfileManager">
<settings>
<option name="USE_PROJECT_PROFILE" value="false" />
<version value="1.0" />
</settings>
</component>

4
.idea/misc.xml generated
View file

@ -1,4 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.8 (compLIB)" project-jdk-type="Python SDK" />
</project>

8
.idea/modules.xml generated
View file

@ -1,8 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectModuleManager">
<modules>
<module fileurl="file://$PROJECT_DIR$/.idea/compLIB.iml" filepath="$PROJECT_DIR$/.idea/compLIB.iml" />
</modules>
</component>
</project>

6
.idea/vcs.xml generated
View file

@ -1,6 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$" vcs="Git" />
</component>
</project>

5
compLIB/Motor.py
View file

@ -1,3 +1,5 @@
import atexit
from compLIB.PCA9685 import PCA9685
pwm = PCA9685(0x40, debug=True)
@ -44,3 +46,6 @@ class Motor(object):
"""
for i in range(0, MOTOR_COUNT):
Motor.power(i, 0)
atexit.register(Motor.all_off())

28
compLIB/Servo.py Normal file
View file

@ -0,0 +1,28 @@
from compLIB.PCA9685 import PCA9685
pwm = PCA9685(0x40, debug=True)
pwm.setPWMFreq(50)
class Servo:
@staticmethod
def set_position(channel: int, angle: int):
"""
Set position of servo connected to port
:param channel: channel between 0 and 7
:param angle: Angle of servo
:return: None
"""
angle = abs(angle)
if channel == 0:
pwm.setServoPulse(8 + channel, 2500 - int(angle / 0.09))
elif channel < 8:
pwm.setServoPulse(8 + channel, 500 - int(angle / 0.09))
@staticmethod
def setup_position():
pwm.setServoPulse(8, 1500)
pwm.setServoPulse(9, 1500)

95
oldLib/ADC.py
View file

@ -1,95 +0,0 @@
import smbus
import time
class Adc:
def __init__(self):
# Get I2C bus
self.bus = smbus.SMBus(1)
# I2C address of the device
self.ADDRESS = 0x48
# PCF8591 Command
self.PCF8591_CMD = 0x40 # Command
# ADS7830 Command
self.ADS7830_CMD = 0x84 # Single-Ended Inputs
for i in range(3):
aa = self.bus.read_byte_data(self.ADDRESS, 0xf4)
if aa < 150:
self.Index = "PCF8591"
else:
self.Index = "ADS7830"
def analogReadPCF8591(self, chn): # PCF8591 read ADC value,chn:0,1,2,3
value = [0, 0, 0, 0, 0, 0, 0, 0, 0]
for i in range(9):
value[i] = self.bus.read_byte_data(self.ADDRESS, self.PCF8591_CMD + chn)
value = sorted(value)
return value[4]
# TODO: bug in original code???
#def analogWritePCF8591(self, value): # PCF8591 write DAC value
# self.bus.write_byte_data(self.ADDRESS, cmd, value)
def recvPCF8591(self, channel): # PCF8591 write DAC value
while (1):
value1 = self.analogReadPCF8591(channel) # read the ADC value of channel 0,1,2,
value2 = self.analogReadPCF8591(channel)
if value1 == value2:
break;
voltage = value1 / 256.0 * 3.3 # calculate the voltage value
voltage = round(voltage, 2)
return voltage
def recvADS7830(self, channel):
"""Select the Command data from the given provided value above"""
COMMAND_SET = self.ADS7830_CMD | ((((channel << 2) | (channel >> 1)) & 0x07) << 4)
self.bus.write_byte(self.ADDRESS, COMMAND_SET)
while (1):
value1 = self.bus.read_byte(self.ADDRESS)
value2 = self.bus.read_byte(self.ADDRESS)
if value1 == value2:
break;
voltage = value1 / 255.0 * 3.3 # calculate the voltage value
voltage = round(voltage, 2)
return voltage
def recvADC(self, channel):
if self.Index == "PCF8591":
data = self.recvPCF8591(channel)
elif self.Index == "ADS7830":
data = self.recvADS7830(channel)
return data
def i2cClose(self):
self.bus.close()
def loop():
adc = Adc()
while True:
Left_IDR = adc.recvADC(0)
print(Left_IDR)
Right_IDR = adc.recvADC(1)
print(Right_IDR)
Power = adc.recvADC(2) * 3
print(Power)
time.sleep(1)
print('----')
def destroy():
pass
# Main program logic follows:
if __name__ == '__main__':
print('Program is starting ... ')
try:
loop()
except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be executed.
destroy()

