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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 !"

 

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