mirror of
https://github.com/thearn/Python-Arduino-Command-API.git
synced 2026-01-14 08:58:00 -05:00
restructure
This commit is contained in:
Tristan Hearn
354
api/arduino.py
Normal file
354
api/arduino.py
Normal file
@@ -0,0 +1,354 @@
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#!/usr/bin/env python
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from serial.tools import list_ports
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import serial, time
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class Arduino(object):
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def __init__(self,baud,port="",timeout=2):
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"""
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Initializes serial communication with Arduino.
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Attempts to self-select COM port, if not specified.
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"""
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self.baud = baud
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self.timeout = timeout
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self.ss_connected=False
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if port == "":
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self.findPort()
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self.sr = serial.Serial(self.port, self.baud,timeout =self.timeout)
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time.sleep(2)
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self.SoftwareSerial = SoftwareSerial(self)
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self.Servos = Servos(self)
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def findPort(self):
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"""
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Sets port to the first Arduino found
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in system's device list
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"""
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for pt in list_ports.comports():
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if ("FTDIBUS" in pt[-1]) or ("usbserial" in pt[-1]):
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self.port = pt[0]
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return
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def digitalWrite(self,pin,val):
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"""
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Sends digitalWrite command
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to digital pin on Arduino
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-------------
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inputs:
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pin : digital pin number
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val : either "HIGH" or "LOW"
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"""
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if val=="LOW":
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pin_ = -pin
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else:
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pin_ = pin
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cmd_str=''.join(["@dw%",str(pin_),"$!"])
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try:
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self.sr.write(cmd_str)
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self.sr.flush()
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except:
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pass
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def analogWrite(self,pin,val):
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"""
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Sends analogWrite pwm command
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to pin on Arduino
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-------------
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inputs:
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pin : pin number
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val : integer 0 (off) to 255 (always on)
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"""
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if val>255:
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val=255
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elif val<0:
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val=0
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cmd_str=''.join(["@aw%",str(pin),"%",str(val),"$!"])
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try:
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self.sr.write(cmd_str)
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self.sr.flush()
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except:
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pass
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def analogRead(self,pin):
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"""
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Returns the value of a specified
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analog pin.
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inputs:
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pin : analog pin number for measurement
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returns:
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value: integer from 1 to 1023
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"""
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cmd_str=''.join(["@ar%",str(pin),"$!"])
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try:
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self.sr.write(cmd_str)
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self.sr.flush()
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except:
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pass
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rd = self.sr.readline().replace("\r\n","")
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try:
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return int(rd)
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except:
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return 0
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def pinMode(self,pin,val):
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"""
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Sets I/O mode of pin
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inputs:
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pin: pin number to toggle
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val: "INPUT" or "OUTPUT"
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"""
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if val=="INPUT":
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pin_ = -pin
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else:
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pin_ = pin
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cmd_str=''.join(["@pm%",str(pin_),"$!"])
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try:
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self.sr.write(cmd_str)
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self.sr.flush()
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except:
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pass
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def pulseIn(self,pin,val):
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"""
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Reads a pulse from a pin
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inputs:
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pin: pin number for pulse measurement
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returns:
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duration : pulse length measurement
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"""
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if val=="LOW":
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pin_ = -pin
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else:
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pin_ = pin
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cmd_str=''.join(["@pi%",str(pin_),"$!"])
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try:
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self.sr.write(cmd_str)
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self.sr.flush()
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except:
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pass
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rd = self.sr.readline().replace("\r\n","")
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try:
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return float(rd)
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except:
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return -1
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def pulseIn_set(self,pin,val):
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"""
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Sets a digital pin value, then reads the response
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as a pulse width.
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Useful for some ultrasonic rangefinders, etc.
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inputs:
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pin: pin number for pulse measurement
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val: "HIGH" or "LOW". Pulse is measured
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when this state is detected
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returns:
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duration : pulse length measurement
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This method will automatically toggle
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I/O modes on the pin and precondition the
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measurment with a clean LOW/HIGH pulse.
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Arduino.pulseIn_set(pin,"HIGH") is
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equivalent to the Arduino sketch code:
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pinMode(pin, OUTPUT);
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digitalWrite(pin, LOW);
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delayMicroseconds(2);
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digitalWrite(pin, HIGH);
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delayMicroseconds(5);
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digitalWrite(pin, LOW);
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pinMode(pin, INPUT);
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long duration = pulseIn(pin, HIGH);
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"""
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if val=="LOW":
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pin_ = -pin
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else:
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pin_ = pin
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cmd_str=''.join(["@ps%",str(pin_),"$!"])