23
oldLib/Buzzer.py
View file

@ -1,23 +0,0 @@
import time
import RPi.GPIO as GPIO
from Command import COMMAND as cmd
GPIO.setwarnings(False)
Buzzer_Pin = 17
GPIO.setmode(GPIO.BCM)
GPIO.setup(Buzzer_Pin, GPIO.OUT)
class Buzzer:
def run(self, command):
if command != "0":
GPIO.output(Buzzer_Pin, True)
else:
GPIO.output(Buzzer_Pin, False)
if __name__ == '__main__':
B = Buzzer()
B.run('1')
time.sleep(3)
B.run('0')

13
oldLib/Command.py
View file

@ -1,13 +0,0 @@
class COMMAND:
CMD_MOTOR = "CMD_MOTOR"
CMD_LED = "CMD_LED"
CMD_LED_MOD = "CMD_LED_MOD"
CMD_SERVO = "CMD_SERVO"
CMD_BUZZER = "CMD_BUZZER"
CMD_SONIC = "CMD_SONIC"
CMD_LIGHT = "CMD_LIGHT"
CMD_POWER = "CMD_POWER"
CMD_MODE = "CMD_MODE"
def __init__(self):
pass

107
oldLib/Motor.py
View file

@ -1,107 +0,0 @@
import time
from PCA9685 import PCA9685
class Motor:
def __init__(self):
self.pwm = PCA9685(0x40, debug=True)
self.pwm.setPWMFreq(50)
def duty_range(self, duty1, duty2, duty3, duty4):
if duty1 > 4095:
duty1 = 4095
elif duty1 < -4095:
duty1 = -4095
if duty2 > 4095:
duty2 = 4095
elif duty2 < -4095:
duty2 = -4095
if duty3 > 4095:
duty3 = 4095
elif duty3 < -4095:
duty3 = -4095
if duty4 > 4095:
duty4 = 4095
elif duty4 < -4095:
duty4 = -4095
return duty1, duty2, duty3, duty4
def left_Upper_Wheel(self, duty):
if duty > 0:
self.pwm.setMotorPwm(0, 0)
self.pwm.setMotorPwm(1, duty)
elif duty < 0:
self.pwm.setMotorPwm(1, 0)
self.pwm.setMotorPwm(0, abs(duty))
else:
self.pwm.setMotorPwm(0, 4095)
self.pwm.setMotorPwm(1, 4095)
def left_Lower_Wheel(self, duty):
if duty > 0:
self.pwm.setMotorPwm(3, 0)
self.pwm.setMotorPwm(2, duty)
elif duty < 0:
self.pwm.setMotorPwm(2, 0)
self.pwm.setMotorPwm(3, abs(duty))
else:
self.pwm.setMotorPwm(2, 4095)
self.pwm.setMotorPwm(3, 4095)
def right_Upper_Wheel(self, duty):
if duty > 0:
self.pwm.setMotorPwm(6, 0)
self.pwm.setMotorPwm(7, duty)
elif duty < 0:
self.pwm.setMotorPwm(7, 0)
self.pwm.setMotorPwm(6, abs(duty))
else:
self.pwm.setMotorPwm(6, 4095)
self.pwm.setMotorPwm(7, 4095)
def right_Lower_Wheel(self, duty):
if duty > 0:
self.pwm.setMotorPwm(4, 0)
self.pwm.setMotorPwm(5, duty)
elif duty < 0:
self.pwm.setMotorPwm(5, 0)
self.pwm.setMotorPwm(4, abs(duty))
else:
self.pwm.setMotorPwm(4, 4095)
self.pwm.setMotorPwm(5, 4095)
def setMotorModel(self, duty1, duty2, duty3, duty4):
duty1, duty2, duty3, duty4 = self.duty_range(duty1, duty2, duty3, duty4)
self.left_Upper_Wheel(duty1)
self.left_Lower_Wheel(duty2)
self.right_Upper_Wheel(duty3)
self.right_Lower_Wheel(duty4)
PWM = Motor()
def loop():
PWM.setMotorModel(2000, 2000, 2000, 2000) # Forward
time.sleep(3)
PWM.setMotorModel(-2000, -2000, -2000, -2000) # Back
time.sleep(3)
PWM.setMotorModel(-500, -500, 2000, 2000) # Left
time.sleep(3)
PWM.setMotorModel(2000, 2000, -500, -500) # Right
time.sleep(3)
PWM.setMotorModel(0, 0, 0, 0) # Stop
def destroy():
PWM.setMotorModel(0, 0, 0, 0)
if __name__ == '__main__':
try:
loop()
except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be executed.
destroy()

