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Raspberry Pi 人工無脳ロボットに感情モデルを持たせる
Raw
action.py
# -*- coding: utf-8 -*-
import sys
import subprocess
import grove_gesture_sensor
from grove_rgb_lcd import *
import time
import Adafruit_PCA9685
import grove_i2c_motor_driver
pwm = Adafruit_PCA9685.PCA9685()
pwm.set_pwm_freq(60)
m= grove_i2c_motor_driver.motor_driver()
g=grove_gesture_sensor.gesture()
g.init()
def move(degree_1,degree_2):
degree_1 = int(degree_1 * 5.27)
degree_2 = int(degree_2 * 5.27)
pwm.set_pwm(0, 0, degree_1)
pwm.set_pwm(1, 0, degree_2)
time.sleep(0.1)
return
def brain(gest):
MOOD_DOPAMINE = 5
MOOD_NORADRENALIN = -5
if gest==g.WAVE:
return MOOD_DOPAMINE
elif gest==g.FORWARD:
return MOOD_NORADRENALIN
else:
return 0
def emotion(MOOD):
emotion = ["CALM","ANGER"]
if MOOD >= 0:
EMOTION = emotion[0]
setRGB(0,255,0) #Green
print(EMOTION, MOOD)
setText(EMOTION + " " + str(MOOD))
time.sleep(0.1)
elif MOOD < 0:
EMOTION = emotion[1]
setRGB(255,0,0) #Red
print(EMOTION, MOOD)
setText(EMOTION + " " + str(MOOD))
time.sleep(0.1)
return
def none():
print("_")
time.sleep(1)
def forwoard():
print("FORWARD")
setText("FEAR -5.0")
setRGB(255,0,255) #Magenta
subprocess.call( ["aplay", "r2d2_2.wav"] )
move(110,40)
m.MotorSpeedSetAB(100,100)
m.MotorDirectionSet(0b0101)
time.sleep(0.5)
move(70,40)
m.MotorSpeedSetAB(0,0)
time.sleep(0.5)
move(90,40)
time.sleep(0.5)
def clockwise(MOOD):
print("CLOCKWISE")
setText("LET'S PLAY")
setRGB(255,255,255) #White
if MOOD >= 0:
subprocess.call( ["aplay", "r2d2_4.wav"] )
setText("YES!")
move(110,20)
m.MotorSpeedSetAB(100,100)
m.MotorDirectionSet(0b1001)
time.sleep(0.5)
move(90,40)
m.MotorSpeedSetAB(100,100)
m.MotorDirectionSet(0b0110)
move(70,60)
time.sleep(0.5)
m.MotorSpeedSetAB(0,0)
move(90,40)
time.sleep(0.5)
elif MOOD < 0:
subprocess.call( ["aplay", "r2d2_3.wav"] )
setText("NO...")
m.MotorSpeedSetAB(100,100)
m.MotorDirectionSet(0b1001)
time.sleep(0.5)
m.MotorSpeedSetAB(100,100)
m.MotorDirectionSet(0b1001)
time.sleep(0.5)
m.MotorSpeedSetAB(100,100)
m.MotorDirectionSet(0b1001)
time.sleep(2)
m.MotorSpeedSetAB(0,0)
time.sleep(0.5)
return
def wave():
print("WAVE")
setText("JOY +5.0")
setRGB(255,255,0) #Yellow
subprocess.call( ["aplay", "r2d2_1.wav"] )
move(90,20)
m.MotorSpeedSetAB(100,100)
m.MotorDirectionSet(0b1010)
time.sleep(0.5)
move(90,60)
m.MotorSpeedSetAB(0,0)
time.sleep(0.5)
move(90,40)
time.sleep(0.5)
Raw
app.py
# -*- coding: utf-8 -*-
import action
def main():
MOOD = 0
MOOD_MIN = -15
MOOD_MAX = 15
