import smbus import time import RPi.GPIO as GPIO #Ball sensor BALL_SENSOR = 12 #Speed SPEED = 50 SENSOR_MAX = 50.0 SENSOR_MIN = 20.0 P = 2 I = 0 D = 0 #I2C ADDRs I2C_ADDR_1 = 0x38 I2C_ADDR_2 = 0x39 I2C_ADDR_3 = 0x3A I2C_ADDR_4 = 0x48 #LED Constants LED_ON = 0x00 LED_OFF = 0xFF LED_1_OFF = 0xFF LED_1_G1 = 0xFE LED_1_G2 = 0xFC LED_1_G3 = 0xF8 LED_1_Y1 = 0xF0 LED_1_Y2 = 0xE0 LED_1_Y3 = 0xC0 LED_1_R1 = 0x80 LED_1_R2 = 0x00 LED_1_ON = 0x00 LED_2_OFF = 0xFF LED_2_G1 = 0xFE LED_2_G2 = 0xFC LED_2_G3 = 0xF8 LED_2_Y1 = 0xF0 LED_2_Y2 = 0xE0 LED_2_Y3 = 0xC0 LED_2_R1 = 0x80 LED_2_R2 = 0x00 LED_2_ON = 0x00 LED_3_OFF = 0xFF LED_3_R1B = 0xFE LED_3_R2B = 0xFD LED_3_G1B = 0xFB LED_3_Y1B = 0xF7 LED_3_R1T = 0xEF LED_3_R2T = 0xDF LED_3_G1T = 0xBF LED_3_Y1T = 0x7F #PWM Constants PWM_PIN = 14 PWM_FREQ = 50 # Define GPIO to LCD mapping LCD_RS = 7 LCD_E = 8 LCD_D4 = 25 LCD_D5 = 24 LCD_D6 = 23 LCD_D7 = 18 # Define some device constants LCD_WIDTH = 16 # Maximum characters per line LCD_CHR = True LCD_CMD = False LCD_LINE_1 = 0x80 # LCD RAM address for the 1st line LCD_LINE_2 = 0xC0 # LCD RAM address for the 2nd line # Timing constants E_PULSE = 0.0005 E_DELAY = 0.0005 #Global variables ball_count = 0 def update_led3( bus, value ): data = value ^ 0xFF bus.write_byte( I2C_ADDR_3, data ) return; def update_led2( bus, value ): if value > 99: data = 0b00000000 elif value > 87: data = 0b10000000 elif value > 75: data = 0b11000000 elif value > 62: data = 0b11100000 elif value > 50: data = 0b11110000 elif value > 37: data = 0b11111000 elif value > 25: data = 0b11111100 elif value > 12: data = 0b11111110 else: data = 0b11111111 bus.write_byte( I2C_ADDR_2, data) return; def update_led1( bus, value ): if value > 99: data = 0b00000000 elif value > 87: data = 0b10000000 elif value > 75: data = 0b11000000 elif value > 62: data = 0b11100000 elif value > 50: data = 0b11110000 elif value > 37: data = 0b11111000 elif value > 25: data = 0b11111100 elif value > 12: data = 0b11111110 else: data = 0b11111111 bus.write_byte( I2C_ADDR_1, data) return; def read_ADC_0( bus ): # ADC 0 bus.write_byte(I2C_ADDR_4, 0x40) bus.read_byte(I2C_ADDR_4) # dummy read to start conversion return bus.read_byte(I2C_ADDR_4) def read_ADC_1(): # ADC 1 bus.write_byte(I2C_ADDR_4, 0x41) bus.read_byte(I2C_ADDR_4) # dummy read to start conversion return bus.read_byte(I2C_ADDR_4) def read_ADC_2(): # ADC 2 bus.write_byte(I2C_ADDR_4, 0x42) bus.read_byte(I2C_ADDR_4) # dummy read to start conversion return bus.read_byte(I2C_ADDR_4) def read_ADC_3(): # ADC 3 bus.write_byte(I2C_ADDR_4, 0x43) bus.read_byte(I2C_ADDR_4) # dummy read to start conversion return bus.read_byte(I2C_ADDR_4) def lcd_init(): # Initialise display lcd_byte(0x33,LCD_CMD) # 110011 Initialise lcd_byte(0x32,LCD_CMD) # 110010 Initialise lcd_byte(0x06,LCD_CMD) # 000110 Cursor move direction lcd_byte(0x0C,LCD_CMD) # 001100 Display On,Cursor Off, Blink Off lcd_byte(0x28,LCD_CMD) # 101000 Data length, number of lines, font