私的AI研究会? > AIbot Proj.1
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● fig.6
LED・スイッチ・スピーカー・オーディオアンプ
→ ケースの作成・基板実装・配線?
● fig.9
LED・DCモーター
→ キャタピラーロボットの組み立て?
aibot.py
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# aibot.py
# AI Robot Controle Library on Raspberry Pi4
#
# DC motor DRV8835 controle
# A-IN1 : GPIO 14 (BCM) B-IN1 : GPIO 15 (BCM)
# A-IN2 : 23 B-IN2 : 24
# LED-S : 16 LED-L : 17
# LED-R : 18
#
# Tact switch
# ext pullup : GPIO 20
#
import wiringpi as pi
import sys
import time
class MotorCtrl_base:
def __init__(self, a_phase, a_enbl, led):
pi.wiringPiSetupGpio()
if a_phase > 0:
self.a_phase = a_phase
pi.pinMode(self.a_phase, pi.OUTPUT)
if a_enbl > 0:
self.a_enbl = a_enbl
pi.pinMode(self.a_enbl, pi.OUTPUT)
if led > 0:
self.led = led
pi.pinMode(self.led, pi.OUTPUT)
def fwd(self): # 回転(正転)
pi.digitalWrite(self.a_phase, 1)
pi.digitalWrite(self.a_enbl, 1)
def back(self): # 回転(逆転)
pi.digitalWrite(self.a_phase, 0)
pi.digitalWrite(self.a_enbl, 1)
def stop(self): # 停止
pi.digitalWrite(self.a_phase, 0)
pi.digitalWrite(self.a_enbl, 0)
def led_on(self): # ON
pi.digitalWrite(self.led, 1)
def led_off(self): # OFF
pi.digitalWrite(self.led, 0)
def reset(self):
pi.digitalWrite(self.a_phase, 0)
pi.digitalWrite(self.b_phase, 0)
pi.digitalWrite(self.led, 0)
class MotorCtrl:
def __init__(self):
self.dcmotor1 = MotorCtrl_base(a_phase=14, a_enbl=23, led=0) # 右モーター
self.dcmotor2 = MotorCtrl_base(a_phase=15, a_enbl=24, led=0) # 左モーター
self.led_sw = MotorCtrl_base(a_phase=0, a_enbl=0, led=16) # switch LED
self.led_right = MotorCtrl_base(a_phase=0, a_enbl=0, led=18) # 右LED
self.led_left = MotorCtrl_base(a_phase=0, a_enbl=0, led=17) # 左LED
def stop(self):
self.dcmotor1.stop()
self.dcmotor2.stop()
self.led_off()
self.led_sw.led_off()
def forword(self):
self.dcmotor1.fwd()
self.dcmotor2.fwd()
def wait_forword(self, cn):
for i in range(cn):
self.fwd_led()
def fwd_led(self):
self.led_right.led_on()
self.led_left.led_on()
time.sleep(0.5)
def back(self):
self.dcmotor1.back()
self.dcmotor2.back()
def wait_back(self, cn):
for i in range(cn):
self.back_led()
def back_led(self):
self.led_right.led_on()
self.led_left.led_on()
time.sleep(0.25)
self.led_right.led_off()
self.led_left.led_off()
time.sleep(0.25)
def turn_left(self):
self.dcmotor1.fwd()
self.dcmotor2.back()
def wait_turn_left(self, cn):
for i in range(cn):
self.turn_left_led()
def turn_left_led(self):
self.led_left.led_on()
self.led_right.led_on()
time.sleep(0.25)
self.led_right.led_off()
time.sleep(0.25)
def turn_right(self):
self.dcmotor1.back()
self.dcmotor2.fwd()
def wait_turn_right(self, cn):
for i in range(cn):
self.turn_right_led()
def turn_right_led(self):
self.led_right.led_on()
self.led_left.led_on()
time.sleep(0.25)
self.led_left.led_off()
time.sleep(0.25)
def left(self):
self.dcmotor1.fwd()
self.dcmotor2.stop()
def wait_left(self, cn):
for i in range(cn):
self.left_led()
def left_led(self):
self.led_left.led_off()
self.led_right.led_on()
time.sleep(0.25)
self.led_right.led_off()
time.sleep(0.25)
def right(self):
self.dcmotor1.stop()
self.dcmotor2.fwd()
def wait_right(self, cn):
for i in range(cn):
self.right_led()
def right_led(self):
self.led_right.led_off()
self.led_left.led_on()
time.sleep(0.25)
self.led_left.led_off()
time.sleep(0.25)
def led_off(self):
self.led_left.led_off()
self.led_right.led_off()
if __name__ == '__main__':
motor = MotorCtrl()
motor.stop()
motor.led_off()
args = sys.argv
if 2 <= len(args):
duration = sys.argv[2]
if sys.argv[1] in {"stop"}:
motor.stop()
elif sys.argv[1] in {"forword"}:
motor.forword()
motor.wait_forword(int(duration))
motor.stop()
elif sys.argv[1] in {"back"}:
motor.back()
motor.wait_back(int(duration))
motor.stop()
elif sys.argv[1] in {"turn-left"}:
motor.turn_left()
motor.wait_turn_left(int(duration))
motor.stop()
elif sys.argv[1] in {"turn-right"}:
motor.turn_right()
motor.wait_turn_right(int(duration))
motor.stop()
elif sys.argv[1] in {"left"}:
motor.left()
motor.wait_left(int(duration))
motor.stop()
elif sys.argv[1] in {"right"}:
motor.right()
motor.wait_right(int(duration))