MOOD_SEROTNIN = 0.5
MOOD_DOPAMINE = 5
MOOD_NORADRENALIN = -5
while True:
gest = action.g.return_gesture()
if gest==action.g.FORWARD:
action.forwoard()
elif gest==action.g.WAVE:
action.wave()
elif gest==action.g.CLOCKWISE:
action.clockwise(MOOD)
elif gest == 0:
action.none()
else:
print("Error")
action.time.sleep(.1)
if MOOD < 0:
MOOD = MOOD + action.brain(gest)
MOOD += MOOD_SEROTNIN
if MOOD < MOOD_MIN:
MOOD = MOOD_MIN
elif MOOD >= 0:
MOOD = MOOD + action.brain(gest)
MOOD -= MOOD_SEROTNIN
if MOOD > MOOD_MAX:
MOOD = MOOD_MAX
action.emotion(MOOD)
if __name__ == '__main__':
main()
Raw
grove_gesture_sensor.py
#!/usr/bin/env python
#
# GrovePi Library for using the Grove - Gesture Sensor v1.0(http://www.seeedstudio.com/depot/Grove-Gesture-p-2463.html)
#
# The GrovePi connects the Raspberry Pi and Grove sensors. You can learn more about GrovePi here: http://www.dexterindustries.com/GrovePi
#
# Have a question about this library? Ask on the forums here: http://forum.dexterindustries.com/c/grovepi
#
# History
# ------------------------------------------------
# Author Date Comments
# Karan 31 Dec 15 Initial Authoring
#
# Code derived from the basic Arduino library for the Gesture Sensor by Seeed: https://github.com/Seeed-Studio/Gesture_PAJ7620
'''
## License
The MIT License (MIT)
GrovePi for the Raspberry Pi: an open source platform for connecting Grove Sensors to the Raspberry Pi.
Copyright (C) 2015 Dexter Industries
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
'''
import time,sys
import RPi.GPIO as GPIO
import smbus
# use the bus that matches your raspi version
rev = GPIO.RPI_REVISION
if rev == 2 or rev == 3:
bus = smbus.SMBus(1)
else:
bus = smbus.SMBus(0)
class gesture:
#Registers and variables for the gesture sensor
GES_REACTION_TIME =.500 # You can adjust the reaction time according to the actual circumstance.
GES_ENTRY_TIME =.800 # When you want to recognize the Forward/Backward gestures, your gestures' reaction time must less than GES_ENTRY_TIME(0.8s).
GES_QUIT_TIME =1.000
BANK0 = 0
BANK1 = 1
PAJ7620_ADDR_BASE =0x00
#REGISTER BANK SELECT
PAJ7620_REGITER_BANK_SEL =(PAJ7620_ADDR_BASE + 0xEF) #W
#DEVICE ID
PAJ7620_ID =0x73
#REGISTER BANK 0
PAJ7620_ADDR_SUSPEND_CMD =(PAJ7620_ADDR_BASE + 0x3) #W
PAJ7620_ADDR_GES_PS_DET_MASK_0 =(PAJ7620_ADDR_BASE + 0x41) #RW
PAJ7620_ADDR_GES_PS_DET_MASK_1 =(PAJ7620_ADDR_BASE + 0x42) #RW
PAJ7620_ADDR_GES_PS_DET_FLAG_0 =(PAJ7620_ADDR_BASE + 0x43) #R
PAJ7620_ADDR_GES_PS_DET_FLAG_1 =(PAJ7620_ADDR_BASE + 0x44) #R
