Source code for gpiozero.boards

from __future__ import (
    unicode_literals,
    print_function,
    absolute_import,
    division,
    )
try:
    from itertools import izip as zip
except ImportError:
    pass

from time import sleep
from itertools import repeat, cycle, chain
from threading import Lock
from collections import OrderedDict

from .exc import (
    DeviceClosed,
    GPIOPinMissing,
    EnergenieSocketMissing,
    EnergenieBadSocket,
    OutputDeviceBadValue,
    )
from .input_devices import Button
from .output_devices import (
    OutputDevice,
    LED,
    PWMLED,
    RGBLED,
    Buzzer,
    Motor,
    )
from .threads import GPIOThread
from .devices import Device, CompositeDevice
from .mixins import SharedMixin, SourceMixin, HoldMixin


[docs]class CompositeOutputDevice(SourceMixin, CompositeDevice): """ Extends :class:`CompositeDevice` with :meth:`on`, :meth:`off`, and :meth:`toggle` methods for controlling subordinate output devices. Also extends :attr:`value` to be writeable. :param list _order: If specified, this is the order of named items specified by keyword arguments (to ensure that the :attr:`value` tuple is constructed with a specific order). All keyword arguments *must* be included in the collection. If omitted, an alphabetically sorted order will be selected for keyword arguments. """
[docs] def on(self): """ Turn all the output devices on. """ for device in self: if isinstance(device, (OutputDevice, CompositeOutputDevice)): device.on()
[docs] def off(self): """ Turn all the output devices off. """ for device in self: if isinstance(device, (OutputDevice, CompositeOutputDevice)): device.off()
[docs] def toggle(self): """ Toggle all the output devices. For each device, if it's on, turn it off; if it's off, turn it on. """ for device in self: if isinstance(device, (OutputDevice, CompositeOutputDevice)): device.toggle()
@property def value(self): """ A tuple containing a value for each subordinate device. This property can also be set to update the state of all subordinate output devices. """ return super(CompositeOutputDevice, self).value @value.setter def value(self, value): for device, v in zip(self, value): if isinstance(device, (OutputDevice, CompositeOutputDevice)): device.value = v
# Simply ignore values for non-output devices
[docs]class ButtonBoard(HoldMixin, CompositeDevice): """ Extends :class:`CompositeDevice` and represents a generic button board or collection of buttons. :param int \*pins: Specify the GPIO pins that the buttons of the board are attached to. You can designate as many pins as necessary. :param bool pull_up: If ``True`` (the default), the GPIO pins will be pulled high by default. In this case, connect the other side of the buttons to ground. If ``False``, the GPIO pins will be pulled low by default. In this case, connect the other side of the buttons to 3V3. This parameter can only be specified as a keyword parameter. :param float bounce_time: If ``None`` (the default), no software bounce compensation will be performed. Otherwise, this is the length of time (in seconds) that the buttons will ignore changes in state after an initial change. This parameter can only be specified as a keyword parameter. :param float hold_time: The length of time (in seconds) to wait after any button is pushed, until executing the :attr:`when_held` handler. Defaults to ``1``. This parameter can only be specified as a keyword parameter. :param bool hold_repeat: If ``True``, the :attr:`when_held` handler will be repeatedly executed as long as any buttons remain held, every *hold_time* seconds. If ``False`` (the default) the :attr:`when_held` handler will be only be executed once per hold. This parameter can only be specified as a keyword parameter. :param \*\*named_pins: Specify GPIO pins that buttons of the board are attached to, associating each button with a property name. You can designate as many pins as necessary and use any names, provided they're not already in use by something else. """ def __init__(self, *args, **kwargs): pull_up = kwargs.pop('pull_up', True) bounce_time = kwargs.pop('bounce_time', None) hold_time = kwargs.pop('hold_time', 1) hold_repeat = kwargs.pop('hold_repeat', False) order = kwargs.pop('_order', None) super(ButtonBoard, self).