motor.stop()
else:
print("Need Argument;forword, right, left, turn-right, turn-left, back or stop")
else:
print("Command Format: aibot [forword|right|left|turn-right|turn-left|back|stop] [count(0.5sec)]")
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aibotrm.py
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# aibotrm.py <<このソースコードは IDE デバッグはできない>>
# AI Robot Remort Program on Raspberry Pi4
#
# DC motor DRV8835 controle
# A-IN1 : GPIO 14 (BCM) B-IN1 : GPIO 15 (BCM)
# A-IN2 : 23 B-IN2 : 24
# LED-S : 16 LED-L : 17
# LED-R : 18
#
# Tact switch
# ext pullup : GPIO 20
#
import wiringpi as pi
from kbhit import *
import aibot
import sys
if __name__ == '__main__':
atexit.register(set_normal_term)
set_curses_term()
motor = aibot.MotorCtrl()
motor.stop()
motor.led_off()
ledmod = 0
kb = ' '
print("AIbot Control Ok! 'i,m,j,l,k,,u,o' or 'q'")
while 1:
# key push check & Motor control
if kbhit():
kb = getch()
if kb == 'q':
print(" ## Break ##")
motor.stop()
motor.led_off()
ledmod = 9
elif kb == 'A' or kb == 'i':
print(" ** Forword **")
motor.forword()
ledmod = 1
elif kb == 'B' or kb == 'm':
print(" ** Bsck **")
motor.back()
ledmod = 2
elif kb == 'C' or kb == 'j':
print(" ** Left **")
motor.left()
ledmod = 3
elif kb == 'D' or kb == 'l':
print(" ** Right **")
motor.right()
ledmod = 4
elif kb == '2' or kb == 'o':
print(" ** Right turn **")
motor.turn_right()
ledmod = 5
elif kb == '1' or kb == 'u':
print(" ** Left turn **")
motor.turn_left()
ledmod = 6
elif kb == 's' or kb == 'k' or kb == ' ':
print(" !! Stop !!")
motor.stop()
ledmod = 0
else:
print("AiBot Standby OK !!!!")
# LED mode set & wait 0.5sec
if ledmod == 0:
motor.led_off()
elif ledmod == 1:
motor.fwd_led()
elif ledmod == 2:
motor.back_led()
elif ledmod == 3:
motor.left_led()
elif ledmod == 4:
motor.right_led()
elif ledmod == 5:
motor.turn_right_led()
elif ledmod == 6:
motor.turn_left_led()
elif ledmod == 9:
break
else:
pass
ledmod = 0
print("Program Finished !!!")
wait.py
# -*- cording: utf-8 -*-
import time
import RPi.GPIO as GPIO
LED = 16
BUTTON = 20
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(LED, GPIO.OUT)
GPIO.setup(BUTTON, GPIO.IN)
GPIO.add_event_detect(BUTTON, GPIO.FALLING)
while True:
if GPIO.event_detected(BUTTON):
print ("Raspberry Pi Switch ON !!")
break
else:
GPIO.output(LED, GPIO.HIGH)
time.sleep(0.5)
GPIO.output(LED, GPIO.LOW)
time.sleep(0.5)
GPIO.cleanup()
print ("Start OK !!!")
aibot_boot.sh
#!/bin/bash cd ~/Programs/aibot python wait.py echo "Motor Test Program Start..." python aibot.py forword 6 python aibot.py back 6 python aibot.py left 4 python aibot.py right 4 python aibot.py turn-left 3 python aibot.py turn-right 3 python motor3.py stop 1 echo "Aibot Start..."
$ chmod u+x aibot_boot,sh
$ ./aibot_boot.sh
1. 自動起動ファイルを作成する。
aibot_boot.service
Description=Aibot boot [Service] ExecStart=/bin/bash /home/pi/Programs/aibot/aibot_boot.sh WorkingDirectory=/home/pi/Programs/aibot/ Restart=always User=pi [Install] WantedBy=multi-user.target
2. 自動起動用のサービスファイルをコピーする。
$ sudo cp aibot_boot.service /etc/systemd/system/
3. systemdにユニットファイルを追加・更新したことを通知する
$ sudo systemctl daemon-reload
4. 自動起動を登録する。
$ sudo systemctl enable aibot_boot.service $ sudo systemctl start aibot_boot.service
5. 登録を確認する。
$ sudo systemctl status aibot_boot.service
active となっていたら登録完了。
$ sudo systemctl stop aibot_boot.service
$ sudo systemctl status aibot_boot.service
$ sudo systemctl stop aibot_boot.service $ sudo systemctl disable aibot_boot.service $ sudo systemctl status aibot_boot.service
$ crontab -e no crontab for pi - using an empty one Select an editor. To change later, run 'select-editor'. 1. /bin/nano <---- easiest 2. /usr/bin/vim.basic 3. /usr/bin/vim.tiny 4. /bin/ed Choose 1-4 [1]: 2下記を追記する。
@reboot /home/pi/Programs/aibot/aibot_boot.sh起動時にaibot_boot.sh が実行される。
Pythonではreadcharというライブラリを使う。
$ pip install readchar
#!/usr/bin/env python
import readchar
import sys
while 1:
kb = readchar.readchar()
# sys.stdout.write(kb)
print(ord(kb))
if kb == 'q':
print("")
breakPython error: (25, 'Inappropriate ioctl for device')