Rejig ready for code updates
This commit is contained in:
shrkey
161
dw640HAT/Adafruit_I2C.py
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161
dw640HAT/Adafruit_I2C.py
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@@ -0,0 +1,161 @@
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#!/usr/bin/python
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import re
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import smbus
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# ===========================================================================
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# Adafruit_I2C Class
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# ===========================================================================
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class Adafruit_I2C(object):
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@staticmethod
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def getPiRevision():
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"Gets the version number of the Raspberry Pi board"
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# Revision list available at: http://elinux.org/RPi_HardwareHistory#Board_Revision_History
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try:
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with open('/proc/cpuinfo', 'r') as infile:
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for line in infile:
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# Match a line of the form "Revision : 0002" while ignoring extra
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# info in front of the revsion (like 1000 when the Pi was over-volted).
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match = re.match('Revision\s+:\s+.*(\w{4})$', line)
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if match and match.group(1) in ['0000', '0002', '0003']:
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# Return revision 1 if revision ends with 0000, 0002 or 0003.
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return 1
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elif match:
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# Assume revision 2 if revision ends with any other 4 chars.
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return 2
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# Couldn't find the revision, assume revision 0 like older code for compatibility.
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return 0
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except:
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return 0
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@staticmethod
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def getPiI2CBusNumber():
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# Gets the I2C bus number /dev/i2c#
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return 1 if Adafruit_I2C.getPiRevision() > 1 else 0
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def __init__(self, address, busnum=-1, debug=False):
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self.address = address
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# By default, the correct I2C bus is auto-detected using /proc/cpuinfo
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# Alternatively, you can hard-code the bus version below:
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# self.bus = smbus.SMBus(0); # Force I2C0 (early 256MB Pi's)
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# self.bus = smbus.SMBus(1); # Force I2C1 (512MB Pi's)
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self.bus = smbus.SMBus(busnum if busnum >= 0 else Adafruit_I2C.getPiI2CBusNumber())
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self.debug = debug
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def reverseByteOrder(self, data):
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"Reverses the byte order of an int (16-bit) or long (32-bit) value"
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# Courtesy Vishal Sapre
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byteCount = len(hex(data)[2:].replace('L','')[::2])
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val = 0
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for i in range(byteCount):
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val = (val << 8) | (data & 0xff)
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data >>= 8
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return val
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def errMsg(self):
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print "Error accessing 0x%02X: Check your I2C address" % self.address
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return -1
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def write8(self, reg, value):
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"Writes an 8-bit value to the specified register/address"
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try:
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self.bus.write_byte_data(self.address, reg, value)
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if self.debug:
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print "I2C: Wrote 0x%02X to register 0x%02X" % (value, reg)
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except IOError, err:
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return self.errMsg()
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def write16(self, reg, value):
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"Writes a 16-bit value to the specified register/address pair"
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try:
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self.bus.write_word_data(self.address, reg, value)
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if self.debug:
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print ("I2C: Wrote 0x%02X to register pair 0x%02X,0x%02X" %
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(value, reg, reg+1))
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except IOError, err:
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return self.errMsg()
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def writeRaw8(self, value):
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"Writes an 8-bit value on the bus"
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try:
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self.bus.write_byte(self.address, value)
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if self.debug:
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print "I2C: Wrote 0x%02X" % value
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except IOError, err:
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return self.errMsg()
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def writeList(self, reg, list):
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"Writes an array of bytes using I2C format"
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try:
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if self.debug:
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print "I2C: Writing list to register 0x%02X:" % reg
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print list
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self.bus.write_i2c_block_data(self.address, reg, list)
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except IOError, err:
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return self.errMsg()
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def readList(self, reg, length):
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"Read a list of bytes from the I2C device"
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try:
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results = self.bus.read_i2c_block_data(self.address, reg, length)
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if self.debug:
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print ("I2C: Device 0x%02X returned the following from reg 0x%02X" %
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(self.address, reg))
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print results
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return results
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except IOError, err:
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return self.errMsg()
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def readU8(self, reg):
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"Read an unsigned byte from the I2C device"
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try:
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result = self.bus.read_byte_data(self.address, reg)
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if self.debug:
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print ("I2C: Device 0x%02X returned 0x%02X from reg 0x%02X" %
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(self.address, result & 0xFF, reg))
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return result
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except IOError, err:
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return self.errMsg()
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def readS8(self, reg):
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"Reads a signed byte from the I2C device"
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try:
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result = self.bus.read_byte_data(self.address, reg)
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if result > 127: result -= 256
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if self.debug:
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print ("I2C: Device 0x%02X returned 0x%02X from reg 0x%02X" %
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(self.address, result & 0xFF, reg))
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return result
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except IOError, err:
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return self.errMsg()
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def readU16(self, reg, little_endian=True):
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"Reads an unsigned 16-bit value from the I2C device"
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try:
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result = self.bus.read_word_data(self.address,reg)
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# Swap bytes if using big endian because read_word_data assumes little
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# endian on ARM (little endian) systems.