__init__( *( Button(pin, pull_up, bounce_time, hold_time, hold_repeat) for pin in args ), _order=order, **{ name: Button(pin, pull_up, bounce_time, hold_time, hold_repeat) for name, pin in kwargs.items() }) def get_new_handler(device): def fire_both_events(): device._fire_events() self._fire_events() return fire_both_events for button in self: button.pin.when_changed = get_new_handler(button) self._when_changed = None self._last_value = None # Call _fire_events once to set initial state of events self._fire_events() self.hold_time = hold_time self.hold_repeat = hold_repeat @property def pull_up(self): """ If ``True``, the device uses a pull-up resistor to set the GPIO pin "high" by default. """ return self[0].pull_up @property def when_changed(self): return self._when_changed @when_changed.setter def when_changed(self, value): self._when_changed = self._wrap_callback(value) def _fire_changed(self): if self.when_changed: self.when_changed() def _fire_events(self): super(ButtonBoard, self)._fire_events() old_value = self._last_value new_value = self._last_value = self.value if old_value is None: # Initial "indeterminate" value; don't do anything pass elif old_value != new_value: self._fire_changed()
ButtonBoard.is_pressed = ButtonBoard.is_active ButtonBoard.pressed_time = ButtonBoard.active_time ButtonBoard.when_pressed = ButtonBoard.when_activated ButtonBoard.when_released = ButtonBoard.when_deactivated ButtonBoard.wait_for_press = ButtonBoard.wait_for_active ButtonBoard.wait_for_release = ButtonBoard.wait_for_inactive
[docs]class LEDCollection(CompositeOutputDevice): """ Extends :class:`CompositeOutputDevice`. Abstract base class for :class:`LEDBoard` and :class:`LEDBarGraph`. """ def __init__(self, *args, **kwargs): self._blink_thread = None pwm = kwargs.pop('pwm', False) active_high = kwargs.pop('active_high', True) initial_value = kwargs.pop('initial_value', False) order = kwargs.pop('_order', None) LEDClass = PWMLED if pwm else LED super(LEDCollection, self).__init__( *( pin_or_collection if isinstance(pin_or_collection, LEDCollection) else LEDClass(pin_or_collection, active_high, initial_value) for pin_or_collection in args ), _order=order, **{ name: pin_or_collection if isinstance(pin_or_collection, LEDCollection) else LEDClass(pin_or_collection, active_high, initial_value) for name, pin_or_collection in kwargs.items() }) leds = [] for item in self: if isinstance(item, LEDCollection): for subitem in item.leds: leds.append(subitem) else: leds.append(item) self._leds = tuple(leds) @property def leds(self): """ A flat tuple of all LEDs contained in this collection (and all sub-collections). """ return self._leds @property def active_high(self): return self[0].active_high
[docs]class LEDBoard(LEDCollection): """ Extends :class:`LEDCollection` and represents a generic LED board or collection of LEDs. The following example turns on all the LEDs on a board containing 5 LEDs attached to GPIO pins 2 through 6:: from gpiozero import LEDBoard leds = LEDBoard(2, 3, 4, 5, 6) leds.on() :param int \*pins: Specify the GPIO pins that the LEDs of the board are attached to. You can designate as many pins as necessary. You can also specify :class:`LEDBoard` instances to create trees of LEDs. :param bool pwm: If ``True``, construct :class:`PWMLED` instances for each pin. If ``False`` (the default), construct regular :class:`LED` instances. This parameter can only be specified as a keyword parameter. :param bool active_high: If ``True`` (the default), the :meth:`on` method will set all the associated pins to HIGH. If ``False``, the :meth:`on` method will set all pins to LOW (the :meth:`off` method always does the opposite). This parameter can only be specified as a keyword parameter. :param bool initial_value: If ``False`` (the default), all LEDs will be off initially. If ``None``, each device will be left in whatever state the pin is found in when configured for output (warning: this can be on). If ``True``, the device will be switched on initially. This parameter can only be specified as a keyword parameter. :param \*\*named_pins: Specify GPIO pins that LEDs of the board are attached to, associating each LED with a property name. You can designate as many pins as necessary and use any names, provided they're not already in use by something else. You can also specify :class:`LEDBoard` instances to create trees of LEDs. """ def __init__(self, *args, **kwargs): self._blink_leds = [] self._blink_lock = Lock() super(LEDBoard, self).__init__(*args, **kwargs)
