GPIO 프로그램 [gpioControl.py]

gpioControl.py 
 
import RPi.GPIO as GPIO
from time import sleep

ina1 = 33
ina2 = 35
ena = 37

inb1 = 31
inb2 = 29
enb = 23

fire = 16 

UpDownCam=12
RightLeftCam=18

GPIO.setmode(GPIO.BOARD)

GPIO.setup(UpDownCam, GPIO.OUT, initial=1)
GPIO.setup(RightLeftCam, GPIO.OUT, initial=1)
GPIO.setup(11, GPIO.OUT, initial=1) # light

GPIO.setup(ina1,GPIO.OUT)
GPIO.setup(ina2,GPIO.OUT)
GPIO.setup(ena,GPIO.OUT)

GPIO.setup(inb1,GPIO.OUT)
GPIO.setup(inb2,GPIO.OUT)
GPIO.setup(enb,GPIO.OUT)

p1 = GPIO.PWM(RightLeftCam, 50) # 50 Hz
p2 = GPIO.PWM(UpDownCam, 50) # 50
p1.start(0)
p2.start(0)
p1.ChangeDutyCycle(0)
p2.ChangeDutyCycle(0)

pa=GPIO.PWM(ena,1000)
pa.start(25)

pb=GPIO.PWM(enb,1000)
pb.start(25)

initVerticalVal = 6.9
initHorizontalVal = 6.6

verticalVal = initVerticalVal
horizontalVal = initHorizontalVal

cameraPositionX = initVerticalVal
cameraPositionY = initHorizontalVal

# Set up camera constants
IM_WIDTH = 640
IM_HEIGHT = 480

class GpioControl(object):

 def __init__(self):
 global verticalVal
 global horizontalVal
 global p1
 global p2
 p1.ChangeDutyCycle(verticalVal)
 p2.ChangeDutyCycle(horizontalVal)
 sleep(0.1)
 p1.ChangeDutyCycle(0)
 p2.ChangeDutyCycle(0)
 print("> Init Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
 
 def click(self):
 GPIO.output(11, GPIO.LOW)
 sleep(0.5)
 GPIO.output(11, GPIO.HIGH)
 sleep(1)

 def __del__(self):
 global p1
 global p2
 p1.stop()
 p2.stop()
 print(" GPIO.__del__() ")
 GPIO.cleanup()

 def startUp(self):
 GPIO.setmode(GPIO.BOARD)
 GPIO.setup(UpDownCam, GPIO.OUT, initial=1)
 GPIO.setup(RightLeftCam, GPIO.OUT, initial=1)

 GPIO.setup(ina1,GPIO.OUT)
 GPIO.setup(ina2,GPIO.OUT)
 GPIO.setup(ena,GPIO.OUT)

 GPIO.setup(inb1,GPIO.OUT)
 GPIO.setup(inb2,GPIO.OUT)
 GPIO.setup(enb,GPIO.OUT)
 
 p1.start(0)
 p2.start(0)
 p1.ChangeDutyCycle(0)
 p2.ChangeDutyCycle(0)
 pa.start(25)
 pb.start(25)
 
 def cleanUp(self):
 global p1
 global p2
 p1.stop()
 p2.stop()
 print(" GPIO.cleanUp() ")
 GPIO.cleanup()
 sleep(2)
 
 def initMotorPosition(self):
 # Init
 global p1
 global p2
 p1.ChangeDutyCycle(cameraPositionX)
 p2.ChangeDutyCycle(cameraPositionY)
 sleep(0.1)
 p1.ChangeDutyCycle(0)
 p2.ChangeDutyCycle(0)
 print("> Init Vert=" + str(cameraPositionX) + ",Hort=" + str(cameraPositionY))
 return "Vert=" + str(cameraPositionX) + ",Hort=" + str(cameraPositionY)

 def moveUp(self):
 global verticalVal
 global horizontalVal
 global p2
 if(verticalVal<12):
 verticalVal = round(verticalVal+0.2, 1)
 p2.ChangeDutyCycle(verticalVal)
 print("> UP Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
 sleep(0.1)
 p2.ChangeDutyCycle(0)
 return "Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal)
 
 def moveDown(self):
 global verticalVal
 global horizontalVal
 global p2
 if(verticalVal>5):
 verticalVal = round(verticalVal-0.2, 1)
 p2.ChangeDutyCycle(verticalVal)
 print("> Down Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
 sleep(0.1)
 p2.ChangeDutyCycle(0)
 return "Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal)
 
 def moveRight(self):
 global verticalVal
 global horizontalVal
 global p1
 if(horizontalVal>2.5):
 horizontalVal = round(horizontalVal-0.2, 1)
 p1.ChangeDutyCycle(horizontalVal)
 print("> Right Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
 sleep(0.1)
 p1.ChangeDutyCycle(0)
 return "Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal)
 
 def moveLeft(self):
 global verticalVal
 global horizontalVal
 global p1
 if(horizontalVal<10):
 horizontalVal = round(horizontalVal+0.2, 1)
 p1.ChangeDutyCycle(horizontalVal)
 print("> Left Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal))
 sleep(0.1)
 p1.ChangeDutyCycle(0)
 return "Vert=" + str(verticalVal) + ",Hort=" + str(horizontalVal)

