h3n3/darkwater_python_640
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Update to code

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Needs testing
This commit is contained in:
shrkey
2016-08-13 20:17:22 +01:00
parent 4bcc4ff404
commit 0bb9e2a7c6
5 changed files with 99 additions and 31 deletions
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2
darkwater_640/GPIO.py
View File

@@ -19,7 +19,7 @@
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
import Adafruit_GPIO.Platform as Platform
import Platform as Platform
OUT = 0

2
darkwater_640/I2C.py
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@@ -22,7 +22,7 @@
import logging
import subprocess
import Adafruit_GPIO.Platform as Platform
import Platform as Platform
def reverseByteOrder(data):

4
darkwater_640/PCA9685.py
View File

@@ -58,7 +58,7 @@ def software_reset(i2c=None, **kwargs):
"""Sends a software reset (SWRST) command to all servo drivers on the bus."""
# Setup I2C interface for device 0x00 to talk to all of them.
if i2c is None:
import Adafruit_GPIO.I2C as I2C
import I2C as I2C
i2c = I2C
self._device = i2c.get_i2c_device(0x00, **kwargs)
self._device.writeRaw8(0x06) # SWRST
@@ -71,7 +71,7 @@ class PCA9685(object):
"""Initialize the PCA9685."""
# Setup I2C interface for the device.
if i2c is None:
import Adafruit_GPIO.I2C as I2C
import I2C as I2C
i2c = I2C
self._device = i2c.get_i2c_device(address, **kwargs)
self.set_all_pwm(0, 0)

2
darkwater_640/__init__.py
View File

@@ -1 +1 @@
from .dw640HAT import dw_DCMotor, dw_MotorCONTROL
from .darkwater_640 import dw_Motor, dw_Controller

