project stuff

barebones.py

import freenect
import cv2
import numpy as np
import sys, getopt
import math
import RPi.GPIO as GPIO
import time
import atexit

def main(argv):
  #Setup the GPIO 
  pins = [3, 5, 7, 8, 10, 12, 11, 13, 15]
  GPIO.setmode(GPIO.BOARD)
  for pin in pins:
    GPIO.setup(pin, GPIO.OUT)
  test()
  #Main loop
  while True:
    array, _ = freenect.sync_get_depth()
    array = array.astype(np.uint8)
    #sys.stdout.write('\r' + str(subdivide(array, 9))) 
    arr2 = subdivide(array, 9)
    print(str(arr2))
    vibrate(arr2, pins)

#texit.register(GPIO.cleanup)


def subdivide(array, k):
  """Subdivide array into sqrt(k) and provide output with function.
  """
  num_seg = int(math.sqrt(k))
  w, h = [int(x/num_seg) for x in array.shape]
  array = [[int(np.average(array[w*nw:w*(nw+1), h*nh:h*(nh+1)])) for nh in range(num_seg)] for nw in range(num_seg)]
  return array

def vibrate(array, pins):
  """Vibrates the motors if they are over a threshold
  """
  vibe = False
  index = 0
  for i in range(len(array)):
     for j in range(len(array[i])):
        if array[i][j] > 200:
           vibe = True
           GPIO.output(pins[index], GPIO.HIGH)
        else:
           GPIO.output(pins[index], GPIO.LOW)
        index += 1
  #if vibe == True:
   #  time.sleep(1)
  #for pin in pins:
   #  GPIO.output(pin, GPIO.LOW)  

def test():
  pins = [3, 5, 7, 8, 10, 12, 11, 13, 15]
  for pin in pins:
     GPIO.output(pin,GPIO.LOW) 

if __name__ == "__main__":
  main(sys.argv[1:])  

cleanup.py

import RPi.GPIO as GPIO

def main(argv):
   GPIO.cleanup()

pwm_test2.py

import RPi.GPIO as GPIO
import time

GPIO.setmode(GPIO.BCM)
GPIO.setup(25, GPIO.OUT)
p = GPIO.PWM(25, 50)

p.start(0)



while(True):
	for dc in xrange(100):
		p.ChangeDutyCycle(dc)	
		time.sleep(0.1)

p.stop()

GPIO.cleanup()

test_pwm.py

import wiringpi as wp


PIN = 2
wp.wiringPiSetup()
wp.pinMode(PIN, 1)
wp.softPwmCreate(PIN, 0, 100)

#dutyCycle = 20
for time in range(10):
	for dutyCycle in range(100):
		wp.softPwmWrite(PIN, dutyCycle)
		wp.delay(10)

testi2c.py

import wiringpi
from time import sleep

pin_base = 65
i2c_addr = 0x20

wiringpi.wiringPiSetup()
wiringpi.mcp23017Setup(pin_base,i2c_addr)

wiringpi.pinMode(65, 1)
#wiringpi.pinMode(27, 1)

wiringpi.digitalWrite(70, 1)

#for i in range(0, 100):
 #   wiringpi.digitalWrite(27, 1)
 #  sleep(1)
 #   wiringpi.digitalWrite(27, 0)
 #   sleep(1)


#while(True):
#    wiringpi.digitalWrite(65, 1)
#    sleep(1)

testshiftreg.py

import wiringpi
from time import sleep

wiringpi.wiringPiSetup()
wiringpi.sr595Setup(100, 8, 28, 26, 27)
wiringpi.softPwmCreate(106, 0, 100)
wiringpi.softPwmCreate(103, 0, 100)

while True:
    wiringpi.softPwmWrite(106, 70)
    wiringpi.softPwmWrite(103, 30)