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if not little_endian:
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result = ((result << 8) & 0xFF00) + (result >> 8)
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if (self.debug):
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print "I2C: Device 0x%02X returned 0x%04X from reg 0x%02X" % (self.address, result & 0xFFFF, reg)
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return result
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except IOError, err:
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return self.errMsg()
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def readS16(self, reg, little_endian=True):
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"Reads a signed 16-bit value from the I2C device"
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try:
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result = self.readU16(reg,little_endian)
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if result > 32767: result -= 65536
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return result
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except IOError, err:
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return self.errMsg()
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if __name__ == '__main__':
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try:
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bus = Adafruit_I2C(address=0)
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print "Default I2C bus is accessible"
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except:
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print "Error accessing default I2C bus"
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92
dw640HAT/Adafruit_PWM_Servo_Driver.py
Normal file
92
dw640HAT/Adafruit_PWM_Servo_Driver.py
Normal file
@@ -0,0 +1,92 @@
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#!/usr/bin/python
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import time
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import math
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from Adafruit_I2C import Adafruit_I2C
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# ============================================================================
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# Adafruit PCA9685 16-Channel PWM Servo Driver
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# ============================================================================
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class PWM :
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# Registers/etc.
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__MODE1 = 0x00
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__MODE2 = 0x01
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__SUBADR1 = 0x02
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__SUBADR2 = 0x03
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__SUBADR3 = 0x04
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__PRESCALE = 0xFE
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__LED0_ON_L = 0x06
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__LED0_ON_H = 0x07
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__LED0_OFF_L = 0x08
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__LED0_OFF_H = 0x09
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__ALL_LED_ON_L = 0xFA
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__ALL_LED_ON_H = 0xFB
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__ALL_LED_OFF_L = 0xFC
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__ALL_LED_OFF_H = 0xFD
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# Bits
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__RESTART = 0x80
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__SLEEP = 0x10
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__ALLCALL = 0x01
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__INVRT = 0x10
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__OUTDRV = 0x04
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general_call_i2c = Adafruit_I2C(0x00)
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@classmethod
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def softwareReset(cls):
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"Sends a software reset (SWRST) command to all the servo drivers on the bus"
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cls.general_call_i2c.writeRaw8(0x06) # SWRST
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def __init__(self, address=0x40, debug=False):
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self.i2c = Adafruit_I2C(address)
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self.i2c.debug = debug