106
oldLib/Ultrasonic.py
View file

@ -1,106 +0,0 @@
import time
from Motor import *
import RPi.GPIO as GPIO
from servo import *
from PCA9685 import PCA9685
class Ultrasonic:
def __init__(self):
GPIO.setwarnings(False)
self.trigger_pin = 27
self.echo_pin = 22
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.trigger_pin, GPIO.OUT)
GPIO.setup(self.echo_pin, GPIO.IN)
def send_trigger_pulse(self):
GPIO.output(self.trigger_pin, True)
time.sleep(0.00015)
GPIO.output(self.trigger_pin, False)
def wait_for_echo(self, value, timeout):
count = timeout
while GPIO.input(self.echo_pin) != value and count > 0:
count = count - 1
def get_distance(self):
distance_cm = [0, 0, 0, 0, 0]
for i in range(3):
self.send_trigger_pulse()
self.wait_for_echo(True, 10000)
start = time.time()
self.wait_for_echo(False, 10000)
finish = time.time()
pulse_len = finish - start
distance_cm[i] = pulse_len / 0.000058
distance_cm = sorted(distance_cm)
return int(distance_cm[2])
def run_motor(self, L, M, R):
if (L < 30 and M < 30 and R < 30) or M < 30:
self.PWM.setMotorModel(-1450, -1450, -1450, -1450)
time.sleep(0.1)
if L < R:
self.PWM.setMotorModel(1450, 1450, -1450, -1450)
else:
self.PWM.setMotorModel(-1450, -1450, 1450, 1450)
elif L < 30 and M < 30:
PWM.setMotorModel(1500, 1500, -1500, -1500)
elif R < 30 and M < 30:
PWM.setMotorModel(-1500, -1500, 1500, 1500)
elif L < 20:
PWM.setMotorModel(2000, 2000, -500, -500)
if L < 10:
PWM.setMotorModel(1500, 1500, -1000, -1000)
elif R < 20:
PWM.setMotorModel(-500, -500, 2000, 2000)
if R < 10:
PWM.setMotorModel(-1500, -1500, 1500, 1500)
else:
self.PWM.setMotorModel(600, 600, 600, 600)
def run(self):
self.PWM = Motor()
self.pwm_S = Servo()
for i in range(30, 151, 60):
self.pwm_S.setServoPwm('0', i)
time.sleep(0.2)
if i == 30:
L = self.get_distance()
elif i == 90:
M = self.get_distance()
else:
R = self.get_distance()
while True:
for i in range(90, 30, -60):
self.pwm_S.setServoPwm('0', i)
time.sleep(0.2)
if i == 30:
L = self.get_distance()
elif i == 90:
M = self.get_distance()
else:
R = self.get_distance()
self.run_motor(L, M, R)
for i in range(30, 151, 60):
self.pwm_S.setServoPwm('0', i)
time.sleep(0.2)
if i == 30:
L = self.get_distance()
elif i == 90:
M = self.get_distance()
else:
R = self.get_distance()
self.run_motor(L, M, R)
ultrasonic = Ultrasonic()
# Main program logic follows:
if __name__ == '__main__':
print('Program is starting ... ')
try:
ultrasonic.run()
except KeyboardInterrupt: # When 'Ctrl+C' is pressed, the child program destroy() will be executed.
PWM.setMotorModel(0, 0, 0, 0)
ultrasonic.pwm_S.setServoPwm('0', 90)

4
oldLib/__init__.py
View file

@ -1,4 +0,0 @@
__version__ = "0.0.1"
pwm = PCA9685(0x40, debug=True)
pwm.setPWMFreq(50)