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try:
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self.sr.write(cmd_str)
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self.sr.flush()
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except:
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pass
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rd = self.sr.readline().replace("\r\n","")
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try:
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return float(rd)
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except:
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return -1
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def close(self):
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self.sr.close()
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def digitalRead(self,pin):
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"""
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Returns the value of a specified
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digital pin.
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inputs:
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pin : digital pin number for measurement
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returns:
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value: 0 for "LOW", 1 for "HIGH"
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"""
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cmd_str=''.join(["@dr%",str(pin),"$!"])
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try:
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self.sr.write(cmd_str)
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self.sr.flush()
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except:
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pass
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rd = self.sr.readline().replace("\r\n","")
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try:
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return 1 - int(rd)
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except:
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return 0
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class Wires(object):
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"""
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Class for Arduino wire (i2c) support
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"""
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def __init__(self, board):
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self.board = board
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self.sr = board.sr
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class Servos(object):
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"""
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Class for Arduino servo support
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0.03 second delay noted
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"""
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def __init__(self, board):
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self.board = board
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self.sr = board.sr
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self.servo_pos = {}
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def attach(self,pin,min = 544, max = 2400):
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cmd_str=''.join(["@sva%",str(pin),"%",str(min),"%",str(max),"$!"])
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try:
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self.sr.write(cmd_str)
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self.sr.flush()
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except:
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pass
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rd = self.sr.readline().replace("\r\n","")
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try:
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position = int(rd)
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self.servo_pos[pin] = position
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return 1
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except:
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return 0
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def detach(self,pin):
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cmd_str=''.join(["@svd%",str(position),"$!"])
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try:
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self.sr.write(cmd_str)
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self.sr.flush()
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except:
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pass
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del self.servo_pos[pin]
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def write(self,pin,angle):
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position = self.servo_pos[pin]
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cmd_str=''.join(["@svw%",str(position),"%",str(angle),"$!"])
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try:
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self.sr.write(cmd_str)
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self.sr.flush()
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except:
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pass
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def writeMicroseconds(self,pin,uS):
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cmd_str=''.join(["@svw%",str(position),"%",str(uS),"$!"])
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try:
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self.sr.write(cmd_str)
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self.sr.flush()
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except:
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pass
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def read(self,pin):
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if pin not in self.servo_pos.keys():
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self.attach(pin)
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position = self.servo_pos[pin]
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cmd_str=''.join(["@svr%",str(position),"$!"])
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try:
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self.sr.write(cmd_str)
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self.sr.flush()
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except:
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pass
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rd = self.sr.readline().replace("\r\n","")
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try:
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angle = int(rd)
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return angle
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except:
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return None
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class SoftwareSerial(object):
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"""
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Class for Arduino software serial functionality
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"""
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def __init__(self,board):
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self.board=board
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self.sr = board.sr
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self.connected = False
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def begin(self,p1,p2,baud):
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"""
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Create software serial instance on
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specified tx,rx pins, at specified baud
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"""
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cmd_str=''.join(["@ss%",str(p1),"%",str(p2),"%",str(baud),"$!"])
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try:
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self.sr.write(cmd_str)
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self.sr.flush()
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except:
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pass
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response= self.sr.readline().replace("\r\n","")
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if response == "ss OK":
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self.connected = True
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return True
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else:
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self.connected = False
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return False
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def write(self,data):
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"""
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sends data to existing software serial instance
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using Arduino's 'write' function
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"""
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if self.connected:
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cmd_str=''.join(["@sw%",str(data),"$!"])
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try:
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self.sr.write(cmd_str)
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self.sr.flush()
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except:
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pass
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response= self.sr.readline().replace("\r\n","")
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if response == "ss OK":
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return True
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else:
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return False
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def read(self):
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"""
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returns first character read from
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existing software serial instance
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"""
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if self.connected:
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cmd_str=''.join(["@sr%$!"])
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self.sr.write(cmd_str)
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self.sr.flush()
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response= self.sr.readline().replace("\r\n","")
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if response:
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return response
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else:
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return False
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if __name__=="__main__":
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board=Arduino(9600)
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board.Servos.attach(9)
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board.Servos.write(9,90)
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time.sleep(1)
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print board.Servos.read(9)
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t=time.time()
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board.Servos.write(9,1)
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while True:
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a=board.Servos.read(9)
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if a == 1:
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print "time",time.time() - t
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break
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