 
 def goForward(self,time):
 print("Go forward")
 pa.ChangeDutyCycle(75)
 GPIO.output(ina1,GPIO.HIGH)
 GPIO.output(ina2,GPIO.LOW)
 pb.ChangeDutyCycle(75)
 GPIO.output(inb1,GPIO.HIGH)
 GPIO.output(inb2,GPIO.LOW)
 sleep(0.1*int(time))
 GPIO.output(ina1,GPIO.LOW)
 GPIO.output(ina2,GPIO.LOW)
 GPIO.output(inb1,GPIO.LOW)
 GPIO.output(inb2,GPIO.LOW)
 return " >> Go Forward"

 def goBackward(self,time):
 print("Go backward")
 pa.ChangeDutyCycle(75)
 GPIO.output(ina1,GPIO.LOW)
 GPIO.output(ina2,GPIO.HIGH)
 pb.ChangeDutyCycle(75)
 GPIO.output(inb1,GPIO.LOW)
 GPIO.output(inb2,GPIO.HIGH)
 sleep(0.1*int(time))
 GPIO.output(ina1,GPIO.LOW)
 GPIO.output(ina2,GPIO.LOW)
 GPIO.output(inb1,GPIO.LOW)
 GPIO.output(inb2,GPIO.LOW)
 return " >> Go Backward"

 def goTurnleftback(self,time):
 print("Go Turn Left back")
 pa.ChangeDutyCycle(75)
 GPIO.output(inb1,GPIO.LOW)
 GPIO.output(inb2,GPIO.HIGH)
 sleep(0.1*int(time))
 GPIO.output(ina1,GPIO.LOW)
 GPIO.output(ina2,GPIO.LOW)
 GPIO.output(inb1,GPIO.LOW)
 GPIO.output(inb2,GPIO.LOW)
 return " >> Go Turn Left back"

 def goTurnrightback(self,time):
 print("Go Turn Right back")
 pb.ChangeDutyCycle(75)
 GPIO.output(ina1,GPIO.LOW)
 GPIO.output(ina2,GPIO.HIGH)
 sleep(0.1*int(time))
 GPIO.output(ina1,GPIO.LOW)
 GPIO.output(ina2,GPIO.LOW)
 GPIO.output(inb1,GPIO.LOW)
 GPIO.output(inb2,GPIO.LOW)
 return " >> Go Turn Right back"

 def goTurnleftforward(self,time):
 print("Go Turn Left forward")
 pa.ChangeDutyCycle(75)
 GPIO.output(inb1,GPIO.HIGH)
 GPIO.output(inb2,GPIO.LOW)
 sleep(0.1*int(time))
 GPIO.output(ina1,GPIO.LOW)
 GPIO.output(ina2,GPIO.LOW)
 GPIO.output(inb1,GPIO.LOW)
 GPIO.output(inb2,GPIO.LOW)
 return " >> Go Turn Left forward"

 def goTurnrightforward(self,time):
 print("Go Turn Right forward")
 pb.ChangeDutyCycle(75)
 GPIO.output(ina1,GPIO.HIGH)
 GPIO.output(ina2,GPIO.LOW)
 sleep(0.1*int(time))
 GPIO.output(ina1,GPIO.LOW)
 GPIO.output(ina2,GPIO.LOW)
 GPIO.output(inb1,GPIO.LOW)
 GPIO.output(inb2,GPIO.LOW)
 return " >> Go Turn Right forward"

 def move_to_position(self,ObjX, ObjY):
 global cameraPositionX
 global cameraPositionY
 global p1
 global p2
 print(" >> Move to location x="+str(ObjX)+", y="+str(ObjY))
 moveLoop = True
 movX = int(IM_WIDTH/2)-ObjX
 movY = int(IM_HEIGHT/2)-ObjY
 print(" >> Center location movX="+str(movX)+", movY="+str(movY))
 
 xx = 1
 xy = 0
 yx = 1
 yy = 0
 while(moveLoop):
 if( xy < abs(movX) ):
 p1.ChangeDutyCycle(cameraPositionX)
 sleep(0.1)
 p1.ChangeDutyCycle(0)
 print("xx=" + str(xx) + ", xy="+ str(xy) +" cameraPositionX=" +str(round(cameraPositionX,1)))
 xy = xx*xx * 12
 xx = xx + 1
 if(movX > 0): cameraPositionX = cameraPositionX - 0.2
 else: cameraPositionX = cameraPositionX + 0.2
 if( yy < abs(movY) ):
 p2.ChangeDutyCycle(cameraPositionY)
 sleep(0.1)
 p2.ChangeDutyCycle(0)
 print("yx=" + str(yx) + ", yy="+ str(yy) +" cameraPositionY=" +str(round(cameraPositionY,1)))
 yy = yx*yx * 12
 yx = yx + 1
 if(movY > 0): cameraPositionY = cameraPositionY + 0.2
 else: cameraPositionY = cameraPositionY - 0.2
 elif( xy >= movX and yy >= movY):
 print(" >> Center location movX="+str(movX)+", movY=" + str(movY))
 print(" >> Position location xy="+str(xy)
 +", yy="+str(yy)
 +" cameraPositionX="+str(round(cameraPositionX,1))+
 " cameraPositionY="+str(round(cameraPositionY,1))+" .. ")
 moveLoop = False
 
 def shooting(self):
 GPIO.setup(fire,GPIO.OUT)
 GPIO.output(fire,GPIO.HIGH)
 sleep(0.5)
 GPIO.output(fire,GPIO.LOW)
 GPIO.cleanup()
 self.startUp()
 return "Fired !"