119 lines
3.4 KiB
Python
119 lines
3.4 KiB
Python
# imports all necessary libraries and sets predetermined values
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import RPi.GPIO as GPIO
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import time
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from apa102_pi.driver import apa102
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GPIO.setmode(GPIO.BCM)
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GPIO.setwarnings(0)
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# de onderstaande pin waardes mogen aangepast worden
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register_shift_clock_pin = 17
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register_latch_clock_pin = 27
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register_data_pin = 22
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sensor_trigger_pin = 14
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sensor_echo_pin = 15
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servo_pin = 14
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button_pin = 27
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GPIO.setup(register_shift_clock_pin, GPIO.OUT)
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GPIO.setup(register_latch_clock_pin, GPIO.OUT)
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GPIO.setup(register_data_pin, GPIO.OUT)
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GPIO.setup(sensor_trigger_pin, GPIO.OUT)
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GPIO.setup(sensor_echo_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
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GPIO.setup(servo_pin, GPIO.OUT)
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GPIO.setup(button_pin, GPIO.IN)
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################################
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def set_strip(value):
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strip = apa102.APA102(num_led=8, order='rgb')
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for x in range(8):
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strip.set_pixel_rgb(x, value)
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strip.show()
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######################################
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def set_register(value):
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"""waardes die worden geaccepteerd: 1, 2 ,4, 8, 16, 32, 64, 128"""
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for k in range(0, 8): # 8 keer loopen
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if value % 2 == 1: # als waarde oneven is
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GPIO.output(register_data_pin, GPIO.HIGH) # data pin hoog zetten
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else: # waarde is even
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GPIO.output(register_data_pin, GPIO.LOW) # data pin laag houden
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value = value // 2 # waarde halveren
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GPIO.output(register_shift_clock_pin, GPIO.HIGH) # klok hoog, om de waarde pin te laten aflezen
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GPIO.output(register_shift_clock_pin, GPIO.LOW) # klok laag, default positie
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GPIO.output(register_latch_clock_pin, GPIO.HIGH) # geen idee, waarschijnlijk om de waardes op te laten slaan in de chip
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GPIO.output(register_latch_clock_pin, GPIO.LOW) # default positie
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return True
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###############################################
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def poll_sensor():
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"""
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Return the distance in cm as measured by an SR04
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that is connected to the trig_pin and the echo_pin.
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These pins must have been configured as output and input.s
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"""
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GPIO.output(sensor_trigger_pin, False) # altijd met false starten
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time.sleep(0.5)
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GPIO.output(sensor_trigger_pin, True)
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time.sleep(0.00001) # pulse trigger
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GPIO.output(sensor_trigger_pin, False)
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while not GPIO.input(sensor_echo_pin):
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start_time = time.time() # tijd opslaan wanneer de echo false is
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while GPIO.input(sensor_echo_pin):
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end_time = time.time() # tijd opslaan wanneer de echo true is
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total_time = end_time - start_time # totaal aantal afstand in seconden
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return (
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round(total_time * 34300 / 2, 2), total_time) # tuple terug geven met afstand in cm en totaal aantal seconden
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# sensor is niet helemaal naukeurig(~1-2cm variatie), kan ook aan de rpi timing liggen
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###########################################
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# geef het aantal graden in tussen 0 en 180 (dit is niet hoeveelheid verplaatsing maar naar welke positie)
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def set_servo(degrees):
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p = GPIO.PWM(servo_pin, 50)
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p.start(2.5)
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if degrees > 180:
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return False
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elif degrees < 0:
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return False
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left_span = 180 - 0
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right_span = 12 - 2.5
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value_scaled = float(degrees - 0) / float(left_span)
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integer = 2.5 + (value_scaled * right_span)
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p.ChangeDutyCycle(integer)
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return True
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###########################################
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# Function to check if Switch is pressed, will return a True or False Boolean
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def poll_button():
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if GPIO.input(button_pin):
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return True
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else:
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return False
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