[docs] def close(self): self._stop_blink() super(LEDBoard, self).close()
[docs] def on(self, *args): self._stop_blink() if args: for index in args: self[index].on() else: super(LEDBoard, self).on()
[docs] def off(self, *args): self._stop_blink() if args: for index in args: self[index].off() else: super(LEDBoard, self).off()
[docs] def toggle(self, *args): self._stop_blink() if args: for index in args: self[index].toggle() else: super(LEDBoard, self).toggle()
def _stop_blink(self, led=None): if led is None: if self._blink_thread: self._blink_thread.stop() self._blink_thread = None else: with self._blink_lock: self._blink_leds.remove(led)
[docs] def pulse(self, fade_in_time=1, fade_out_time=1, n=None, background=True): """ Make the device fade in and out repeatedly. :param float fade_in_time: Number of seconds to spend fading in. Defaults to 1. :param float fade_out_time: Number of seconds to spend fading out. Defaults to 1. :param int n: Number of times to blink; ``None`` (the default) means forever. :param bool background: If ``True`` (the default), start a background thread to continue blinking and return immediately. If ``False``, only return when the blink is finished (warning: the default value of *n* will result in this method never returning). """ on_time = off_time = 0 self.blink( on_time, off_time, fade_in_time, fade_out_time, n, background )
def _blink_device(self, on_time, off_time, fade_in_time, fade_out_time, n, fps=25): sequence = [] if fade_in_time > 0: sequence += [ (i * (1 / fps) / fade_in_time, 1 / fps) for i in range(int(fps * fade_in_time)) ] sequence.append((1, on_time)) if fade_out_time > 0: sequence += [ (1 - (i * (1 / fps) / fade_out_time), 1 / fps) for i in range(int(fps * fade_out_time)) ] sequence.append((0, off_time)) sequence = ( cycle(sequence) if n is None else chain.from_iterable(repeat(sequence, n)) ) with self._blink_lock: self._blink_leds = list(self.leds) for led in self._blink_leds: if led._controller not in (None, self): led._controller._stop_blink(led) led._controller = self for value, delay in sequence: with self._blink_lock: if not self._blink_leds: break for led in self._blink_leds: led._write(value) if self._blink_thread.stopping.wait(delay): break
[docs]class LEDBarGraph(LEDCollection): """ Extends :class:`LEDCollection` to control a line of LEDs representing a bar graph. Positive values (0 to 1) light the LEDs from first to last. Negative values (-1 to 0) light the LEDs from last to first. The following example demonstrates turning on the first two and last two LEDs in a board containing five LEDs attached to GPIOs 2 through 6:: from gpiozero import LEDBarGraph from time import sleep graph = LEDBarGraph(2, 3, 4, 5, 6) graph.value = 2/5 # Light the first two LEDs only sleep(1) graph.value = -2/5 # Light the last two LEDs only sleep(1) graph.off() As with other output devices, :attr:`source` and :attr:`values` are supported:: from gpiozero import LEDBarGraph, MCP3008 from signal import pause graph = LEDBarGraph(2, 3, 4, 5, 6, pwm=True) pot = MCP3008(channel=0) graph.source = pot.values pause() :param int \*pins: Specify the GPIO pins that the LEDs of the bar graph are attached to. You can designate as many pins as necessary. :param bool pwm: If ``True``, construct :class:`PWMLED` instances for each pin. If ``False`` (the default), construct regular :class:`LED` instances. This parameter can only be specified as a keyword parameter. :param bool active_high: If ``True`` (the default), the :meth:`on` method will set all the associated pins to HIGH. If ``False``, the :meth:`on` method will set all pins to LOW (the :meth:`off` method always does the opposite). This parameter can only be specified as a keyword parameter. :param float initial_value: The initial :attr:`value` of the graph given as a float between -1 and +1. Defaults to ``0.0``. This parameter can only be specified as a keyword parameter. """ def __init__(self, *pins, **kwargs): # Don't allow graphs to contain collections for pin in pins: assert not isinstance(pin, LEDCollection) pwm = kwargs.pop('pwm', False) active_high = kwargs.pop('active_high', True) initial_value = kwargs.pop('initial_value', 0.0) if kwargs: raise TypeError('unexpected keyword argument: %s' % kwargs.popitem()[0]) super(LEDBarGraph, self).