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Tristan Hearn
2013-04-19 14:09:39 -04:00
parent 62fc0a3177
commit a45dfd8a26
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5
api/__init__.py Normal file
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#!/usr/bin/env python
from arduino import Arduino

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api/arduino.py Normal file
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#!/usr/bin/env python
from serial.tools import list_ports
import serial, time
class Arduino(object):
def __init__(self,baud,port="",timeout=2):
"""
Initializes serial communication with Arduino.
Attempts to self-select COM port, if not specified.
"""
self.baud = baud
self.timeout = timeout
self.ss_connected=False
if port == "":
self.findPort()
self.sr = serial.Serial(self.port, self.baud,timeout =self.timeout)
time.sleep(2)
self.SoftwareSerial = SoftwareSerial(self)
self.Servos = Servos(self)
def findPort(self):
"""
Sets port to the first Arduino found
in system's device list
"""
for pt in list_ports.comports():
if ("FTDIBUS" in pt[-1]) or ("usbserial" in pt[-1]):
self.port = pt[0]
return
def digitalWrite(self,pin,val):
"""
Sends digitalWrite command
to digital pin on Arduino
-------------
inputs:
pin : digital pin number
val : either "HIGH" or "LOW"
"""
if val=="LOW":
pin_ = -pin
else:
pin_ = pin
cmd_str=''.join(["@dw%",str(pin_),"$!"])
try:
self.sr.write(cmd_str)
self.sr.flush()
except:
pass
def analogWrite(self,pin,val):
"""
Sends analogWrite pwm command
to pin on Arduino
-------------
inputs:
pin : pin number
val : integer 0 (off) to 255 (always on)
"""
if val>255:
val=255
elif val<0:
val=0
cmd_str=''.join(["@aw%",str(pin),"%",str(val),"$!"])
try:
self.sr.write(cmd_str)
self.sr.flush()
except:
pass
def analogRead(self,pin):
"""
Returns the value of a specified
analog pin.
inputs:
pin : analog pin number for measurement
returns:
value: integer from 1 to 1023
"""
cmd_str=''.join(["@ar%",str(pin),"$!"])
try:
self.sr.write(cmd_str)
self.sr.flush()
except:
pass
rd = self.sr.readline().replace("\r\n","")
try:
return int(rd)
except:
return 0
def pinMode(self,pin,val):
"""
Sets I/O mode of pin
inputs:
pin: pin number to toggle
val: "INPUT" or "OUTPUT"
"""
if val=="INPUT":
pin_ = -pin
else:
pin_ = pin
cmd_str=''.join(["@pm%",str(pin_),"$!"])
try:
self.sr.write(cmd_str)
self.sr.flush()
except:
pass
def pulseIn(self,pin,val):
"""
Reads a pulse from a pin
inputs:
pin: pin number for pulse measurement
returns:
duration : pulse length measurement
"""
if val=="LOW":
pin_ = -pin
else:
pin_ = pin
cmd_str=''.join(["@pi%",str(pin_),"$!"])
try:
self.sr.write(cmd_str)
self.sr.flush()
except:
pass
rd = self.sr.readline().replace("\r\n","")
try:
return float(rd)
except:
return -1
def pulseIn_set(self,pin,val):
"""
Sets a digital pin value, then reads the response
as a pulse width.
Useful for some ultrasonic rangefinders, etc.
inputs:
pin: pin number for pulse measurement
val: "HIGH" or "LOW". Pulse is measured
when this state is detected
returns:
duration : pulse length measurement
This method will automatically toggle
I/O modes on the pin and precondition the
measurment with a clean LOW/HIGH pulse.
Arduino.pulseIn_set(pin,"HIGH") is
equivalent to the Arduino sketch code:
pinMode(pin, OUTPUT);
digitalWrite(pin, LOW);
delayMicroseconds(2);
digitalWrite(pin, HIGH);
delayMicroseconds(5);
digitalWrite(pin, LOW);
pinMode(pin, INPUT);
long duration = pulseIn(pin, HIGH);
"""
if val=="LOW":
pin_ = -pin
else:
pin_ = pin
cmd_str=''.join(["@ps%",str(pin_),"$!"])
try:
self.sr.write(cmd_str)
self.sr.flush()
except:
pass
rd = self.sr.readline().replace("\r\n","")
try:
return float(rd)
except:
return -1
def close(self):
self.sr.close()
def digitalRead(self,pin):
"""
Returns the value of a specified
digital pin.
inputs:
pin : digital pin number for measurement
returns:
value: 0 for "LOW", 1 for "HIGH"
"""
cmd_str=''.join(["@dr%",str(pin),"$!"])
try:
self.sr.write(cmd_str)
self.sr.flush()
except:
pass
rd = self.sr.readline().replace("\r\n","")
try:
return 1 - int(rd)
except:
return 0
class Wires(object):
"""
Class for Arduino wire (i2c) support
"""
def __init__(self, board):
self.board = board
self.sr = board.sr
class Servos(object):
"""
Class for Arduino servo support
0.03 second delay noted
"""
def __init__(self, board):
self.board = board
self.sr = board.sr
self.servo_pos = {}
def attach(self,pin,min = 544, max = 2400):
cmd_str=''.join(["@sva%",str(pin),"%",str(min),"%",str(max),"$!"])
