--This is a memorandum that I researched about ** pigpio ** a long time ago.
python
$ sudo apt install pigpio python-pigpio python3-pigpio
python
$ sudo pigpiod
python
$ sudo systemctl enable pigpiod.service
$ sudo shutdown -r now
#Confirmation after reboot
$ sudo systemctl status pigpiod.service
led_pigpio.py
from time import sleep
import pigpio
pig = pigpio.pi()
pig.set_mode(21, pigpio.OUTPUT)
try:
while True:
sleep(1)
pig.write(21, 1)
sleep(1)
pig.write(21, 0)
except KeyboardInterrupt:
pig.stop()
sw_pd_event.py
from time import sleep
import pigpio
pig = pigpio.pi()
pig.set_mode(4, pigpio.INPUT)
pig.set_pull_up_down(4, pigpio.PUD_DOWN)
def cbf(gpio, level, tick):
print(gpio, level, tick)
cb = pig.callback(4, pigpio.RISING_EDGE, cbf)
try:
while True:
sleep(0.01)
except KeyboardInterrupt:
pig.stop()
lcd_pigpio.y
from time import sleep
import pigpio
from RPLCD.pigpio import CharLCD
pi = pigpio.pi()
lcd = CharLCD(pi, cols=16, rows=2, pin_rs=37, pin_e=35, pins_data=[33, 31, 29, 23], pin_contrast=9)
lcd.write_string('Hello RasPi')
sleep(3)
lcd.clear()
lcd.write_string('Test LCD pigpio')
sleep(3)
lcd.close(clear=True)
pi.stop()
i2c_pigpio.py
from time import sleep
import pigpio
from BMX055 import bmx055
bmx = bmx055()
bmx.setup()
try:
while True:
ax, ay, az = bmx.read_accel()
# print("accel: ax={0}, ay={1}, az={2}".format(ax, ay, az))
gx, gy, gz = bmx.read_gyro()
# print("gyro: gx={0}, gy={1}, gz={2}".format(gx, gy, gz))
cx, cy, cz = bmx.read_compass()
# print("comp: cx={0}, cy={1}, cz={2}".format(cx, cy, cz))
msg = "| | x | y | z |\n"
msg += "| accel | "+str(ax)+" | "+str(ay)+" | "+str(az)+" |\n"
msg += "| gyro | "+str(gx)+" | "+str(gy)+" | "+str(gz)+" |\n"
msg += "| comp | "+str(cx)+" | "+str(cy)+" | "+str(cz)+" |\n"
print(msg)
sleep(0.5)
except KeyboardInterrupt:
bmx.stop()
BMX055.py
from time import sleep
import pigpio
class bmx055:
def __init__(self):
self.pi = pigpio.pi()
self.i2c_bus = 1
self.accel_addr = 0x19
self.accel = None
self.comp_addr = 0x13
self.comp = None
self.gyro_addr = 0x69
self.gyro = None
def open(self, i2c_addr):
return self.pi.i2c_open(self.i2c_bus, i2c_addr)
def close(self, handle):
self.pi.i2c_close(handle)
def stop(self):
self.close(self.accel)
self.close(self.comp)
self.close(self.gyro)
self.pi.stop()
def setup(self):
self.accel = self.open(self.accel_addr)
self.pi.i2c_write_byte_data(self.accel, 0x0f, 0x03)
sleep(0.1)
self.pi.i2c_write_byte_data(self.accel, 0x10, 0x08)
sleep(0.1)
self.pi.i2c_write_byte_data(self.accel, 0x11, 0x00)
sleep(0.1)
self.gyro = self.open(self.gyro_addr)
self.pi.i2c_write_byte_data(self.gyro, 0x0f, 0x04)
sleep(0.1)
self.pi.i2c_write_byte_data(self.gyro, 0x10, 0x07)
sleep(0.1)
self.pi.i2c_write_byte_data(self.gyro, 0x11, 0x00)
sleep(0.1)
self.comp = self.open(self.comp_addr)
self.pi.i2c_write_byte_data(self.comp, 0x4b, 0x83)
sleep(0.1)
self.pi.i2c_write_byte_data(self.comp, 0x4b, 0x01)