__init__(*pins, pwm=pwm, active_high=active_high) try: self.value = initial_value except: self.close() raise @property def value(self): """ The value of the LED bar graph. When no LEDs are lit, the value is 0. When all LEDs are lit, the value is 1. Values between 0 and 1 light LEDs linearly from first to last. Values between 0 and -1 light LEDs linearly from last to first. To light a particular number of LEDs, simply divide that number by the number of LEDs. For example, if your graph contains 3 LEDs, the following will light the first:: from gpiozero import LEDBarGraph graph = LEDBarGraph(12, 16, 19) graph.value = 1/3 .. note:: Setting value to -1 will light all LEDs. However, querying it subsequently will return 1 as both representations are the same in hardware. The readable range of :attr:`value` is effectively -1 < value <= 1. """ result = sum(led.value for led in self) if self[0].value < self[-1].value: result = -result return result / len(self) @value.setter def value(self, value): if not -1 <= value <= 1: raise OutputDeviceBadValue('LEDBarGraph value must be between -1 and 1') count = len(self) leds = self if value < 0: leds = reversed(leds) value = -value if isinstance(self[0], PWMLED): calc_value = lambda index: min(1, max(0, count * value - index)) else: calc_value = lambda index: value >= ((index + 1) / count) for index, led in enumerate(leds): led.value = calc_value(index)
[docs]class LedBorg(RGBLED): """ Extends :class:`RGBLED` for the `PiBorg LedBorg`_: an add-on board containing a very bright RGB LED. The LedBorg pins are fixed and therefore there's no need to specify them when constructing this class. The following example turns the LedBorg purple:: from gpiozero import LedBorg led = LedBorg() led.color = (1, 0, 1) :param tuple initial_value: The initial color for the LedBorg. Defaults to black ``(0, 0, 0)``. :param bool pwm: If ``True`` (the default), construct :class:`PWMLED` instances for each component of the LedBorg. If ``False``, construct regular :class:`LED` instances, which prevents smooth color graduations. .. _PiBorg LedBorg: https://www.piborg.org/ledborg """ def __init__(self, initial_value=(0, 0, 0), pwm=True): super(LedBorg, self).__init__(red=17, green=27, blue=22, pwm=pwm, initial_value=initial_value)
[docs]class PiLiter(LEDBoard): """ Extends :class:`LEDBoard` for the `Ciseco Pi-LITEr`_: a strip of 8 very bright LEDs. The Pi-LITEr pins are fixed and therefore there's no need to specify them when constructing this class. The following example turns on all the LEDs of the Pi-LITEr:: from gpiozero import PiLiter lite = PiLiter() lite.on() :param bool pwm: If ``True``, construct :class:`PWMLED` instances for each pin. If ``False`` (the default), construct regular :class:`LED` instances. :param bool initial_value: If ``False`` (the default), all LEDs will be off initially. If ``None``, each device will be left in whatever state the pin is found in when configured for output (warning: this can be on). If ``True``, the device will be switched on initially. .. _Ciseco Pi-LITEr: http://shop.ciseco.co.uk/pi-liter-8-led-strip-for-the-raspberry-pi/ """ def __init__(self, pwm=False, initial_value=False): super(PiLiter, self).__init__(4, 17, 27, 18, 22, 23, 24, 25, pwm=pwm, initial_value=initial_value)
[docs]class PiLiterBarGraph(LEDBarGraph): """ Extends :class:`LEDBarGraph` to treat the `Ciseco Pi-LITEr`_ as an 8-segment bar graph. The Pi-LITEr pins are fixed and therefore there's no need to specify them when constructing this class. The following example sets the graph value to 0.5:: from gpiozero import PiLiterBarGraph graph = PiLiterBarGraph() graph.value = 0.5 :param bool pwm: If ``True``, construct :class:`PWMLED` instances for each pin. If ``False`` (the default), construct regular :class:`LED` instances. :param float initial_value: The initial :attr:`value` of the graph given as a float between -1 and +1. Defaults to ``0.0``. .. _Ciseco Pi-LITEr: http://shop.ciseco.co.uk/pi-liter-8-led-strip-for-the-raspberry-pi/ """ def __init__(self, pwm=False, initial_value=0.0): pins = (4, 17, 27, 18, 22, 23, 24, 25) super(PiLiterBarGraph, self).__init__(*pins, pwm=pwm, initial_value=initial_value)