try:
self.sr.write(cmd_str)
self.sr.flush()
except:
pass
rd = self.sr.readline().replace("\r\n","")
try:
position = int(rd)
self.servo_pos[pin] = position
return 1
except:
return 0
def detach(self,pin):
cmd_str=''.join(["@svd%",str(position),"$!"])
try:
self.sr.write(cmd_str)
self.sr.flush()
except:
pass
del self.servo_pos[pin]
def write(self,pin,angle):
position = self.servo_pos[pin]
cmd_str=''.join(["@svw%",str(position),"%",str(angle),"$!"])
try:
self.sr.write(cmd_str)
self.sr.flush()
except:
pass
def writeMicroseconds(self,pin,uS):
cmd_str=''.join(["@svw%",str(position),"%",str(uS),"$!"])
try:
self.sr.write(cmd_str)
self.sr.flush()
except:
pass
def read(self,pin):
if pin not in self.servo_pos.keys():
self.attach(pin)
position = self.servo_pos[pin]
cmd_str=''.join(["@svr%",str(position),"$!"])
try:
self.sr.write(cmd_str)
self.sr.flush()
except:
pass
rd = self.sr.readline().replace("\r\n","")
try:
angle = int(rd)
return angle
except:
return None
class SoftwareSerial(object):
"""
Class for Arduino software serial functionality
"""
def __init__(self,board):
self.board=board
self.sr = board.sr
self.connected = False
def begin(self,p1,p2,baud):
"""
Create software serial instance on
specified tx,rx pins, at specified baud
"""
cmd_str=''.join(["@ss%",str(p1),"%",str(p2),"%",str(baud),"$!"])
try:
self.sr.write(cmd_str)
self.sr.flush()
except:
pass
response= self.sr.readline().replace("\r\n","")
if response == "ss OK":
self.connected = True
return True
else:
self.connected = False
return False
def write(self,data):
"""
sends data to existing software serial instance
using Arduino's 'write' function
"""
if self.connected:
cmd_str=''.join(["@sw%",str(data),"$!"])
try:
self.sr.write(cmd_str)
self.sr.flush()
except:
pass
response= self.sr.readline().replace("\r\n","")
if response == "ss OK":
return True
else:
return False
def read(self):
"""
returns first character read from
existing software serial instance
"""
if self.connected:
cmd_str=''.join(["@sr%$!"])
self.sr.write(cmd_str)
self.sr.flush()
response= self.sr.readline().replace("\r\n","")
if response:
return response
else:
return False
if __name__=="__main__":
board=Arduino(9600)
board.Servos.attach(9)
board.Servos.write(9,90)
time.sleep(1)
print board.Servos.read(9)
t=time.time()
board.Servos.write(9,1)
while True:
a=board.Servos.read(9)
if a == 1:
print "time",time.time() - t
break

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api/examples.py Normal file
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#!/usr/bin/env python
from arduino import Arduino
import time
def Blink(led_pin,baud):
"""
Blinks an LED in 1 sec intervals
"""
board = Arduino(baud)
while True:
board.digitalWrite(led_pin,"LOW")
print board.digitalRead(led_pin) #confirm LOW (0)
time.sleep(1)
board.digitalWrite(led_pin,"HIGH")
print board.digitalRead(led_pin) #confirm HIGH (1)
time.sleep(1)
def softBlink(led_pin,baud):
"""
Fades an LED off and on, using
Arduino's analogWrite (PWM) function
"""
board=Arduino(baud)
i=0
while True:
i+=1
k=i%510
if k%5==0:
if k>255:
k=510-k
board.analogWrite(led_pin,k)
def adjustBrightness(pot_pin,led_pin,baud):
"""
Adjusts brightness of an LED using a
potentiometer
"""
board=Arduino(baud)
while True:
time.sleep(0.01)
val=board.analogRead(pot_pin)/4
print val
board.analogWrite(led_pin,val)
def PingSonar(pw_pin,baud):
"""
Gets distance measurement from Ping)))
ultrasonic rangefinder connected to pw_pin
"""
board = Arduino(baud)
pingPin=pw_pin
while True:
duration = board.pulseIn(pingPin, "HIGH")
inches = duration/72./2.
cent = duration/29./2.
print inches,"inches"
time.sleep(0.1)
def LCD(tx,baud,ssbaud,message):
"""
Prints to two-line LCD connected to
pin tx
"""
board = Arduino(baud)
board.SoftwareSerial.begin(0,tx,ssbaud)
while True:
board.SoftwareSerial.write(" test ")
if __name__=="__main__":
#LCD(5,9600,9600," test ")
adjustBrightness(5,11,9600)
#softBlink(11,9600)