From 6395d3f2f71b8d22a974e68fca826fdca28eaede Mon Sep 17 00:00:00 2001 From: Scott Barnes <> Date: Sat, 16 Mar 2024 21:28:35 -0500 Subject: [PATCH] Motors working --- pom.xml | 5 + src/main/java/com/tearabite/Board.java | 403 ++++++++++++++++++ src/main/java/com/tearabite/DcMotor.java | 23 + src/main/java/com/tearabite/Main.java | 57 +-- src/main/java/com/tearabite/Robot.java | 10 + target/classes/com/tearabite/Main.class | Bin 4138 -> 3040 bytes target/lib/eaglebot.jar | Bin 6432 -> 9578 bytes .../compile/default-compile/createdFiles.lst | 6 +- .../compile/default-compile/inputFiles.lst | 1 + 9 files changed, 477 insertions(+), 28 deletions(-) create mode 100644 src/main/java/com/tearabite/Board.java create mode 100644 src/main/java/com/tearabite/DcMotor.java create mode 100644 src/main/java/com/tearabite/Robot.java diff --git a/pom.xml b/pom.xml index 07a7fdc..aa9a269 100644 --- a/pom.xml +++ b/pom.xml @@ -29,6 +29,11 @@ + + com.pi4j + pi4j-plugin-linuxfs + ${pi4j.version} + org.slf4j slf4j-api diff --git a/src/main/java/com/tearabite/Board.java b/src/main/java/com/tearabite/Board.java new file mode 100644 index 0000000..5be68a3 --- /dev/null +++ b/src/main/java/com/tearabite/Board.java @@ -0,0 +1,403 @@ +package com.tearabite; + +import com.pi4j.Pi4J; +import com.pi4j.context.Context; +import com.pi4j.context.ContextBuilder; +import com.pi4j.io.i2c.I2C; +import com.pi4j.io.i2c.I2CConfig; +import com.pi4j.io.i2c.I2CProvider; +import com.pi4j.library.pigpio.PiGpio; + +public class Board { + + + private static final int __ADC_BAT_ADDR = 0; + private static final int __SERVO_ADDR = 21; + private static final int __MOTOR_ADDR = 31; + private static final int __SERVO_ADDR_CMD = 40; + + private final int[]__motor_speed = new int[] { 0, 0, 0, 0 }; + private final int[] __servo_angle = new int[] { 0, 0, 0, 0, 0, 0 }; + private final int[] __servo_pulse = new int[] { 0, 0, 0, 0, 0, 0 }; + private static final int __I2C = 0x1; + private static final int __I2C_ADDR = 0x7A; + +// GPIO.setwarnings(False) +// GPIO.setmode(GPIO.BOARD) + + private static final int __RGB_COUNT = 2; + private static final int __RGB_PIN = 12; + private static final int __RGB_FREQ_HZ = 800000; + private static final int __RGB_DMA = 10; + private static final int __RGB_BRIGHTNESS = 120; + private static final int __RGB_CHANNEL = 0; + private static final boolean __RGB_INVERT = false; + private final Context pi4j; + private final I2C device; + + +// RGB = PixelStrip(__RGB_COUNT, __RGB_PIN, __RGB_FREQ_HZ, __RGB_DMA, __RGB_INVERT, __RGB_BRIGHTNESS, __RGB_CHANNEL) +//RGB.begin() +// for i in range(RGB.numPixels()): +// RGB.setPixelColor(i, PixelColor(0,0,0)) +// RGB.show() + + + + public Board() { + ContextBuilder pi4jb = Pi4J.newContextBuilder(); + this.pi4j = pi4jb.autoDetect().build(); + I2CProvider i2CProvider = pi4j.provider("linuxfs-i2c"); + I2CConfig i2cConfig = I2C.newConfigBuilder(pi4j).id("HiwonderMasterPi").bus(__I2C).device(__ADC_BAT_ADDR).build(); + device = i2CProvider.create(i2cConfig); + } + + public int setMotor(int index, int speed) { + if (index < 1 || index > 4) { + throw new IllegalArgumentException(String.format("Invalid motor num: %d", index)); + } + + speed = Math.max(Math.min(speed, 100), -100); + + byte reg = (byte) (__MOTOR_ADDR + --index); + device.writeRegister(reg, speed); + this.