[docs]class TrafficLights(LEDBoard): """ Extends :class:`LEDBoard` for devices containing red, yellow, and green LEDs. The following example initializes a device connected to GPIO pins 2, 3, and 4, then lights the amber (yellow) LED attached to GPIO 3:: from gpiozero import TrafficLights traffic = TrafficLights(2, 3, 4) traffic.amber.on() :param int red: The GPIO pin that the red LED is attached to. :param int amber: The GPIO pin that the amber LED is attached to. :param int green: The GPIO pin that the green LED is attached to. :param bool pwm: If ``True``, construct :class:`PWMLED` instances to represent each LED. If ``False`` (the default), construct regular :class:`LED` instances. :param bool initial_value: If ``False`` (the default), all LEDs will be off initially. If ``None``, each device will be left in whatever state the pin is found in when configured for output (warning: this can be on). If ``True``, the device will be switched on initially. :param int yellow: The GPIO pin that the yellow LED is attached to. This is merely an alias for the ``amber`` parameter - you can't specify both ``amber`` and ``yellow``. """ def __init__(self, red=None, amber=None, green=None, pwm=False, initial_value=False, yellow=None): if amber is not None and yellow is not None: raise OutputDeviceBadValue( 'Only one of amber or yellow can be specified' ) devices = OrderedDict((('red', red), )) self._display_yellow = amber is None and yellow is not None if self._display_yellow: devices['yellow'] = yellow else: devices['amber'] = amber devices['green'] = green if not all(p is not None for p in devices.values()): raise GPIOPinMissing( ', '.join(devices.keys())+' pins must be provided' ) super(TrafficLights, self).__init__( pwm=pwm, initial_value=initial_value, _order=devices.keys(), **devices) def __getattr__(self, name): if name == 'amber' and self._display_yellow: name = 'yellow' elif name == 'yellow' and not self._display_yellow: name = 'amber' return super(TrafficLights, self).__getattr__(name) def __setattr__(self, name, value): if name == 'amber' and self._display_yellow: name = 'yellow' elif name == 'yellow' and not self._display_yellow: name = 'amber' return super(TrafficLights, self).__setattr__(name, value)
[docs]class PiTraffic(TrafficLights): """ Extends :class:`TrafficLights` for the `Low Voltage Labs PI-TRAFFIC`_: vertical traffic lights board when attached to GPIO pins 9, 10, and 11. There's no need to specify the pins if the PI-TRAFFIC is connected to the default pins (9, 10, 11). The following example turns on the amber LED on the PI-TRAFFIC:: from gpiozero import PiTraffic traffic = PiTraffic() traffic.amber.on() To use the PI-TRAFFIC board when attached to a non-standard set of pins, simply use the parent class, :class:`TrafficLights`. :param bool pwm: If ``True``, construct :class:`PWMLED` instances to represent each LED. If ``False`` (the default), construct regular :class:`LED` instances. :param bool initial_value: If ``False`` (the default), all LEDs will be off initially. If ``None``, each device will be left in whatever state the pin is found in when configured for output (warning: this can be on). If ``True``, the device will be switched on initially. .. _Low Voltage Labs PI-TRAFFIC: http://lowvoltagelabs.com/products/pi-traffic/ """ def __init__(self, pwm=False, initial_value=False): super(PiTraffic, self).__init__(9, 10, 11, pwm=pwm, initial_value=initial_value)
[docs]class SnowPi(LEDBoard): """ Extends :class:`LEDBoard` for the `Ryanteck SnowPi`_ board. The SnowPi pins are fixed and therefore there's no need to specify them when constructing this class. The following example turns on the eyes, sets the nose pulsing, and the arms blinking:: from gpiozero import SnowPi snowman = SnowPi(pwm=True) snowman.eyes.on() snowman.nose.pulse() snowman.arms.blink() :param bool pwm: If ``True``, construct :class:`PWMLED` instances to represent each LED. If ``False`` (the default), construct regular :class:`LED` instances. :param bool initial_value: If ``False`` (the default), all LEDs will be off initially. If ``None``, each device will be left in whatever state the pin is found in when configured for output (warning: this can be on). If ``True``, the device will be switched on initially. .. _Ryanteck SnowPi: https://ryanteck.uk/raspberry-pi/114-snowpi-the-gpio-snowman-for-raspberry-pi-0635648608303.html """ def __init__(self, pwm=False, initial_value=False): super(SnowPi, self).__init__( arms=LEDBoard( left=LEDBoard( top=17, middle=18, bottom=22, pwm=pwm, initial_value=initial_value, _order=('top', 'middle', 'bottom')), right=LEDBoard( top=7, middle=8, bottom=9, pwm=pwm, initial_value=initial_value, _order=('top', 'middle', 'bottom')), _order=('left', 'right') ), eyes=LEDBoard( left=23, right=24, pwm=pwm, initial_value=initial_value, _order=('left', 'right') ), nose=25, pwm=pwm, initial_value=initial_value, _order=('eyes', 'nose', 'arms') )