PAJ7620_ADDR_STATE_INDICATOR =(PAJ7620_ADDR_BASE + 0x45) #R
PAJ7620_ADDR_PS_HIGH_THRESHOLD =(PAJ7620_ADDR_BASE + 0x69) #RW
PAJ7620_ADDR_PS_LOW_THRESHOLD =(PAJ7620_ADDR_BASE + 0x6A) #RW
PAJ7620_ADDR_PS_APPROACH_STATE =(PAJ7620_ADDR_BASE + 0x6B) #R
PAJ7620_ADDR_PS_RAW_DATA =(PAJ7620_ADDR_BASE + 0x6C) #R
#REGISTER BANK 1
PAJ7620_ADDR_PS_GAIN =(PAJ7620_ADDR_BASE + 0x44) #RW
PAJ7620_ADDR_IDLE_S1_STEP_0 =(PAJ7620_ADDR_BASE + 0x67) #RW
PAJ7620_ADDR_IDLE_S1_STEP_1 =(PAJ7620_ADDR_BASE + 0x68) #RW
PAJ7620_ADDR_IDLE_S2_STEP_0 =(PAJ7620_ADDR_BASE + 0x69) #RW
PAJ7620_ADDR_IDLE_S2_STEP_1 =(PAJ7620_ADDR_BASE + 0x6A) #RW
PAJ7620_ADDR_OP_TO_S1_STEP_0 =(PAJ7620_ADDR_BASE + 0x6B) #RW
PAJ7620_ADDR_OP_TO_S1_STEP_1 =(PAJ7620_ADDR_BASE + 0x6C) #RW
PAJ7620_ADDR_OP_TO_S2_STEP_0 =(PAJ7620_ADDR_BASE + 0x6D) #RW
PAJ7620_ADDR_OP_TO_S2_STEP_1 =(PAJ7620_ADDR_BASE + 0x6E) #RW
PAJ7620_ADDR_OPERATION_ENABLE =(PAJ7620_ADDR_BASE + 0x72) #RW
#PAJ7620_REGITER_BANK_SEL
PAJ7620_BANK0=0
PAJ7620_BANK1=1
#PAJ7620_ADDR_SUSPEND_CMD
PAJ7620_I2C_WAKEUP =1
PAJ7620_I2C_SUSPEND =0
#PAJ7620_ADDR_OPERATION_ENABLE
PAJ7620_ENABLE=1
PAJ7620_DISABLE=0
#ADC, delete
REG_ADDR_RESULT = 0x00
REG_ADDR_ALERT = 0x01
REG_ADDR_CONFIG = 0x02
REG_ADDR_LIMITL = 0x03
REG_ADDR_LIMITH = 0x04
REG_ADDR_HYST = 0x05
REG_ADDR_CONVL = 0x06
REG_ADDR_CONVH = 0x07
GES_RIGHT_FLAG =1<<0
GES_LEFT_FLAG =1<<1
GES_UP_FLAG =1<<2
GES_DOWN_FLAG =1<<3
GES_FORWARD_FLAG =1<<4
GES_BACKWARD_FLAG =1<<5
GES_CLOCKWISE_FLAG =1<<6
GES_COUNT_CLOCKWISE_FLAG =1<<7
GES_WAVE_FLAG =1<<0
#Gesture output
FORWARD = 1
BACKWARD = 2
RIGHT = 3
LEFT = 4
UP = 5
DOWN = 6
CLOCKWISE = 7
ANTI_CLOCKWISE = 8
WAVE = 9
#Initial register state
initRegisterArray=( [0xEF,0x00],
[0x32,0x29],
[0x33,0x01],
[0x34,0x00],
[0x35,0x01],
[0x36,0x00],
[0x37,0x07],
[0x38,0x17],
[0x39,0x06],
[0x3A,0x12],
[0x3F,0x00],
[0x40,0x02],
[0x41,0xFF],
[0x42,0x01],
[0x46,0x2D],
[0x47,0x0F],
[0x48,0x3C],
[0x49,0x00],
[0x4A,0x1E],
[0x4B,0x00],
[0x4C,0x20],
[0x4D,0x00],
[0x4E,0x1A],
[0x4F,0x14],
[0x50,0x00],
[0x51,0x10],
[0x52,0x00],
[0x5C,0x02],
[0x5D,0x00],
[0x5E,0x10],
[0x5F,0x3F],
[0x60,0x27],
[0x61,0x28],
[0x62,0x00],
[0x63,0x03],
[0x64,0xF7],
[0x65,0x03],
[0x66,0xD9],
[0x67,0x03],
[0x68,0x01],
[0x69,0xC8],
[0x6A,0x40],
[0x6D,0x04],
[0x6E,0x00],
[0x6F,0x00],
[0x70,0x80],
[0x71,0x00],
[0x72,0x00],
[0x73,0x00],
[0x74,0xF0],
[0x75,0x00],
[0x80,0x42],
[0x81,0x44],
[0x82,0x04],
[0x83,0x20],
[0x84,0x20],
[0x85,0x00],
[0x86,0x10],
[0x87,0x00],
[0x88,0x05],