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self.address = address
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self.debug = debug
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if (self.debug):
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print "Reseting PCA9685 MODE1 (without SLEEP) and MODE2"
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self.setAllPWM(0, 0)
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self.i2c.write8(self.__MODE2, self.__OUTDRV)
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self.i2c.write8(self.__MODE1, self.__ALLCALL)
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time.sleep(0.005) # wait for oscillator
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mode1 = self.i2c.readU8(self.__MODE1)
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mode1 = mode1 & ~self.__SLEEP # wake up (reset sleep)
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self.i2c.write8(self.__MODE1, mode1)
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time.sleep(0.005) # wait for oscillator
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def setPWMFreq(self, freq):
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"Sets the PWM frequency"
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prescaleval = 25000000.0 # 25MHz
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prescaleval /= 4096.0 # 12-bit
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prescaleval /= float(freq)
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prescaleval -= 1.0
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if (self.debug):
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print "Setting PWM frequency to %d Hz" % freq
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print "Estimated pre-scale: %d" % prescaleval
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prescale = math.floor(prescaleval + 0.5)
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if (self.debug):
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print "Final pre-scale: %d" % prescale
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oldmode = self.i2c.readU8(self.__MODE1);
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newmode = (oldmode & 0x7F) | 0x10 # sleep
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self.i2c.write8(self.__MODE1, newmode) # go to sleep
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self.i2c.write8(self.__PRESCALE, int(math.floor(prescale)))
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self.i2c.write8(self.__MODE1, oldmode)
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time.sleep(0.005)
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self.i2c.write8(self.__MODE1, oldmode | 0x80)
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def setPWM(self, channel, on, off):
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"Sets a single PWM channel"
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self.i2c.write8(self.__LED0_ON_L+4*channel, on & 0xFF)
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self.i2c.write8(self.__LED0_ON_H+4*channel, on >> 8)
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self.i2c.write8(self.__LED0_OFF_L+4*channel, off & 0xFF)
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self.i2c.write8(self.__LED0_OFF_H+4*channel, off >> 8)
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def setAllPWM(self, on, off):
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"Sets a all PWM channels"
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self.i2c.write8(self.__ALL_LED_ON_L, on & 0xFF)
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self.i2c.write8(self.__ALL_LED_ON_H, on >> 8)
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self.i2c.write8(self.__ALL_LED_OFF_L, off & 0xFF)
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self.i2c.write8(self.__ALL_LED_OFF_H, off >> 8)
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1
dw640HAT/__init__.py
Normal file
1
dw640HAT/__init__.py
Normal file
@@ -0,0 +1 @@
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from .dw640HAT import dw_DCMotor, dw_MotorHAT
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252
dw640HAT/dw640HAT.py
Normal file
252
dw640HAT/dw640HAT.py
Normal file
@@ -0,0 +1,252 @@
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#!/usr/bin/python
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from Adafruit_PWM_Servo_Driver import PWM
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import time
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class Adafruit_StepperMotor:
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MICROSTEPS = 8
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MICROSTEP_CURVE = [0, 50, 98, 142, 180, 212, 236, 250, 255]
