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stubby_eui.py
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stubby_eui.py
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import RPi.GPIO as GPIO
import time
import spidev
import Adafruit_SSD1306
from PIL import Image
from PIL import ImageDraw
from PIL import ImageFont
keepSoundOn = None
def info():
'''Prints a basic library description'''
print("Software library for Eui.")
## timers ##
def setupBtn(pin):
print("setupBtn for pin:", pin)
GPIO.setmode(GPIO.BCM)
GPIO.setup(pin, GPIO.IN)
#GPIO.setup(pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
def waitForBtnPress(timerPin, duration):
timerRunning = False # timer is initially not running
try:
print("Waiting for button press to start timer...")
print("NOTE: ^C to stop testing waitForBtnPress")
while True:
btnPressed = GPIO.input(timerPin) # 0 is false & 1 is true
time.sleep(0.5)
# button pressed to end timer
if (btnPressed and timerRunning):
print("Timer forced to end")
timerRunning = False
print("Waiting for button press to start timer...")
continue
# button pressed to start timer
if (btnPressed and not timerRunning):
print("Timer starts")
start = time.time()
timerRunning = True
# timer is running
if (timerRunning):
if (time.time()-start >= duration):
print("Time ended")
timerRunning = False
print("Waiting for button press to start timer...")
except KeyboardInterrupt:
print("waitForBtnEnd forced to end")
GPIO.cleanup()
time.sleep(1)
## lights ##
def setupLED(DATA=21, STOR=13, SHIFT=18, NSHIFT=16):
GPIO.setmode(GPIO.BCM)
GPIO.setup(DATA, GPIO.OUT)
GPIO.setup(STOR, GPIO.OUT)
GPIO.setup(SHIFT, GPIO.OUT)
GPIO.setup(NSHIFT, GPIO.OUT)
GPIO.output(NSHIFT, GPIO.LOW) #clear shift register
GPIO.output(NSHIFT, GPIO.HIGH) #don't clear shift register yet
def turnOnLED(DATA=21, STOR=13, SHIFT=18): #DATA was previously 21
print("LEDs turn on")
for i in range(0,8):
GPIO.output(DATA, GPIO.HIGH)
#time.sleep(0.1)
GPIO.output(SHIFT, GPIO.HIGH)
#time.sleep(0.1)
GPIO.output(SHIFT, GPIO.LOW)
GPIO.output(DATA, GPIO.LOW)
GPIO.output(STOR, GPIO.HIGH)
#time.sleep(0.1)
GPIO.output(STOR, GPIO.LOW)
def turnOffLED(DATA=21, STOR=13, SHIFT=18):
print("LEDs turn off")
for i in range(0,8):
GPIO.output(DATA, GPIO.LOW)
#time.sleep(0.1)
GPIO.output(SHIFT, GPIO.HIGH)
#time.sleep(0.1)
GPIO.output(SHIFT, GPIO.LOW)
GPIO.output(DATA, GPIO.LOW)
GPIO.output(STOR, GPIO.HIGH)
#time.sleep(0.1)
GPIO.output(STOR, GPIO.LOW)
def LEDwave(DATA=21, STOR=13, SHIFT=18):
try:
print("performing LED wave now. Press ^C to stop")
while True:
for i in range(0,8):
#send one on
GPIO.output(DATA, GPIO.HIGH)
time.sleep(0.1)
GPIO.output(SHIFT, GPIO.HIGH)
time.sleep(0.1)
GPIO.output(SHIFT, GPIO.LOW)
GPIO.output(DATA, GPIO.LOW)
GPIO.output(STOR, GPIO.HIGH)
time.sleep(0.1)
GPIO.output(STOR, GPIO.LOW)
#send one off
GPIO.output(DATA, GPIO.LOW)
time.sleep(0.1)
GPIO.output(SHIFT, GPIO.HIGH)
time.sleep(0.1)
GPIO.output(SHIFT, GPIO.LOW)
GPIO.output(DATA, GPIO.LOW)
GPIO.output(STOR, GPIO.HIGH)
time.sleep(0.1)
GPIO.output(STOR, GPIO.LOW)
except KeyboardInterrupt:
turnOffLED(DATA)
time.sleep(0.1)
def displayWorkModeIndicator(DATA=21, STOR=13, SHIFT=18):
#prob need timer to see how long to continue being in this state
#DATA is also soundPin because we are using the same PWM pin for both
PWM = GPIO.PWM(DATA, 100)
PWM.start(100)
#LED wave 2.0 to signal we are in work period - only 1 LED
sendByte(0b01000010)
def displayRestModeIndicator(DATA=21, STOR=13, SHIFT=18):