[0x89,0x18],
[0x8A,0x10],
[0x8B,0x01],
[0x8C,0x37],
[0x8D,0x00],
[0x8E,0xF0],
[0x8F,0x81],
[0x90,0x06],
[0x91,0x06],
[0x92,0x1E],
[0x93,0x0D],
[0x94,0x0A],
[0x95,0x0A],
[0x96,0x0C],
[0x97,0x05],
[0x98,0x0A],
[0x99,0x41],
[0x9A,0x14],
[0x9B,0x0A],
[0x9C,0x3F],
[0x9D,0x33],
[0x9E,0xAE],
[0x9F,0xF9],
[0xA0,0x48],
[0xA1,0x13],
[0xA2,0x10],
[0xA3,0x08],
[0xA4,0x30],
[0xA5,0x19],
[0xA6,0x10],
[0xA7,0x08],
[0xA8,0x24],
[0xA9,0x04],
[0xAA,0x1E],
[0xAB,0x1E],
[0xCC,0x19],
[0xCD,0x0B],
[0xCE,0x13],
[0xCF,0x64],
[0xD0,0x21],
[0xD1,0x0F],
[0xD2,0x88],
[0xE0,0x01],
[0xE1,0x04],
[0xE2,0x41],
[0xE3,0xD6],
[0xE4,0x00],
[0xE5,0x0C],
[0xE6,0x0A],
[0xE7,0x00],
[0xE8,0x00],
[0xE9,0x00],
[0xEE,0x07],
[0xEF,0x01],
[0x00,0x1E],
[0x01,0x1E],
[0x02,0x0F],
[0x03,0x10],
[0x04,0x02],
[0x05,0x00],
[0x06,0xB0],
[0x07,0x04],
[0x08,0x0D],
[0x09,0x0E],
[0x0A,0x9C],
[0x0B,0x04],
[0x0C,0x05],
[0x0D,0x0F],
[0x0E,0x02],
[0x0F,0x12],
[0x10,0x02],
[0x11,0x02],
[0x12,0x00],
[0x13,0x01],
[0x14,0x05],
[0x15,0x07],
[0x16,0x05],
[0x17,0x07],
[0x18,0x01],
[0x19,0x04],
[0x1A,0x05],
[0x1B,0x0C],
[0x1C,0x2A],
[0x1D,0x01],
[0x1E,0x00],
[0x21,0x00],
[0x22,0x00],
[0x23,0x00],
[0x25,0x01],
[0x26,0x00],
[0x27,0x39],
[0x28,0x7F],
[0x29,0x08],
[0x30,0x03],
[0x31,0x00],
[0x32,0x1A],
[0x33,0x1A],
[0x34,0x07],
[0x35,0x07],
[0x36,0x01],
[0x37,0xFF],
[0x38,0x36],
[0x39,0x07],
[0x3A,0x00],
[0x3E,0xFF],
[0x3F,0x00],
[0x40,0x77],
[0x41,0x40],
[0x42,0x00],
[0x43,0x30],
[0x44,0xA0],
[0x45,0x5C],
[0x46,0x00],
[0x47,0x00],
[0x48,0x58],
[0x4A,0x1E],
[0x4B,0x1E],
[0x4C,0x00],
[0x4D,0x00],
[0x4E,0xA0],
[0x4F,0x80],
[0x50,0x00],
[0x51,0x00],
[0x52,0x00],
[0x53,0x00],
[0x54,0x00],
[0x57,0x80],
[0x59,0x10],
[0x5A,0x08],
[0x5B,0x94],
[0x5C,0xE8],
[0x5D,0x08],
[0x5E,0x3D],
[0x5F,0x99],
[0x60,0x45],
[0x61,0x40],
[0x63,0x2D],
[0x64,0x02],
[0x65,0x96],
[0x66,0x00],
[0x67,0x97],
[0x68,0x01],
[0x69,0xCD],
[0x6A,0x01],
[0x6B,0xB0],
[0x6C,0x04],
[0x6D,0x2C],
[0x6E,0x01],
[0x6F,0x32],
[0x71,0x00],
[0x72,0x01],
[0x73,0x35],
[0x74,0x00],
[0x75,0x33],
[0x76,0x31],
[0x77,0x01],
[0x7C,0x84],
[0x7D,0x03],
[0x7E,0x01])
#Enable debug message
debug=0
#Initialize the sensors
def init(self):
time.sleep(.001)
self.paj7620SelectBank(self.BANK0)
self.paj7620SelectBank(self.BANK0)
data0 = self.paj7620ReadReg(0, 1)[0]
data1 = self.paj7620ReadReg(1, 1)[0]
if self.debug:
print("data0:",data0,"data1:",data1)
if data0 != 0x20 :#or data1 <> 0x76:
print("Error with sensor")
#return 0xff
if data0 == 0x20:
print("wake-up finish.")