size lcd_byte(0x01,LCD_CMD) # 000001 Clear display time.sleep(E_DELAY) def lcd_byte(bits, mode): # Send byte to data pins # bits = data # mode = True for character # False for command GPIO.output(LCD_RS, mode) # RS # High bits GPIO.output(LCD_D4, False) GPIO.output(LCD_D5, False) GPIO.output(LCD_D6, False) GPIO.output(LCD_D7, False) if bits&0x10==0x10: GPIO.output(LCD_D4, True) if bits&0x20==0x20: GPIO.output(LCD_D5, True) if bits&0x40==0x40: GPIO.output(LCD_D6, True) if bits&0x80==0x80: GPIO.output(LCD_D7, True) # Toggle 'Enable' pin lcd_toggle_enable() # Low bits GPIO.output(LCD_D4, False) GPIO.output(LCD_D5, False) GPIO.output(LCD_D6, False) GPIO.output(LCD_D7, False) if bits&0x01==0x01: GPIO.output(LCD_D4, True) if bits&0x02==0x02: GPIO.output(LCD_D5, True) if bits&0x04==0x04: GPIO.output(LCD_D6, True) if bits&0x08==0x08: GPIO.output(LCD_D7, True) # Toggle 'Enable' pin lcd_toggle_enable() def lcd_toggle_enable(): # Toggle enable time.sleep(E_DELAY) GPIO.output(LCD_E, True) time.sleep(E_PULSE) GPIO.output(LCD_E, False) time.sleep(E_DELAY) def lcd_string(message,line): # Send string to display message = message.ljust(LCD_WIDTH," ") lcd_byte(line, LCD_CMD) for i in range(LCD_WIDTH): lcd_byte(ord(message[i]),LCD_CHR) def pin_event( pin ): global ball_count ball_count = ball_count + 1 lcd_string("Ball Count",LCD_LINE_1) lcd_string(str( ball_count ),LCD_LINE_2) return; def main(): # Main program block global ball_count led_update_count = 0 GPIO.setwarnings(False) GPIO.setmode(GPIO.BCM) # Use BCM GPIO numbers GPIO.setup(LCD_E, GPIO.OUT) # E GPIO.setup(LCD_RS, GPIO.OUT) # RS GPIO.setup(LCD_D4, GPIO.OUT) # DB4 GPIO.setup(LCD_D5, GPIO.OUT) # DB5 GPIO.setup(LCD_D6, GPIO.OUT) # DB6 GPIO.setup(LCD_D7, GPIO.OUT) # DB7 bus = smbus.SMBus(1) GPIO.setup(PWM_PIN, GPIO.OUT) pwm = GPIO.PWM(PWM_PIN, PWM_FREQ) pwm.start(0) pwm.ChangeDutyCycle( 70 ) GPIO.setup( BALL_SENSOR, GPIO.IN, pull_up_down = GPIO.PUD_UP ) GPIO.add_event_detect( BALL_SENSOR, GPIO.RISING, callback=pin_event, bouncetime=500 ) # Initialise display lcd_init() # Send some test lcd_string("Rasbperry Pi",LCD_LINE_1) lcd_string("Hello World Test",LCD_LINE_2) time.sleep(3) # 3 second delay while True: sensor = read_ADC_0( bus ) #print sensor error = SPEED - sensor control = error * P if control > 99: control = 100 if control < 0: control = 0 pwm.ChangeDutyCycle( control ) if led_update_count == 20: led_update_count = 0 normalised_sensor = ((sensor - SENSOR_MIN)/(SENSOR_MAX - SENSOR_MIN)) * 100 #print normalised_sensor #print sensor if normalised_sensor > 99: normalised_sensor = 100 if normalised_sensor < 0: normalised_sensor = 0 update_led1( bus, normalised_sensor ) update_led2( bus, control ) update_led3( bus, ball_count ) else: led_update_count = led_update_count + 1 time.sleep(0.001) if __name__ == '__main__': try: main() except KeyboardInterrupt: pass finally: lcd_byte(0x01, LCD_CMD) lcd_string("Goodbye!",LCD_LINE_1) #pwm.stop() GPIO.cleanup()