#GPIO.output(DATA, GPIO.OUT)
PWM = GPIO.PWM(DATA, 100)
PWM.start(100)
#dim/flash all LEDs to signal we are in rest period
sendByte(0b10111101)
def changeLEDColor():
print("LEDs change color")
def sendByte(val, DATA=21, STOR=13, SHIFT=18):
GPIO.output(STOR, GPIO.LOW)
for x in range(0,8):
GPIO.output(DATA, (val >> x) & 1)
GPIO.output(SHIFT, GPIO.HIGH)
GPIO.output(SHIFT, GPIO.LOW)
GPIO.output(STOR, GPIO.HIGH)
## sound ##
def setupSound(soundPin):
print("in setupSound")
GPIO.setmode(GPIO.BCM)
GPIO.setup(soundPin, GPIO.OUT)
def stopSound():
global keepSoundOn
if (keepSoundOn):
keepSoundOn = False
def makeSound(soundPin):
print("piezo make a sound")
PWM = GPIO.PWM(soundPin, 276)
PWM.start(1)
time.sleep(1)
#stopSound()
PWM.stop()
def playMelody(song, beat, tempo, soundPin):
print("piezo plays a song")
global keepSoundOn
keepSoundOn = True
PWM = GPIO.PWM(soundPin, 100)
PWM.start(50)
for i in range(0, len(song)):
if (not keepSoundOn):
break
PWM.ChangeFrequency(song[i])
time.sleep(beat[i]*tempo)
PWM.ChangeDutyCycle(0)
PWM.stop()
keepSoundOn = None
GPIO.cleanup(soundPin)
GPIO.setup(soundPin, GPIO.OUT)
## movements ##
def setupMotors(IN1, IN2, EN1, IN3, IN4, EN2):
GPIO.setup(IN1, GPIO.OUT)
GPIO.setup(IN2, GPIO.OUT)
GPIO.setup(EN1, GPIO.OUT)
GPIO.setup(IN3, GPIO.OUT)
GPIO.setup(IN4, GPIO.OUT)
GPIO.setup(EN2, GPIO.OUT)
def forward(IN1, IN2, EN1, IN3, IN4, EN2):
print("\tFORWARD MOTION")
GPIO.output(EN1, GPIO.HIGH)
GPIO.output(EN2, GPIO.HIGH)
GPIO.output(IN1, GPIO.HIGH)
GPIO.output(IN2, GPIO.LOW)
#GPIO.output(EN1, GPIO.HIGH)
GPIO.output(IN3, GPIO.HIGH)
GPIO.output(IN4, GPIO.LOW)
#GPIO.output(EN2, GPIO.HIGH)
def backward(IN1, IN2, EN1, IN3, IN4, EN2):
print("\tBACKWARD MOTION")
GPIO.output(EN1, GPIO.HIGH)
GPIO.output(EN2, GPIO.HIGH)
GPIO.output(IN1, GPIO.LOW)
GPIO.output(IN2, GPIO.HIGH)
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.HIGH)
def stopMotors(IN1, IN2, EN1, IN3, IN4, EN2):
print("\tSTOP")
GPIO.output(EN1, GPIO.LOW)
GPIO.output(EN2, GPIO.LOW)
def motorTest(IN1, IN2, EN1, IN3, IN4, EN2):
print("power motors on")
'''
GPIO.setup(IN1, GPIO.OUT)
GPIO.setup(IN2, GPIO.OUT)
GPIO.setup(EN1, GPIO.OUT)
GPIO.setup(IN3, GPIO.OUT)
GPIO.setup(IN4, GPIO.OUT)
GPIO.setup(EN2, GPIO.OUT)
'''
forward(IN1, IN2, EN1, IN3, IN4, EN2)
time.sleep(2)
backward(IN1, IN2, EN1, IN3, IN4, EN2)
time.sleep(2)
stopMotors(IN1, IN2, EN1, IN3, IN4, EN2)
def leftTurn(IN1, IN2, EN1, IN3, IN4, EN2):
print("make left turn")
GPIO.output(IN1, GPIO.HIGH)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(EN1, GPIO.HIGH)
GPIO.output(EN2, GPIO.LOW)
def rightTurn(IN1, IN2, EN1, IN3, IN4, EN2):
print("make right turn")
GPIO.output(EN1, GPIO.LOW)
GPIO.output(IN3, GPIO.HIGH)
GPIO.output(IN4, GPIO.LOW)
GPIO.output(EN2, GPIO.HIGH)
## sensors ##
def readADC(spi, channel=0):
if ((channel > 3) or (channel < 0)):
return -1
reply = spi.xfer2([1, (8 + channel) << 4, 0])
adc = ((reply[1] & 3) << 8) + reply[2]
v = (3.3 * adc) / 1024 #3.3 is Vref
print("\tvoltage =", v)
dist = 16.2537 * v**4 - 129.893 * v**3 + 382.268 * v**2 - 512.611 * v + 306.439
#still need to figure out correct formula
cm = int(round(dist))
return cm
def readDist(spiChannel):
print("distance read by sensor")
spi = spidev.SpiDev()
spi.open(0, spiChannel) # SPI Port 0, Chip Select 0
spi.max_speed_hz = 7629
try:
while True:
#print("\tNOTE: ^C to stop testing readDist")
dist = readADC(spi)
print("\tdistance in cm:", dist)
if (dist > 37):
print("\t\tSomething detected!")