for i in range(len(self.initRegisterArray)):
self.paj7620WriteReg(self.initRegisterArray[i][0],self.initRegisterArray[i][1])
self.paj7620SelectBank(self.BANK0)
print("Paj7620 initialize register finished.")
#Write a byte to a register on the Gesture sensor
def paj7620WriteReg(self,addr,cmd):
bus.write_word_data(self.PAJ7620_ID, addr, cmd)
#Select a register bank on the Gesture Sensor
def paj7620SelectBank(self,bank):
if bank==self.BANK0:
self.paj7620WriteReg(self.PAJ7620_REGITER_BANK_SEL, self.PAJ7620_BANK0)
#Read a block of bytes of length "qty" starting at address "addr" from the Gesture sensor
def paj7620ReadReg(self,addr,qty):
return bus.read_i2c_block_data(self.PAJ7620_ID, addr,qty)
#Print the values from the gesture sensor
def print_gesture(self):
data=self.paj7620ReadReg(0x43,1)[0]
if data==self.GES_RIGHT_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
print("Forward")
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
print("Backward")
time.sleep(self.GES_QUIT_TIME)
else:
print("Right")
elif data==self.GES_LEFT_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
print("Forward")
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
print("Backward")
time.sleep(self.GES_QUIT_TIME)
else:
print("Left")
elif data==self.GES_UP_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
print("Forward")
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
print("Backward")
time.sleep(self.GES_QUIT_TIME)
else:
print("Up")
elif data==self.GES_DOWN_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
print("Forward")
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
print("Backward")
time.sleep(self.GES_QUIT_TIME)
else:
print("Down")
elif data==self.GES_FORWARD_FLAG:
print("Forward")
time.sleep(self.GES_QUIT_TIME)
elif data==self.GES_BACKWARD_FLAG:
print("Backward")
time.sleep(self.GES_QUIT_TIME)
elif data==self.GES_CLOCKWISE_FLAG:
print("Clockwise")
elif data==self.GES_COUNT_CLOCKWISE_FLAG:
print("anti-clockwise")
else:
data1=self.paj7620ReadReg(0x44, 1)[0]
if (data1 == self.GES_WAVE_FLAG):
print("wave")
#Return a vlaue from the gestire sensor which can be used in a program
# 0:nothing
# 1:Forward
# 2:Backward
# 3:Right
# 4:Left
# 5:Up
# 6:Down
# 7:Clockwise
# 8:anti-clockwise
# 9:wave
def return_gesture(self):
data=self.paj7620ReadReg(0x43,1)[0]
if data==self.GES_RIGHT_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
return 1
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
return 2
time.sleep(self.GES_QUIT_TIME)
else:
return 3
elif data==self.GES_LEFT_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
return 1
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
return 2
time.sleep(self.GES_QUIT_TIME)
else:
return 4
elif data==self.GES_UP_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
return 1
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
return 2
time.sleep(self.GES_QUIT_TIME)
else:
return 5
elif data==self.GES_DOWN_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
return 1
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
return 2
time.sleep(self.GES_QUIT_TIME)
else:
return 6
elif data==self.GES_FORWARD_FLAG:
return 1
time.sleep(self.GES_QUIT_TIME)
elif data==self.GES_BACKWARD_FLAG:
return 2
time.sleep(self.GES_QUIT_TIME)
elif data==self.GES_CLOCKWISE_FLAG:
return 7
elif data==self.GES_COUNT_CLOCKWISE_FLAG:
return 8
else:
data1=self.paj7620ReadReg(0x44, 1)[0]
if (data1 == self.GES_WAVE_FLAG):
return 9
return 0
if __name__ == "__main__":
g=gesture()
g.init()
while True:
