updated

2016-09-29 23:18:39 +01:00
parent 9ce4251b37
commit 2166b85afd
5 changed files with 24 additions and 328 deletions
--- a/darkwater_escape/Adafruit_I2C.py
+++ b/darkwater_escape/Adafruit_I2C.py
@@ -1,161 +0,0 @@
-#!/usr/bin/python
-import re
-import smbus
-
-# ===========================================================================
-# Adafruit_I2C Class
-# ===========================================================================
-
-class Adafruit_I2C(object):
-
-  @staticmethod
-  def getPiRevision():
-    "Gets the version number of the Raspberry Pi board"
-    # Revision list available at: http://elinux.org/RPi_HardwareHistory#Board_Revision_History
-    try:
-      with open('/proc/cpuinfo', 'r') as infile:
-        for line in infile:
-          # Match a line of the form "Revision : 0002" while ignoring extra
-          # info in front of the revsion (like 1000 when the Pi was over-volted).
-          match = re.match('Revision\s+:\s+.*(\w{4})$', line)
-          if match and match.group(1) in ['0000', '0002', '0003']:
-            # Return revision 1 if revision ends with 0000, 0002 or 0003.
-            return 1
-          elif match:
-            # Assume revision 2 if revision ends with any other 4 chars.
-            return 2
-        # Couldn't find the revision, assume revision 0 like older code for compatibility.
-        return 0
-    except:
-      return 0
-
-  @staticmethod
-  def getPiI2CBusNumber():
-    # Gets the I2C bus number /dev/i2c#
-    return 1 if Adafruit_I2C.getPiRevision() > 1 else 0
-
-  def __init__(self, address, busnum=-1, debug=False):
-    self.address = address
-    # By default, the correct I2C bus is auto-detected using /proc/cpuinfo
-    # Alternatively, you can hard-code the bus version below:
-    # self.bus = smbus.SMBus(0); # Force I2C0 (early 256MB Pi's)
-    # self.bus = smbus.SMBus(1); # Force I2C1 (512MB Pi's)
-    self.bus = smbus.SMBus(busnum if busnum >= 0 else Adafruit_I2C.getPiI2CBusNumber())
-    self.debug = debug
-
-  def reverseByteOrder(self, data):
-    "Reverses the byte order of an int (16-bit) or long (32-bit) value"
-    # Courtesy Vishal Sapre
-    byteCount = len(hex(data)[2:].replace('L','')[::2])
-    val       = 0
-    for i in range(byteCount):
-      val    = (val << 8) | (data & 0xff)
-      data >>= 8
-    return val
-
-  def errMsg(self):
-    print "Error accessing 0x%02X: Check your I2C address" % self.address
-    return -1
-
-  def write8(self, reg, value):
-    "Writes an 8-bit value to the specified register/address"
-    try:
-      self.bus.write_byte_data(self.address, reg, value)
-      if self.debug:
-        print "I2C: Wrote 0x%02X to register 0x%02X" % (value, reg)
-    except IOError, err:
-      return self.errMsg()
-
-  def write16(self, reg, value):
-    "Writes a 16-bit value to the specified register/address pair"
-    try:
-      self.bus.write_word_data(self.address, reg, value)
-      if self.debug:
-        print ("I2C: Wrote 0x%02X to register pair 0x%02X,0x%02X" %
-         (value, reg, reg+1))
-    except IOError, err:
-      return self.errMsg()
-
-  def writeRaw8(self, value):
-    "Writes an 8-bit value on the bus"
-    try:
-      self.bus.write_byte(self.address, value)
-      if self.debug:
-        print "I2C: Wrote 0x%02X" % value
-    except IOError, err:
-      return self.errMsg()
-
-  def writeList(self, reg, list):
-    "Writes an array of bytes using I2C format"
-    try:
-      if self.debug:
-        print "I2C: Writing list to register 0x%02X:" % reg
-        print list
-      self.bus.write_i2c_block_data(self.address, reg, list)
-    except IOError, err:
-      return self.errMsg()
-
-  def readList(self, reg, length):
-    "Read a list of bytes from the I2C device"
-    try:
-      results = self.bus.read_i2c_block_data(self.address, reg, length)
-      if self.debug:
-        print ("I2C: Device 0x%02X returned the following from reg 0x%02X" %
-         (self.address, reg))
-        print results
-      return results
-    except IOError, err:
-      return self.errMsg()
-
-  def readU8(self, reg):
-    "Read an unsigned byte from the I2C device"
-    try:
-      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
-    except IOError, err:
-      return self.errMsg()
-
-  def readS8(self, reg):
-    "Reads a signed byte from the I2C device"
-    try:
-      result = self.bus.read_byte_data(self.address, reg)
-      if result > 127: result -= 256
-      if self.debug:
-        print ("I2C: Device 0x%02X returned 0x%02X from reg 0x%02X" %
-         (self.address, result & 0xFF, reg))
-      return result
-    except IOError, err:
-      return self.errMsg()
-
-  def readU16(self, reg, little_endian=True):
-    "Reads an unsigned 16-bit value from the I2C device"
-    try:
-      result = self.bus.read_word_data(self.address,reg)
-      # Swap bytes if using big endian because read_word_data assumes little 
-      # endian on ARM (little endian) systems.