108
darkwater_640/darkwater_640.py
View File

@@ -1,7 +1,7 @@
#!/usr/bin/python
import RPi.GPIO as GPIO
from Adafruit_PWM_Servo_Driver import PWM
from PCA9685 import PCA9685
import time
# class Adafruit_StepperMotor:
@@ -166,7 +166,7 @@ import time
# lateststep = self.oneStep(dir, stepstyle)
# time.sleep(s_per_s)
class dw_DCMotor:
class dw_Motor:
def __init__(self, controller, num):
self.speed = 0
self.MC = controller
@@ -192,42 +192,93 @@ class dw_DCMotor:
in2 = 10 #phase
in1 = 11 #enable
else:
raise NameError('MotorHAT Motor must be between 1 and 6 inclusive')
raise NameError('Motors must be between 1 and 6 inclusive')
self.PHpin = in2
self.ENpin = in1
# switch off
self.run(dw_MotorCONTROL.RELEASE, 0)
self.run(dw_Controller.RELEASE, 0)
def setMotorSpeed(self, value):
# Check for PWM values
if(value > 1000) and (value < 1500):
self.run(dw_Controller.BACKWARD, round(translate(value,1500,1000, 0, 255)))
if(value > 1500) and (value <= 2000):
self.run(dw_Controller.FORWARD, round(translate(value, 1500, 2000, 0, 255)))
if(value == 1500):
self.run(dw_Controller.RELEASE, 0)
if(value > 0) and (value <= 255):
self.run(dw_MotorCONTROL.FORWARD, value)
self.run(dw_Controller.FORWARD, value)
if(value == 0):
self.run(dw_MotorCONTROL.RELEASE, value)
self.run(dw_Controller.RELEASE, value)
if(value < 0) and (value >= -255):
self.run(dw_MotorCONTROL.BACKWARD, abs(value))
self.run(dw_Controller.BACKWARD, abs(value))
def run(self, command, speed = 0):
if not self.MC:
return
if (command == dw_MotorCONTROL.FORWARD):
if (command == dw_Controller.FORWARD):
self.MC.setPin(self.PHpin, 0)
self.MC._pwm.setPWM(self.ENpin, 0, speed*16)
if (command == dw_MotorCONTROL.BACKWARD):
if (command == dw_Controller.BACKWARD):
self.MC.setPin(self.PHpin, 1)
self.MC._pwm.setPWM(self.ENpin, 0, speed*16)
if (command == dw_MotorCONTROL.RELEASE):
if (command == dw_Controller.RELEASE):
self.MC.setPin(self.PHpin, 0)
self.MC.setPin(self.ENpin, 0)
def setSpeed(self, speed):
if (speed < 0):
speed = 0
if (speed > 255):
speed = 255
self.MC._pwm.setPWM(self.ENpin, 0, speed*16)
class dw_Servo:
def __init__(self, controller, num, freq):
class dw_MotorCONTROL:
_SERVO_MIN_MS = 1.250 #ms
_SERVO_MAX_MS = 1.750 #ms
self.speed = 0
self.MC = controller
self.cnum = num
self.pin = 0
self.freq = freq
self.servo_min = math.trunc( ( _SERVO_MIN_MS * 4096 ) / (1000.0 / self.freq ) - 1 )
self.servo_max = math.trunc( ( _SERVO_MAX_MS * 4096 ) / (1000.0 / self.freq ) - 1 )
self.servo_zero = math.trunc( ( self.servo_min + self.servo_max ) / 2 ) # halfway = 0 degrees
if (num == 0):
self.pin = 9
elif (num == 1):
self.pin = 8
else:
raise NameError('Port must be between 0 and 1 inclusive')
# switch off
self.off()
def off(self):
self.MC.setPin(self.pin, 0)
def setAngle(self, angle):
pulse = self.servo_zero + ( (self.servo_zero - self.servo_min ) * angle / 80 )
print "angle=%s pulse=%s" % (angle, pulse)
#self.setPWMmS( pulse )
def setPWM(self, value):
if(value > 0):
self.MC._pwm.setPWM(self.pin, 0, int(value) )
if(value == 0):
self.off()
def setPWMmS(self, length_ms):
self.setPWM( round( length_ms * 4096 ) / ( 1000 / self.freq ) )
def setPWMuS(self, length_us):
self.setPWM( round( length_us * 4096 ) / ( 1000000 / self.freq ) )
class dw_Controller:
FORWARD = 1
BACKWARD = 2
BRAKE = 3
@@ -245,7 +296,7 @@ class dw_MotorCONTROL:
self._i2caddr = addr # default addr on HAT
self._frequency = freq # default @1600Hz PWM freq
# self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]
self._pwm = PWM(addr, debug=False)
self._pwm = PCA9685(addr)
self._pwm.setPWMFreq(self._frequency)
# Just gonna default to high for now
GPIO.setmode(GPIO.BCM)
@@ -253,7 +304,8 @@ class dw_MotorCONTROL:
GPIO.setup(17, GPIO.OUT)
GPIO.output(17, GPIO.HIGH)
self.motors = [ dw_DCMotor(self, m) for m in range(6) ]
self.motors = [ dw_Motor(self, m) for m in range(6) ]
self.servos = [ dw_Servo(self, m) for m in range(2) ]
def setPin(self, pin, value):
if (pin < 0) or (pin > 15):
@@ -267,9 +319,25 @@ class dw_MotorCONTROL:
def getMotor(self, num):
if (num < 1) or (num > 6):
raise NameError('MotorHAT Motor must be between 1 and 6 inclusive')
raise NameError('Motors must be between 1 and 6 inclusive')
return self.motors[num-1]
def getServo(self, num):
if (num < 1) or (num > 2):
raise NameError('Servos must be between 1 and 2 inclusive')
return self.servos[num-1]
def allOff(self):
for y in range(5):
self.motors[y].run(dw_MotorCONTROL.RELEASE, 0)
def translate(value, leftMin, leftMax, rightMin, rightMax):
# Figure out how 'wide' each range is
leftSpan = leftMax - leftMin
rightSpan = rightMax - rightMin
# Convert the left range into a 0-1 range (float)
valueScaled = float(value - leftMin) / float(leftSpan)
# Convert the 0-1 range into a value in the right range.
return rightMin + (valueScaled * rightSpan)