else:
print("\t\tNothing...")
time.sleep(1)
except KeyboardInterrupt:
spi.close()
#GPIO.cleanup()
def registerTap():
print("gets a signal from linear softpot")
def buttonPressed(pin):
try:
while True:
#print("Awaiting button press")
btnPressed = GPIO.input(pin)
time.sleep(0.5)
if (btnPressed):
print("button is pressed")
return True
else:
return False
except KeyboardInterrupt:
print("\t^C was pressed")
#timeout in ms-> ie. 6000ms = 6s
#GPIO.setmode(GPIO.BCM)
#GPIO.wait_for_edge(pin, GPIO.RISING)
#wait_for_edge is designed to block program until an edge is detected
#GPIO.add_event_detect(pin, GPIO.RISING)
#print("button was pressed")
## display ##
def setupDisplay(pin):
return Adafruit_SSD1306.SSD1306_128_64(rst=pin)
def displayOn(disp):
print("display turn on - full white screen")
disp.begin()
disp.clear()
disp.display()
width = disp.width
height = disp.height
image = Image.new('1', (width, height))
draw = ImageDraw.Draw(image)
draw.rectangle((0,0,width,height), outline=0, fill=255)
'''
if disp.height == 64:
image = Image.open('/home/pi/DesktopPet_Eui/Adafruit_Python_SSD1306/examples/happycat_oled_64.ppm').convert('1')
else:
image = Image.open('/home/pi/DesktopPet_Eui/Adafruit_Python_SSD1306/examples/happycat_oled_32.ppm').convert('1')
'''
# Display image.
disp.image(image)
disp.display()
def displayOff(disp):
print("display will turn off in one second")
time.sleep(1)
disp.clear()
disp.display()
print("display has turned off")
def displayImage(disp):
print("displaying other image")
disp.clear()
disp.display()
# Load image based on OLED display height. Note that image is converted to 1 bit color.
if disp.height == 64:
image = Image.open('/home/pi/DesktopPet_Eui/Adafruit_Python_SSD1306/examples/happycat_oled_64.ppm').convert('1')
else:
image = Image.open('/home/pi/DesktopPet_Eui/Adafruit_Python_SSD1306/examples/happycat_oled_32.ppm').convert('1')
# Display image.
disp.image(image)
disp.display()
def editText(text):
ret = ""
last = ""
#add \n and white space for strings that are not exactly multiples of 21 (the edge of the OLED screen)
if ((len(text)%21)):
#if not exactly multiple, need to know how much white space to add at the end
last = ' ' * (21 - len(text)%21)
text += last
for ind in range(1, (len(text)//21)+1):
ret += text[ind*21-21:ind*21] + '\n'
return ret
def displayText(text, disp=Adafruit_SSD1306.SSD1306_128_64(rst=26)):
print("displaying text on OLED:\n" + text)
disp.begin()
disp.clear()
disp.display()
width = disp.width
height = disp.height
image = Image.new('1', (width, height))
draw = ImageDraw.Draw(image)
draw.rectangle((0,0,width,height), outline=0, fill=0)
padding = -2
line = padding
bottom = height - padding
x = 0
font = ImageFont.load_default()
text = editText(text)
draw.multiline_text((x, line), text, font=font, fill=255)
disp.image(image)
disp.display()
time.sleep(0.1)