-      if not little_endian:
-        result = ((result << 8) & 0xFF00) + (result >> 8)
-      if (self.debug):
-        print "I2C: Device 0x%02X returned 0x%04X from reg 0x%02X" % (self.address, result & 0xFFFF, reg)
-      return result
-    except IOError, err:
-      return self.errMsg()
-
-  def readS16(self, reg, little_endian=True):
-    "Reads a signed 16-bit value from the I2C device"
-    try:
-      result = self.readU16(reg,little_endian)
-      if result > 32767: result -= 65536
-      return result
-    except IOError, err:
-      return self.errMsg()
-
-if __name__ == '__main__':
-  try:
-    bus = Adafruit_I2C(address=0)
-    print "Default I2C bus is accessible"
-  except:
-    print "Error accessing default I2C bus"
--- a/darkwater_escape/Adafruit_PWM_Servo_Driver.py
+++ b/darkwater_escape/Adafruit_PWM_Servo_Driver.py
@@ -1,143 +0,0 @@
-#!/usr/bin/python
-
-import time
-import math
-from Adafruit_I2C import Adafruit_I2C
-
-# ============================================================================
-# Adafruit PCA9685 16-Channel PWM Servo Driver
-# ============================================================================
-
-class PWM :
-  # Registers/etc.
-  __MODE1              = 0x00
-  __MODE2              = 0x01
-  __SUBADR1            = 0x02
-  __SUBADR2            = 0x03
-  __SUBADR3            = 0x04
-  __PRESCALE           = 0xFE
-  __LED0_ON_L          = 0x06
-  __LED0_ON_H          = 0x07
-  __LED0_OFF_L         = 0x08
-  __LED0_OFF_H         = 0x09
-  __ALL_LED_ON_L       = 0xFA
-  __ALL_LED_ON_H       = 0xFB
-  __ALL_LED_OFF_L      = 0xFC
-  __ALL_LED_OFF_H      = 0xFD
-
-  # Bits
-  __RESTART            = 0x80
-  __SLEEP              = 0x10
-  __ALLCALL            = 0x01
-  __INVRT              = 0x10
-  __OUTDRV             = 0x04
-
-  general_call_i2c = Adafruit_I2C(0x00)
-
-  @classmethod
-  def softwareReset(cls):
-    "Sends a software reset (SWRST) command to all the servo drivers on the bus"
-    cls.general_call_i2c.writeRaw8(0x06)        # SWRST
-
-  def __init__(self, address=0x40, debug=False):
-    self.i2c = Adafruit_I2C(address)
-    self.i2c.debug = debug
-    self.address = address
-    self.debug = debug
-    if (self.debug):
-      print "Reseting PCA9685 MODE1 (without SLEEP) and MODE2"
-    self.setAllPWM(0, 0)
-    self.i2c.write8(self.__MODE2, self.__OUTDRV)
-    self.i2c.write8(self.__MODE1, self.__ALLCALL)
-    time.sleep(0.005)                                       # wait for oscillator
-
-    mode1 = self.i2c.readU8(self.__MODE1)
-    mode1 = mode1 & ~self.__SLEEP                 # wake up (reset sleep)
-    self.i2c.write8(self.__MODE1, mode1)
-    time.sleep(0.005)                             # wait for oscillator
-
-  def setPWMFreq(self, freq, correctionFactor=1.0):
-    "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 = round(prescaleval * correctionFactor + 0.5)
-    if (self.debug):
-      print "Final pre-scale: %d" % prescale
-
-    oldmode = self.i2c.readU8(self.__MODE1);
-    newmode = (oldmode & 0x7F) | 0x10             # sleep
-    self.i2c.write8(self.__MODE1, newmode)        # go to sleep
-    self.i2c.write8(self.__PRESCALE, int(math.floor(prescale)))
-    self.i2c.write8(self.__MODE1, oldmode)
-    time.sleep(0.005)
-    self.i2c.write8(self.__MODE1, oldmode | 0x80)
-
-  def setPWMFreqMin(self, freq, correctionFactor=1.0):
-    "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 * correctionFactor + 0.5)
-    if (self.debug):
-      print "Final pre-scale: %d" % prescale
-
-    oldmode = self.i2c.readU8(self.__MODE1);
-    newmode = (oldmode & 0x7F) | 0x10             # sleep
-    self.i2c.write8(self.__MODE1, newmode)        # go to sleep
