/
coderbot.py
164 lines (126 loc) · 4.59 KB
/
coderbot.py
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import os
import time
import pigpio
import config
PIN_MOTOR_ENABLE = 22
PIN_LEFT_FORWARD = 25
PIN_LEFT_BACKWARD = 24
PIN_RIGHT_FORWARD = 4
PIN_RIGHT_BACKWARD = 17
PIN_PUSHBUTTON = 18
PIN_SERVO_3 = 9
PIN_SERVO_4 = 10
PWM_FREQUENCY = 100 #Hz
PWM_RANGE = 100 #0-100
def coderbot_callback(gpio, level, tick):
return CoderBot.get_instance().callback(gpio, level, tick)
class CoderBot:
_pin_out = [PIN_MOTOR_ENABLE, PIN_LEFT_FORWARD, PIN_RIGHT_FORWARD, PIN_LEFT_BACKWARD, PIN_RIGHT_BACKWARD, PIN_SERVO_3, PIN_SERVO_4]
def __init__(self, servo=False, motor_trim_factor=1.0):
self.pi = pigpio.pi('localhost')
self.pi.set_mode(PIN_PUSHBUTTON, pigpio.INPUT)
self._cb = dict()
self._cb_last_tick = dict()
self._cb_elapse = dict()
self._servo = servo
self._motor_trim_factor = motor_trim_factor
if self._servo:
self.motor_control = self._servo_motor
else:
self.motor_control = self._dc_motor
cb1 = self.pi.callback(PIN_PUSHBUTTON, pigpio.EITHER_EDGE, coderbot_callback)
for pin in self._pin_out:
self.pi.set_PWM_frequency(pin, PWM_FREQUENCY)
self.pi.set_PWM_range(pin, PWM_RANGE)
self.stop()
self._is_moving = False
the_bot = None
@classmethod
def get_instance(cls, servo=False, motor_trim_factor=1.0):
if not cls.the_bot:
cls.the_bot = CoderBot(servo)
return cls.the_bot
def move(self, speed=100, elapse=-1):
self.motor_control(speed_left=speed / self._motor_trim_factor, speed_right=speed * self._motor_trim_factor, elapse=elapse)
def turn(self, speed=100, elapse=-1):
self.motor_control(speed_left=speed / self._motor_trim_factor, speed_right=-(speed * self._motor_trim_factor), elapse=elapse)
def forward(self, speed=100, elapse=-1):
self.move(speed=speed, elapse=elapse)
def backward(self, speed=100, elapse=-1):
self.move(speed=-speed, elapse=elapse)
def left(self, speed=100, elapse=-1):
self.turn(speed=-speed, elapse=elapse)
def right(self, speed=100, elapse=-1):
self.turn(speed=speed, elapse=elapse)
def servo3(self, angle):
self._servo_control(PIN_SERVO_3, angle)
def servo4(self, angle):
self._servo_control(PIN_SERVO_4, angle)
def _dc_motor(self, speed_left=100, speed_right=100, elapse=-1):
self._is_moving = True
if speed_left < 0:
speed_left = abs(speed_left)
self.pi.write(PIN_LEFT_FORWARD, 0)
self.pi.set_PWM_dutycycle(PIN_LEFT_BACKWARD, speed_left)
else:
self.pi.write(PIN_LEFT_BACKWARD, 0)
self.pi.set_PWM_dutycycle(PIN_LEFT_FORWARD, speed_left)
if speed_right < 0:
speed_right = abs(speed_right)
self.pi.write(PIN_RIGHT_FORWARD, 0)
self.pi.set_PWM_dutycycle(PIN_RIGHT_BACKWARD, speed_right)
else:
self.pi.write(PIN_RIGHT_BACKWARD, 0)
self.pi.set_PWM_dutycycle(PIN_RIGHT_FORWARD, speed_right)
self.pi.write(PIN_MOTOR_ENABLE, 1)
if elapse > 0:
time.sleep(elapse)
self.stop()
def _servo_motor(self, speed_left=100, speed_right=100, elapse=-1):
self._is_moving = True
speed_left = -speed_left
self.pi.write(PIN_MOTOR_ENABLE, 1)
self.pi.write(PIN_RIGHT_BACKWARD, 0)
self.pi.write(PIN_LEFT_BACKWARD, 0)
self._servo_motor_control(PIN_LEFT_FORWARD, speed_left)
self._servo_motor_control(PIN_RIGHT_FORWARD, speed_right)
if elapse > 0:
time.sleep(elapse)
self.stop()
def _servo_motor_control(self, pin, speed):
self._is_moving = True
speed = ((speed + 100) * 50 / 200) + 52
self.pi.set_PWM_range(pin, 1000)
self.pi.set_PWM_frequency(pin, 50)
self.pi.set_PWM_dutycycle(pin, speed)
def _servo_control(self, pin, angle):
duty = ((angle + 90) * 100 / 180) + 25
self.pi.set_PWM_range(pin, 1000)
self.pi.set_PWM_frequency(pin, 50)
self.pi.set_PWM_dutycycle(pin, duty)
def stop(self):
for pin in self._pin_out:
self.pi.write(pin, 0)
self._is_moving = False
def is_moving(self):
return self._is_moving
def set_callback(self, gpio, callback, elapse):
self._cb_elapse[gpio] = elapse * 1000
self._cb[gpio] = callback
self._cb_last_tick[gpio] = 0
def callback(self, gpio, level, tick):
cb = self._cb.get(gpio)
if cb:
elapse = self._cb_elapse.get(gpio)
if level == 0:
self._cb_last_tick[gpio] = tick
elif tick - self._cb_last_tick[gpio] > elapse:
self._cb_last_tick[gpio] = tick
print "pushed: ", level, tick
cb()
def halt(self):
os.system ('sudo halt')
def restart(self):
os.system ('sudo /etc/init.d/coderbot stop && sudo pkill -9 dbus && sudo /etc/init.d/coderbot start')
def reboot(self):
os.system ('sudo reboot')