__motor_speed[index] = speed; + return __motor_speed[index]; + } + + public DcMotor getMotor(int index) { + return new DcMotor(this, index); + } + +// +// def getMotor(index): +// if index < 1 or index > 4: +// raise AttributeError("Invalid motor num: %d"%index) +// index = index - 1 +// return __motor_speed[index] +// +// def setPWMServoAngle(index, angle): +// if servo_id < 1 or servo_id > 6: +// raise AttributeError("Invalid Servo ID: %d"%servo_id) +// index = servo_id - 1 +// angle = 180 if angle > 180 else angle +// angle = 0 if angle < 0 else angle +// reg = __SERVO_ADDR + index +// with SMBus(__I2C) as bus: +// try: +// msg = i2c_msg.write(__I2C_ADDR, [reg, angle]) +// bus.i2c_rdwr(msg) +// __servo_angle[index] = angle +// __servo_pulse[index] = int(((200 * angle) / 9) + 500) +// +// except: +// msg = i2c_msg.write(__I2C_ADDR, [reg, angle]) +// bus.i2c_rdwr(msg) +// __servo_angle[index] = angle +// __servo_pulse[index] = int(((200 * angle) / 9) + 500) +// +// return __servo_angle[index] +// +// def setPWMServoPulse(servo_id, pulse = 1500, use_time = 1000): +// if servo_id< 1 or servo_id > 6: +// raise AttributeError("Invalid Servo ID: %d" %servo_id) +// deviation_data = yaml_handle.get_yaml_data(yaml_handle.Deviation_file_path) +// index = servo_id - 1 +// pulse += deviation_data[str(servo_id)] +// pulse = 500 if pulse < 500 else pulse +// pulse = 2500 if pulse > 2500 else pulse +// use_time = 0 if use_time < 0 else use_time +// use_time = 30000 if use_time > 30000 else use_time +// buf = [__SERVO_ADDR_CMD, 1] + list(use_time.to_bytes(2, 'little')) + [servo_id,] + list(pulse.to_bytes(2, 'little')) +// +// with SMBus(__I2C) as bus: +// try: +// msg = i2c_msg.write(__I2C_ADDR, buf) +// bus.i2c_rdwr(msg) +// __servo_pulse[index] = pulse +// __servo_angle[index] = int((pulse - 500) * 0.09) +// except BaseException as e: +// print(e) +// msg = i2c_msg.write(__I2C_ADDR, buf) +// bus.i2c_rdwr(msg) +// __servo_pulse[index] = pulse +// __servo_angle[index] = int((pulse - 500) * 0.09) +// +// return __servo_pulse[index] +// +// def setPWMServosPulse(args): +// ''' time,number, id1, pos1, id2, pos2...''' +// deviation_data = yaml_handle.get_yaml_data(yaml_handle.Deviation_file_path) +// arglen = len(args) +// servos = args[2:arglen:2] +// pulses = args[3:arglen:2] +// use_time = args[0] +// use_time = 0 if use_time < 0 else use_time +// use_time = 30000 if use_time > 30000 else use_time +// servo_number = args[1] +// buf = [__SERVO_ADDR_CMD, servo_number] + list(use_time.to_bytes(2, 'little')) +// dat = zip(servos, pulses) +// for (s, p) in dat: +// buf.append(s) +// p += deviation_data[str(s)] +// p = 500 if p < 500 else p +// p = 2500 if p > 2500 else p +// buf += list(p.to_bytes(2, 'little')) +// __servo_pulse[s-1] = p +// __servo_angle[s-1] = int((p - 500) * 0.09) +// +// with SMBus(__I2C) as bus: +// try: +// msg = i2c_msg.write(__I2C_ADDR, buf) +// bus.i2c_rdwr(msg) +// except: +// msg = i2c_msg.write(__I2C_ADDR, buf) +// bus.i2c_rdwr(msg) +// +// +// def getPWMServoAngle(servo_id): +// if servo_id < 1 or servo_id > 6: +// raise AttributeError("Invalid Servo ID: %d"%servo_id) +// index = servo_id - 1 +// return __servo_pulse[index] +// +// def getPWMServoPulse(servo_id): +// if servo_id < 1 or servo_id > 6: +// raise AttributeError("Invalid Servo ID: %d"%servo_id) +// index = servo_id - 1 +// return __servo_pulse[index] +// +// def getBattery(): +// ret = 0 +// with SMBus(__I2C) as bus: +// try: +// msg = i2c_msg.write(__I2C_ADDR, [__ADC_BAT_ADDR,]) +// bus.i2c_rdwr(msg) +// read = i2c_msg.read(__I2C_ADDR, 2) +// bus.i2c_rdwr(read) +// ret = int.from_bytes(bytes(list(read)), 'little') +// +// except: +// msg = i2c_msg.write(__I2C_ADDR, [__ADC_BAT_ADDR,]) +// bus.i2c_rdwr(msg) +// read = i2c_msg.read(__I2C_ADDR, 2) +// bus.i2c_rdwr(read) +// ret = int.from_bytes(bytes(list(read)), 'little') +// +// return ret +// +// def setBuzzer(new_state): +// GPIO.setup(31, GPIO.OUT) +// GPIO.output(31, new_state) +// +// def setBusServoID(oldid, newid): +// """ +// 配置舵机id号, 出厂默认为1 +// :param oldid: 原来的id， 出厂默认为1 +// :param newid: 新的id +// """ +// serial_serro_wirte_cmd(oldid, LOBOT_SERVO_ID_WRITE, newid) +// +// def getBusServoID(id=None): +// """ +// 读取串口舵机id +// :param id: 默认为空 +// :return: 返回舵机id +// """ +// +// while True: +// if id is None: # 总线上只能有一个舵机 +// serial_servo_read_cmd(0xfe, LOBOT_SERVO_ID_READ) +// else: +// serial_servo_read_cmd(id, LOBOT_SERVO_ID_READ) +// # 获取内容 +// msg = serial_servo_get_rmsg(LOBOT_SERVO_ID_READ) +// if msg is not None: +// return msg +// +// def setBusServoPulse(id, pulse, use_time): +// """ +// 驱动串口舵机转到指定位置 +// :param id: 要驱动的舵机id +// :pulse: 位置 +// :use_time: 转动需要的时间 +// """ +// +// pulse = 0 if pulse < 0 else pulse +// pulse = 1000 if pulse > 1000 else pulse +// use_time = 0 if use_time < 0 else use_time +// use_time = 30000 if use_time > 30000 else use_time +// serial_serro_wirte_cmd(id, LOBOT_SERVO_MOVE_TIME_WRITE, pulse, use_time) +// +// def stopBusServo(id=None): +// ''' +// 停止舵机运行 +// :param id: +// :return: +// ''' +// serial_serro_wirte_cmd(id, LOBOT_SERVO_MOVE_STOP) +// +// def setBusServoDeviation(id, d=0): +// """ +// 调整偏差 +// :param id: 舵机id +// :param d: 偏差 +// """ +// serial_serro_wirte_cmd(id, LOBOT_SERVO_ANGLE_OFFSET_ADJUST, d) +// +// def saveBusServoDeviation(id): +// """ +// 配置偏差，掉电保护 +// :param id: 舵机id +// """ +// serial_serro_wirte_cmd(id, LOBOT_SERVO_ANGLE_OFFSET_WRITE) +// +// time_out = 50 +// def getBusServoDeviation(id): +// ''' +// 读取偏差值 +// :param id: 舵机号 +// :return: +// ''' +// # 发送读取偏差指令 +// count = 0 +// while True: +// serial_servo_read_cmd(id, LOBOT_SERVO_ANGLE_OFFSET_READ) +// # 获取 +// msg = serial_servo_get_rmsg(LOBOT_SERVO_ANGLE_OFFSET_READ) +// count += 1 +// if msg is not None: +// return msg +// if count > time_out: +// return None +// +// def setBusServoAngleLimit(id, low, high): +// ''' +// 设置舵机转动范围 +// :param id: +// :param low: +// :param high: +// :return: +// ''' +// serial_serro_wirte_cmd(id, LOBOT_SERVO_ANGLE_LIMIT_WRITE, low, high) +// +// def getBusServoAngleLimit(id): +// ''' +// 读取舵机转动范围 +// :param id: +// :return: 返回元祖 0： 低位 1： 高位 +// ''' +// +// while True: +// serial_servo_read_cmd(id, LOBOT_SERVO_ANGLE_LIMIT_READ) +// msg = serial_servo_get_rmsg(LOBOT_SERVO_ANGLE_LIMIT_READ) +// if msg is not None: +// count = 0 +// return msg +// +// def setBusServoVinLimit(id, low, high): +// ''' +// 设置舵机电压范围 +// :param id: +// :param low: +// :param high: +// :return: +// ''' +// serial_serro_wirte_cmd(id, LOBOT_SERVO_VIN_LIMIT_WRITE, low, high) +// +// def getBusServoVinLimit(id): +// ''' +// 读取舵机转动范围 +// :param id: +// :return: 返回元祖 0： 低位 1： 高位 +// ''' +// while