sleep(0.1)
self.pi.i2c_write_byte_data(self.comp, 0x4c, 0x00)
self.pi.i2c_write_byte_data(self.comp, 0x4e, 0x84)
self.pi.i2c_write_byte_data(self.comp, 0x51, 0x04)
self.pi.i2c_write_byte_data(self.comp, 0x52, 0x16)
sleep(0.3)
def read_accel(self):
x_l = self.pi.i2c_read_byte_data(self.accel, 0x02)
x_m = self.pi.i2c_read_byte_data(self.accel, 0x03)
y_l = self.pi.i2c_read_byte_data(self.accel, 0x04)
y_m = self.pi.i2c_read_byte_data(self.accel, 0x05)
z_l = self.pi.i2c_read_byte_data(self.accel, 0x06)
z_m = self.pi.i2c_read_byte_data(self.accel, 0x07)
x = ((x_m*256) + (x_l&0xf0))/16
if (x > 2047):
x -= 4096
y = ((y_m*256) + (y_l&0xf0))/16
if (y > 2047):
y -= 4096
z = ((x_m*256) + (z_l&0xf0))/16
if (z > 2047):
z -= 4096
return (x, y, z)
def read_compass(self):
x_l = self.pi.i2c_read_byte_data(self.comp, 0x42)
x_m = self.pi.i2c_read_byte_data(self.comp, 0x43)
y_l = self.pi.i2c_read_byte_data(self.comp, 0x44)
y_m = self.pi.i2c_read_byte_data(self.comp, 0x45)
z_l = self.pi.i2c_read_byte_data(self.comp, 0x46)
z_m = self.pi.i2c_read_byte_data(self.comp, 0x47)
t_l = self.pi.i2c_read_byte_data(self.comp, 0x48)
t_m = self.pi.i2c_read_byte_data(self.comp, 0x49)
x = (x_m << 8) + (x_l >> 3)
if (x > 4095):
x -= 8192
y = (y_m << 8) + (y_l >> 3)
if (y > 4095):
y -= 8192
z = (x_m << 8) + (z_l >> 3)
if (z > 16383):
z -= 32768
return (x, y, z)
def read_gyro(self):
x_l = self.pi.i2c_read_byte_data(self.gyro, 0x02)
x_m = self.pi.i2c_read_byte_data(self.gyro, 0x03)
y_l = self.pi.i2c_read_byte_data(self.gyro, 0x04)
y_m = self.pi.i2c_read_byte_data(self.gyro, 0x05)
z_l = self.pi.i2c_read_byte_data(self.gyro, 0x06)
z_m = self.pi.i2c_read_byte_data(self.gyro, 0x07)
x = (x_m*256) + x_l
if (x > 32767):
x -= 65536
y = (y_m*256) + y_l
if (y > 32767):
y -= 65536
z = (x_m*256) + z_l
if (z > 32767):
z -= 65536
return (x, y, z)
| item | value | Remarks |
|---|---|---|
| Movable angle | 180 degrees | |
| speed | 0.1s /60 degrees | |
| Voltage | 4.8 ～ 5.0V | |
| Pulse period | 10,000 - 20,000μs | |
| pulse width | 500 - 2,400μs | ※Data sheet:1,000 - 2,000μs |
SG90.py
import pigpio
class SG90:
"""SG90_Spec:
#Movable angle:180 degrees
#speed: 0.1s /60 degrees
#Voltage: 4.8 ～ 5V
#Pulse period: 10,000 - 20,000μs
#pulse width: 500 - 2,400μs * Data sheet:1,000 - 2,000μs
"""
def __init__(self, pin=None):
self.range_of_motion = 180
self.min_pulse_width = 500
self.max_pulse_width = 2400
self.pig = pigpio.pi()
self.pin = pin
def move(self, rad):
if self.pin == None:
pass
else:
spw = (rad/self.range_of_motion) * (self.max_pulse_width-self.min_pulse_width) + self.min_pulse_width
self.pig.set_servo_pulsewidth(self.pin, spw)
def stop(self):
self.pig.set_servo_pulsewidth(self.pin, 0)
--Investigate how to use motion sensors, infrared sensors, temperature / humidity sensors, and illuminance sensors. --I want RaspberryPi 4.
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