g.print_gesture()
time.sleep(.1)
# print g.return_gesture()
# time.sleep(.1)
Raw
grove_rgb_lcd.py
#!/usr/bin/env python
#
# GrovePi Example for using the Grove - LCD RGB Backlight (http://www.seeedstudio.com/wiki/Grove_-_LCD_RGB_Backlight)
#
# The GrovePi connects the Raspberry Pi and Grove sensors. You can learn more about GrovePi here: http://www.dexterindustries.com/GrovePi
#
# Have a question about this example? Ask on the forums here: http://forum.dexterindustries.com/c/grovepi
#
# History
# ------------------------------------------------
# Author Date Comments
# Initial Authoring
# Karan 7 Jan 16 Library updated to add a function to update the text without erasing the screen
'''
## License
The MIT License (MIT)
GrovePi for the Raspberry Pi: an open source platform for connecting Grove Sensors to the Raspberry Pi.
Copyright (C) 2015 Dexter Industries
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
'''
#
# NOTE:
# Just supports setting the backlight colour, and
# putting a single string of text onto the display
# Doesn't support anything clever, cursors or anything
import time,sys
if sys.platform == 'uwp':
import winrt_smbus as smbus
bus = smbus.SMBus(1)
else:
import smbus
import RPi.GPIO as GPIO
rev = GPIO.RPI_REVISION
if rev == 2 or rev == 3:
bus = smbus.SMBus(1)
else:
bus = smbus.SMBus(0)
# this device has two I2C addresses
DISPLAY_RGB_ADDR = 0x62
DISPLAY_TEXT_ADDR = 0x3e
# set backlight to (R,G,B) (values from 0..255 for each)
def setRGB(r,g,b):
bus.write_byte_data(DISPLAY_RGB_ADDR,0,0)
bus.write_byte_data(DISPLAY_RGB_ADDR,1,0)
bus.write_byte_data(DISPLAY_RGB_ADDR,0x08,0xaa)
bus.write_byte_data(DISPLAY_RGB_ADDR,4,r)
bus.write_byte_data(DISPLAY_RGB_ADDR,3,g)
bus.write_byte_data(DISPLAY_RGB_ADDR,2,b)
# send command to display (no need for external use)
def textCommand(cmd):
bus.write_byte_data(DISPLAY_TEXT_ADDR,0x80,cmd)
# set display text \n for second line(or auto wrap)
def setText(text):
textCommand(0x01) # clear display
time.sleep(.05)
textCommand(0x08 | 0x04) # display on, no cursor
textCommand(0x28) # 2 lines
time.sleep(.05)
count = 0
row = 0
for c in text:
if c == '\n' or count == 16:
count = 0
row += 1
if row == 2:
break
textCommand(0xc0)
if c == '\n':
continue
count += 1
bus.write_byte_data(DISPLAY_TEXT_ADDR,0x40,ord(c))
#Update the display without erasing the display
def setText_norefresh(text):
textCommand(0x02) # return home
time.sleep(.05)
textCommand(0x08 | 0x04) # display on, no cursor
textCommand(0x28) # 2 lines
time.sleep(.05)
count = 0
row = 0
for c in text:
if c == '\n' or count == 16:
count = 0
row += 1
if row == 2:
break
textCommand(0xc0)
if c == '\n':
continue
count += 1
bus.write_byte_data(DISPLAY_TEXT_ADDR,0x40,ord(c))
# example code
if __name__=="__main__":
setText("Hello world\nThis is an LCD test")
setRGB(0,128,64)
for c in range(0,255):
setRGB(c,255-c,0)
time.sleep(0.01)
setRGB(0,255,0)
setText("Bye bye, this should wrap onto next line")
Raw
PCA9685.py
# Copyright (c) 2016 Adafruit Industries
# Author: Tony DiCola
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
from __future__ import division
import logging
import time
import math
# Registers/etc:
PCA9685_ADDRESS = 0x40
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
logger = logging.getLogger(__name__)
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
i2c = I2C
self._device = i2c.get_i2c_device(0x00, **kwargs)
self._device.writeRaw8(0x06) # SWRST
class PCA9685(object):
"""PCA9685 PWM LED/servo controller."""