True: +// serial_servo_read_cmd(id, LOBOT_SERVO_VIN_LIMIT_READ) +// msg = serial_servo_get_rmsg(LOBOT_SERVO_VIN_LIMIT_READ) +// if msg is not None: +// return msg +// +// def setBusServoMaxTemp(id, m_temp): +// ''' +// 设置舵机最高温度报警 +// :param id: +// :param m_temp: +// :return: +// ''' +// serial_serro_wirte_cmd(id, LOBOT_SERVO_TEMP_MAX_LIMIT_WRITE, m_temp) +// +// def getBusServoTempLimit(id): +// ''' +// 读取舵机温度报警范围 +// :param id: +// :return: +// ''' +// +// while True: +// serial_servo_read_cmd(id, LOBOT_SERVO_TEMP_MAX_LIMIT_READ) +// msg = serial_servo_get_rmsg(LOBOT_SERVO_TEMP_MAX_LIMIT_READ) +// if msg is not None: +// return msg +// +// def getBusServoPulse(id): +// ''' +// 读取舵机当前位置 +// :param id: +// :return: +// ''' +// while True: +// serial_servo_read_cmd(id, LOBOT_SERVO_POS_READ) +// msg = serial_servo_get_rmsg(LOBOT_SERVO_POS_READ) +// if msg is not None: +// return msg +// +// def getBusServoTemp(id): +// ''' +// 读取舵机温度 +// :param id: +// :return: +// ''' +// while True: +// serial_servo_read_cmd(id, LOBOT_SERVO_TEMP_READ) +// msg = serial_servo_get_rmsg(LOBOT_SERVO_TEMP_READ) +// if msg is not None: +// return msg +// +// def getBusServoVin(id): +// ''' +// 读取舵机电压 +// :param id: +// :return: +// ''' +// while True: +// serial_servo_read_cmd(id, LOBOT_SERVO_VIN_READ) +// msg = serial_servo_get_rmsg(LOBOT_SERVO_VIN_READ) +// if msg is not None: +// return msg +// +// def restBusServoPulse(oldid): +// # 舵机清零偏差和P值中位（500） +// serial_servo_set_deviation(oldid, 0) # 清零偏差 +// time.sleep(0.1) +// serial_serro_wirte_cmd(oldid, LOBOT_SERVO_MOVE_TIME_WRITE, 500, 100) # 中位 +// +//##掉电 +// def unloadBusServo(id): +// serial_serro_wirte_cmd(id, LOBOT_SERVO_LOAD_OR_UNLOAD_WRITE, 0) +// +//##读取是否掉电 +// def getBusServoLoadStatus(id): +// while True: +// serial_servo_read_cmd(id, LOBOT_SERVO_LOAD_OR_UNLOAD_READ) +// msg = serial_servo_get_rmsg(LOBOT_SERVO_LOAD_OR_UNLOAD_READ) +// if msg is not None: +// return msg +// +// setBuzzer(0) +// +//# setMotor(1, 60) +//# setMotor(2, 60) +//# setMotor(3, 60) +//# setMotor(4, 60) +} + diff --git a/src/main/java/com/tearabite/DcMotor.java b/src/main/java/com/tearabite/DcMotor.java new file mode 100644 index 0000000..226f4fb --- /dev/null +++ b/src/main/java/com/tearabite/DcMotor.java @@ -0,0 +1,23 @@ +package com.tearabite; + +public class DcMotor { + private final Board board; + private final int index; + private int multiplier = 1; + + public DcMotor(Board board, int index) { + this.board = board; + this.index = index; + } + + public void setPower(double power) { + int speed = (int) (100 * power * multiplier); + this.board.setMotor(index, speed); + } + + public void setDirection(Direction direction) { + this.multiplier = Direction.Reversed.equals(direction) ? -1 : 1; + } + + public enum Direction { Forward, Reversed } +} diff --git a/src/main/java/com/tearabite/Main.java b/src/main/java/com/tearabite/Main.java index 202960c..af9325e 100644 --- a/src/main/java/com/tearabite/Main.java +++ b/src/main/java/com/tearabite/Main.java @@ -11,11 +11,11 @@ import com.pi4j.io.gpio.digital.DigitalOutput; import com.pi4j.io.gpio.digital.DigitalState; import com.pi4j.platform.Platforms; import com.pi4j.util.Console; + import java.lang.reflect.InvocationTargetException; /** - * - * @author luca + * @author Scott Barnes */ public class Main { @@ -44,34 +44,37 @@ public class Main { } private void run(Context pi4j) throws Exception { - Platforms platforms = pi4j.platforms(); + Board board = new Board(); + DcMotor a = board.getMotor(1); + DcMotor b = board.getMotor(2); + DcMotor c = board.getMotor(4); + DcMotor d = board.getMotor(3); - console.box("Pi4J PLATFORMS"); - console.println(); - platforms.describe().print(System.out); - console.println(); + a.setDirection(DcMotor.Direction.Forward); + b.setDirection(DcMotor.Direction.Reversed); + c.setDirection(DcMotor.Direction.Reversed); + d.setDirection(DcMotor.Direction.Forward); - var ledConfig = DigitalOutput.newConfigBuilder(pi4j) - .id("led") - .name("LED Flasher") - .address(PIN_LED) - .shutdown(DigitalState.LOW) - .initial(DigitalState.LOW) - .provider("pigpio-digital-output"); - - var led = pi4j.create(ledConfig); - int counter = 0; - while (counter < 50) { - if (led.equals(DigitalState.HIGH)) { - led.low(); - System.out.println("low"); - } else { - led.high(); - System.out.println("high"); - } + for (int i = 0; i < 5; i++) { + a.setPower(100f); + Thread.sleep(500); + a.setPower(0f); + Thread.sleep(500); + + b.setPower(100f); + Thread.sleep(500); + b.setPower(0f); + Thread.sleep(500); + + c.setPower(100f); + Thread.sleep(500); + c.setPower(0f); + Thread.sleep(500); + + d.setPower(100f); + Thread.sleep(500); + d.setPower(0f); Thread.sleep(500); - counter++; } } - } diff --git a/src/main/java/com/tearabite/Robot.java b/src/main/java/com/tearabite/Robot.java new file mode 100644 index 0000000..508897c --- /dev/null +++ b/src/main/java/com/tearabite/Robot.java @@ -0,0 +1,10 @@ +package com.tearabite; + +public class Robot { + + private Drive drive; + + public Robot() { + + } +} diff --git a/target/classes/com/tearabite/Main.class b/target/classes/com/tearabite/Main.class index 1d5331d620f607ccc701e9d1630ff454a1aaedfd..f3004b9494518d3ee569c3727a499f6c7bd85ce2 100644 GIT binary patch delta 1261 zcmZ{j+iz4=6vlshX3m`H%%LQurI~7w+9tM5n?a4B9WU+B0tE^GX(Ggj1#i z#p`&%D_+3k<;BEAV@xn67Lw8k@kJ98pZpX22TXkM$r$UmXKG7HJvnFXwb!@z+TZ@x zI+r&8)|&j~pYMMFw(-eaG83)3itl0l-@414Tgry+67 zuZ#wjploRC8tLAOqw@~}sqgNBwhvm3k_zp{LUp|k6M6CYmUk?kI{%nx~tS=x!bf5tD*_>=L0 zafzkJo_yHjagGR8`UAnNFC}7KL)~LeeTn%q$&(aZCOnEvUimq3$Q(IsNDiMZ`qTEd zGX_&KI1^T2(Z7jSP4}$U6b!95VgKnXbV6TI-(>h>vcK`IByaPM%XyD`csER?elqWe zzoy#O8yc21aQQI&J=GKY$gnB=Bef~K&)eAk6vr?;E%Fgcw2{J-A5+XBE;|)YdmHaK zu9%%cGtbC+HQ(U`CpBvzU|Rd9!f(Cn=6E=@?%+dqRgdy)VFRZq3(afqDQ4usYg9O` zu}P6L%qrVi%{p-w$q;dQHvD_tE!F1~vrMwuvzc~#0+{PWNeEfE#^Cr>wvYD4<{8@8 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+com/tearabite/DcMotor.class com/tearabite/Main.class +module-info.class +com/tearabite/Robot.class +com/tearabite/DcMotor$Direction.class diff --git a/target/maven-status/maven-compiler-plugin/compile/default-compile/inputFiles.lst b/target/maven-status/maven-compiler-plugin/compile/default-compile/inputFiles.lst index 987814e..f804d08 100644 --- a/target/maven-status/maven-compiler-plugin/compile/default-compile/inputFiles.lst +++ b/target/maven-status/maven-compiler-plugin/compile/default-compile/inputFiles.lst @@ -1,2 +1,3 @@ +/Users/scott/Developer/EagleBot/eaglebot/src/main/java/com/tearabite/Board.java /Users/scott/Developer/EagleBot/eaglebot/src/main/java/module-info.java /Users/scott/Developer/EagleBot/eaglebot/src/main/java/com/tearabite/Main.java