-    self.i2c.write8(self.__PRESCALE, int(math.floor(prescale)))
-    self.i2c.write8(self.__MODE1, oldmode)
-    time.sleep(0.005)
-    self.i2c.write8(self.__MODE1, oldmode | 0x80)
-
-  def setPWMFreqMax(self, freq, correctionFactor=1.0):
-    "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.ceil(prescaleval * correctionFactor + 0.5)
-    if (self.debug):
-      print "Final pre-scale: %d" % prescale
-
-    oldmode = self.i2c.readU8(self.__MODE1);
-    newmode = (oldmode & 0x7F) | 0x10             # sleep
-    self.i2c.write8(self.__MODE1, newmode)        # go to sleep
-    self.i2c.write8(self.__PRESCALE, int(math.floor(prescale)))
-    self.i2c.write8(self.__MODE1, oldmode)
-    time.sleep(0.005)
-    self.i2c.write8(self.__MODE1, oldmode | 0x80)
-
-  def getPWMFreq(self):
-    prescale = self.i2c.readU8(self.__PRESCALE)
-    calcfreq = 25000000.0 / 4096.0 / ( float(prescale) + 1 )
-    if (self.debug):
-      print "Got pre-scale: %d" % prescale
-      print "Calculated Frequency: %d" % calcfreq
-
-    return calcfreq
-
-  def setPWM(self, channel, on, off):
-    "Sets a single PWM channel"
-    self.i2c.write8(self.__LED0_ON_L+4*channel, on & 0xFF)
-    self.i2c.write8(self.__LED0_ON_H+4*channel, on >> 8)
-    self.i2c.write8(self.__LED0_OFF_L+4*channel, off & 0xFF)
-    self.i2c.write8(self.__LED0_OFF_H+4*channel, off >> 8)
-
-  def setAllPWM(self, on, off):
-    "Sets a all PWM channels"
-    self.i2c.write8(self.__ALL_LED_ON_L, on & 0xFF)
-    self.i2c.write8(self.__ALL_LED_ON_H, on >> 8)
-    self.i2c.write8(self.__ALL_LED_OFF_L, off & 0xFF)
-    self.i2c.write8(self.__ALL_LED_OFF_H, off >> 8)
--- a/darkwater_escape/init.py
+++ b/darkwater_escape/init.py
@@ -1 +1 @@
-from .darkwater_escape import dw_Motor, dw_Controller
+from .darkwater_escape import dw_Motor, dw_Servo, dw_Controller
--- a/darkwater_escape/darkwater_escape.py
+++ b/darkwater_escape/darkwater_escape.py
@@ -1,7 +1,7 @@
 #!/usr/bin/python

 import RPi.GPIO as GPIO
-from PCA9685 import PCA9685
+from .PCA9685 import PCA9685
 import time
 import math

--- a/escapemotortest.py
+++ b/escapemotortest.py
@@ -17,64 +17,64 @@ m5.off()
 m6.off()
 time.sleep(1)

-print "Set forward - "
-print "Motor 1"
+print("Set forward - ")
+print("Motor 1")
 m1.setMotorSpeed(255)
 time.sleep(1)
-print "Motor 2"
+print("Motor 2")
 m2.setMotorSpeed(255)
 time.sleep(1)
-print "Motor 3"
+print("Motor 3")
 m3.setMotorSpeed(255)
 time.sleep(1)
-print "Motor 4"
+print("Motor 4")
 m4.setMotorSpeed(255)
 time.sleep(1)
-print "Motor 5"
+print("Motor 5")
 m5.setMotorSpeed(255)
 time.sleep(1)
-print "Motor 6"
+print("Motor 6")
 m6.setMotorSpeed(255)
 time.sleep(1)
-print "Stopping - "
-print "Motor 1"
+print("Stopping - ")
+print("Motor 1")
 m1.setMotorSpeed(0)
 time.sleep(1)
-print "Motor 2"
+print("Motor 2")
 m2.setMotorSpeed(0)
 time.sleep(1)
-print "Motor 3"
+print("Motor 3")
 m3.setMotorSpeed(0)
 time.sleep(1)
-print "Motor 4"
+print("Motor 4")
 m4.setMotorSpeed(0)
 time.sleep(1)
-print "Motor 5"
+print("Motor 5")
 m5.setMotorSpeed(0)
 time.sleep(1)
-print "Motor 6"
+print("Motor 6")
 m6.setMotorSpeed(0)
 time.sleep(1)
-print "Set reverse - "
-print "Motor 1"
+print("Set reverse - ")
+print("Motor 1")
 m1.setMotorSpeed(-255)
 time.sleep(1)
-print "Motor 2"
+print("Motor 2")
 m2.setMotorSpeed(-255)
 time.sleep(1)
-print "Motor 3"
+print("Motor 3")
 m3.setMotorSpeed(-255)
 time.sleep(1)
-print "Motor 4"
+print("Motor 4")
 m4.setMotorSpeed(-255)
 time.sleep(1)
-print "Motor 5"
+print("Motor 5")
 m5.setMotorSpeed(-255)
 time.sleep(1)
-print "Motor 6"
+print("Motor 6")
 m6.setMotorSpeed(-255)
 time.sleep(1)
-print "All off"
+print("All off")
 m1.off()
 m2.off()
 m3.off()