def __init__(self, address=PCA9685_ADDRESS, i2c=None, **kwargs):
"""Initialize the PCA9685."""
# Setup I2C interface for the device.
if i2c is None:
import Adafruit_GPIO.I2C as I2C
i2c = I2C
self._device = i2c.get_i2c_device(address, **kwargs)
self.set_all_pwm(0, 0)
self._device.write8(MODE2, OUTDRV)
self._device.write8(MODE1, ALLCALL)
time.sleep(0.005) # wait for oscillator
mode1 = self._device.readU8(MODE1)
mode1 = mode1 & ~SLEEP # wake up (reset sleep)
self._device.write8(MODE1, mode1)
time.sleep(0.005) # wait for oscillator
def set_pwm_freq(self, freq_hz):
"""Set the PWM frequency to the provided value in hertz."""
prescaleval = 25000000.0 # 25MHz
prescaleval /= 4096.0 # 12-bit
prescaleval /= float(freq_hz)
prescaleval -= 1.0
logger.debug('Setting PWM frequency to {0} Hz'.format(freq_hz))
logger.debug('Estimated pre-scale: {0}'.format(prescaleval))
prescale = int(math.floor(prescaleval + 0.5))
logger.debug('Final pre-scale: {0}'.format(prescale))
oldmode = self._device.readU8(MODE1);
newmode = (oldmode & 0x7F) | 0x10 # sleep
self._device.write8(MODE1, newmode) # go to sleep
self._device.write8(PRESCALE, prescale)
self._device.write8(MODE1, oldmode)
time.sleep(0.005)
self._device.write8(MODE1, oldmode | 0x80)
def set_pwm(self, channel, on, off):
"""Sets a single PWM channel."""
self._device.write8(LED0_ON_L+4*channel, on & 0xFF)
self._device.write8(LED0_ON_H+4*channel, on >> 8)
self._device.write8(LED0_OFF_L+4*channel, off & 0xFF)
self._device.write8(LED0_OFF_H+4*channel, off >> 8)
def set_all_pwm(self, on, off):
"""Sets all PWM channels."""
self._device.write8(ALL_LED_ON_L, on & 0xFF)
self._device.write8(ALL_LED_ON_H, on >> 8)
self._device.write8(ALL_LED_OFF_L, off & 0xFF)
self._device.write8(ALL_LED_OFF_H, off >> 8)
servo_min = 150 # Min pulse length out of 4096
servo_max = 600 # Max pulse length out of 4096
def set_servo_pulse(channel, pulse):
pulse_length = 1000000 # 1,000,000 us per second
pulse_length //= 60 # 60 Hz
print('{0}us per period'.format(pulse_length))
pulse_length //= 4096 # 12 bits of resolution
print('{0}us per bit'.format(pulse_length))
pulse *= 1000
pulse //= pulse_length
pwm.set_pwm(channel, 0, pulse)
Raw
tree
├── PCA9685.py
├── action.py
├── app.py
├── grove_gesture_sensor.py
├── grove_i2c_motor_driver.py
├── grove_rgb_lcd.py
├── r2d2_1.wav
├── r2d2_2.wav
├── r2d2_3.wav
└── r2d2_4.wav
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