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#MICROSTEPS = 16
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# a sinusoidal curve NOT LINEAR!
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#MICROSTEP_CURVE = [0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255]
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def __init__(self, controller, num, steps=200):
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self.MC = controller
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self.revsteps = steps
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self.motornum = num
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self.sec_per_step = 0.1
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self.steppingcounter = 0
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self.currentstep = 0
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||||
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num -= 1
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||||
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if (num == 0):
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self.PWMA = 8
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||||
self.AIN2 = 9
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||||
self.AIN1 = 10
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self.PWMB = 13
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self.BIN2 = 12
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self.BIN1 = 11
|
||||
elif (num == 1):
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self.PWMA = 2
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self.AIN2 = 3
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||||
self.AIN1 = 4
|
||||
self.PWMB = 7
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self.BIN2 = 6
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self.BIN1 = 5
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else:
|
||||
raise NameError('MotorHAT Stepper must be between 1 and 2 inclusive')
|
||||
|
||||
def setSpeed(self, rpm):
|
||||
self.sec_per_step = 60.0 / (self.revsteps * rpm)
|
||||
self.steppingcounter = 0
|
||||
|
||||
def oneStep(self, dir, style):
|
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pwm_a = pwm_b = 255
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||||
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# first determine what sort of stepping procedure we're up to
|
||||
if (style == Adafruit_MotorHAT.SINGLE):
|
||||
if ((self.currentstep/(self.MICROSTEPS/2)) % 2):
|
||||
# we're at an odd step, weird
|
||||
if (dir == Adafruit_MotorHAT.FORWARD):
|
||||
self.currentstep += self.MICROSTEPS/2
|
||||
else:
|
||||
self.currentstep -= self.MICROSTEPS/2
|
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else:
|
||||
# go to next even step
|
||||
if (dir == Adafruit_MotorHAT.FORWARD):
|
||||
self.currentstep += self.MICROSTEPS
|
||||
else:
|
||||
self.currentstep -= self.MICROSTEPS
|
||||
if (style == Adafruit_MotorHAT.DOUBLE):
|
||||
if not (self.currentstep/(self.MICROSTEPS/2) % 2):
|
||||
# we're at an even step, weird
|
||||
if (dir == Adafruit_MotorHAT.FORWARD):
|
||||
self.currentstep += self.MICROSTEPS/2
|
||||
else:
|
||||
self.currentstep -= self.MICROSTEPS/2
|
||||
else:
|
||||
# go to next odd step
|
||||
if (dir == Adafruit_MotorHAT.FORWARD):
|
||||
self.currentstep += self.MICROSTEPS
|
||||
else:
|
||||
self.currentstep -= self.MICROSTEPS
|
||||
if (style == Adafruit_MotorHAT.INTERLEAVE):
|
||||
if (dir == Adafruit_MotorHAT.FORWARD):
|
||||
self.currentstep += self.MICROSTEPS/2
|
||||
else:
|
||||
self.currentstep -= self.MICROSTEPS/2
|
||||
|
||||
if (style == Adafruit_MotorHAT.MICROSTEP):
|
||||
if (dir == Adafruit_MotorHAT.FORWARD):
|
||||
self.currentstep += 1
|
||||
else:
|
||||
self.currentstep -= 1
|
||||
|
||||
# go to next 'step' and wrap around
|
||||
self.currentstep += self.MICROSTEPS * 4
|
||||
self.currentstep %= self.MICROSTEPS * 4
|
||||
|
||||
pwm_a = pwm_b = 0
|
||||
if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
|
||||
pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS - self.currentstep]
|
||||
pwm_b = self.MICROSTEP_CURVE[self.currentstep]
|
||||
elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
|
||||
pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS]
|
||||
pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*2 - self.currentstep]
|
||||
elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
|
||||
pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS*3 - self.currentstep]
|
||||
pwm_b = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*2]
|
||||
elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
|
||||
pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*3]
|
||||
pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*4 - self.currentstep]
|
||||
|
||||
|
||||
# go to next 'step' and wrap around
|
||||
self.currentstep += self.MICROSTEPS * 4
|
||||
self.currentstep %= self.MICROSTEPS * 4
|
||||
|
||||
# only really used for microstepping, otherwise always on!
|
||||
self.MC._pwm.setPWM(self.PWMA, 0, pwm_a*16)
|
||||
self.MC._pwm.setPWM(self.PWMB, 0, pwm_b*16)
|
||||
|
||||
# set up coil energizing!
|
||||
coils = [0, 0, 0, 0]
|
||||
|
||||
if (style == Adafruit_MotorHAT.MICROSTEP):
|
||||
if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
|
||||
coils = [1, 1, 0, 0]
|
||||
elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
|
||||
coils = [0, 1, 1, 0]
|
||||
elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
|
||||
coils = [0, 0, 1, 1]
|
||||
elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
|
||||
coils = [1, 0, 0, 1]
|
||||
else:
|
||||
step2coils = [ [1, 0, 0, 0],
|
||||
[1, 1, 0, 0],
|
||||
[0, 1, 0, 0],
|
||||
[0, 1, 1, 0],
|
||||
[0, 0, 1, 0],
|
||||
[0, 0, 1, 1],
|
||||
[0, 0, 0, 1],
|
||||
[1, 0, 0, 1] ]
|
||||
coils = step2coils[self.currentstep/(self.MICROSTEPS/2)]
|
||||
|
||||
#print "coils state = " + str(coils)
|
||||
self.MC.setPin(self.AIN2, coils[0])
|
||||
self.MC.setPin(self.BIN1, coils[1])
|
||||
self.MC.setPin(self.AIN1, coils[2])
|
||||
self.MC.setPin(self.BIN2, coils[3])
|
||||
|
||||
return self.currentstep
|
||||
|
||||
def step(self, steps, direction, stepstyle):
|
||||
s_per_s = self.sec_per_step
|
||||
lateststep = 0
|
||||
|
||||
if (stepstyle == Adafruit_MotorHAT.INTERLEAVE):
|
||||
s_per_s = s_per_s / 2.0
|
||||
if (stepstyle == Adafruit_MotorHAT.MICROSTEP):
|
||||
s_per_s /= self.MICROSTEPS
|
||||
steps *= self.MICROSTEPS
|
||||
|
||||
print s_per_s, " sec per step"
|
||||
|
||||
for s in range(steps):
|
||||
lateststep = self.oneStep(direction, stepstyle)
|
||||
time.sleep(s_per_s)
|
||||
|
||||
if (stepstyle == Adafruit_MotorHAT.MICROSTEP):
|
||||
# this is an edge case, if we are in between full steps, lets just keep going
|
||||
# so we end on a full step
|
||||
while (lateststep != 0) and (lateststep != self.MICROSTEPS):
|
||||
lateststep = self.oneStep(dir, stepstyle)
|
||||
time.sleep(s_per_s)
|
||||
|
||||
class Adafruit_DCMotor:
|
||||
def __init__(self, controller, num):
|
||||
self.MC = controller
|
||||
self.motornum = num
|
||||
pwm = in1 = in2 = 0
|
||||
|
||||
if (num == 0):
|
||||
pwm = 8
|
||||
in2 = 9
|
||||
in1 = 10
|
||||
elif (num == 1):
|
||||
pwm = 13
|
||||
in2 = 12
|
||||
in1 = 11
|
||||
elif (num == 2):
|
||||
pwm = 2
|
||||
in2 = 3
|
||||
in1 = 4
|
||||
elif (num == 3):
|
||||
pwm = 7
|
||||
in2 = 6
|
||||
in1 = 5
|
||||
else:
|
||||
raise NameError('MotorHAT Motor must be between 1 and 4 inclusive')
|
||||
self.PWMpin = pwm
|
||||
self.IN1pin = in1
|
||||
self.IN2pin = in2
|
||||
|
||||
def run(self, command):
|
||||
if not self.MC:
|
||||
return
|
||||
if (command == Adafruit_MotorHAT.FORWARD):
|
||||
self.MC.setPin(self.IN2pin, 0)
|
||||
self.MC.setPin(self.IN1pin, 1)
|
||||
if (command == Adafruit_MotorHAT.BACKWARD):
|
||||
self.MC.setPin(self.IN1pin, 0)
|
||||
self.MC.setPin(self.IN2pin, 1)
|
||||
if (command == Adafruit_MotorHAT.RELEASE):
|
||||
self.MC.setPin(self.IN1pin, 0)
|
||||
self.MC.setPin(self.IN2pin, 0)
|
||||
def setSpeed(self, speed):
|
||||
if (speed < 0):
|
||||
speed = 0
|
||||
if (speed > 255):
|
||||
speed = 255
|
||||
self.MC._pwm.setPWM(self.PWMpin, 0, speed*16)
|
||||
|
||||
class Adafruit_MotorHAT:
|
||||
FORWARD = 1
|
||||
BACKWARD = 2
|
||||
BRAKE = 3
|
||||
RELEASE = 4
|
||||
|
||||
SINGLE = 1
|
||||
DOUBLE = 2
|
||||
INTERLEAVE = 3
|
||||
MICROSTEP = 4
|
||||
|
||||
def __init__(self, addr = 0x60, freq = 1600):
|
||||
self._i2caddr = addr # default addr on HAT
|
||||
self._frequency = freq # default @1600Hz PWM freq
|
||||
self.motors = [ Adafruit_DCMotor(self, m) for m in range(4) ]
|
||||
self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]
|
||||
self._pwm = PWM(addr, debug=False)
|
||||
self._pwm.setPWMFreq(self._frequency)
|
||||
|
||||
def setPin(self, pin, value):
|
||||
if (pin < 0) or (pin > 15):
|
||||
raise NameError('PWM pin must be between 0 and 15 inclusive')
|
||||
if (value != 0) and (value != 1):
|
||||
raise NameError('Pin value must be 0 or 1!')
|
||||
if (value == 0):
|
||||
self._pwm.setPWM(pin, 0, 4096)
|
||||
if (value == 1):
|
||||
self._pwm.setPWM(pin, 4096, 0)
|
||||
|
||||
def getStepper(self, steps, num):
|
||||
if (num < 1) or (num > 2):
|
||||
raise NameError('MotorHAT Stepper must be between 1 and 2 inclusive')
|
||||
return self.steppers[num-1]
|
||||
|
||||
def getMotor(self, num):
|
||||
if (num < 1) or (num > 4):
|
||||
raise NameError('MotorHAT Motor must be between 1 and 4 inclusive')
|
||||
return self.motors[num-1]
|
||||
Reference in New Issue
Block a user