[docs]class TrafficLightsBuzzer(CompositeOutputDevice): """ Extends :class:`CompositeOutputDevice` and is a generic class for HATs with traffic lights, a button and a buzzer. :param TrafficLights lights: An instance of :class:`TrafficLights` representing the traffic lights of the HAT. :param Buzzer buzzer: An instance of :class:`Buzzer` representing the buzzer on the HAT. :param Button button: An instance of :class:`Button` representing the button on the HAT. """ def __init__(self, lights, buzzer, button): super(TrafficLightsBuzzer, self).__init__( lights=lights, buzzer=buzzer, button=button, _order=('lights', 'buzzer', 'button'))
[docs]class FishDish(TrafficLightsBuzzer): """ Extends :class:`TrafficLightsBuzzer` for the `Pi Supply FishDish`_: traffic light LEDs, a button and a buzzer. The FishDish pins are fixed and therefore there's no need to specify them when constructing this class. The following example waits for the button to be pressed on the FishDish, then turns on all the LEDs:: from gpiozero import FishDish fish = FishDish() fish.button.wait_for_press() fish.lights.on() :param bool pwm: If ``True``, construct :class:`PWMLED` instances to represent each LED. If ``False`` (the default), construct regular :class:`LED` instances. .. _Pi Supply FishDish: https://www.pi-supply.com/product/fish-dish-raspberry-pi-led-buzzer-board/ """ def __init__(self, pwm=False): super(FishDish, self).__init__( TrafficLights(9, 22, 4, pwm=pwm), Buzzer(8), Button(7, pull_up=False), )
[docs]class TrafficHat(TrafficLightsBuzzer): """ Extends :class:`TrafficLightsBuzzer` for the `Ryanteck Traffic HAT`_: traffic light LEDs, a button and a buzzer. The Traffic HAT pins are fixed and therefore there's no need to specify them when constructing this class. The following example waits for the button to be pressed on the Traffic HAT, then turns on all the LEDs:: from gpiozero import TrafficHat hat = TrafficHat() hat.button.wait_for_press() hat.lights.on() :param bool pwm: If ``True``, construct :class:`PWMLED` instances to represent each LED. If ``False`` (the default), construct regular :class:`LED` instances. .. _Ryanteck Traffic HAT: https://ryanteck.uk/hats/1-traffichat-0635648607122.html """ def __init__(self, pwm=False): super(TrafficHat, self).__init__( TrafficLights(24, 23, 22, pwm=pwm), Buzzer(5), Button(25), )
[docs]class Robot(SourceMixin, CompositeDevice): """ Extends :class:`CompositeDevice` to represent a generic dual-motor robot. This class is constructed with two tuples representing the forward and backward pins of the left and right controllers respectively. For example, if the left motor's controller is connected to GPIOs 4 and 14, while the right motor's controller is connected to GPIOs 17 and 18 then the following example will drive the robot forward:: from gpiozero import Robot robot = Robot(left=(4, 14), right=(17, 18)) robot.forward() :param tuple left: A tuple of two GPIO pins representing the forward and backward inputs of the left motor's controller. :param tuple right: A tuple of two GPIO pins representing the forward and backward inputs of the right motor's controller. """ def __init__(self, left=None, right=None): super(Robot, self).__init__( left_motor=Motor(*left), right_motor=Motor(*right), _order=('left_motor', 'right_motor')) @property def value(self): """ Represents the motion of the robot as a tuple of (left_motor_speed, right_motor_speed) with ``(-1, -1)`` representing full speed backwards, ``(1, 1)`` representing full speed forwards, and ``(0, 0)`` representing stopped. """ return super(Robot, self).value @value.setter def value(self, value): self.left_motor.value, self.right_motor.value = value
[docs] def forward(self, speed=1): """ Drive the robot forward by running both motors forward. :param float speed: Speed at which to drive the motors, as a value between 0 (stopped) and 1 (full speed). The default is 1. """ self.left_motor.forward(speed) self.right_motor.forward(speed)
[docs] def backward(self, speed=1): """ Drive the robot backward by running both motors backward. :param float speed: Speed at which to drive the motors, as a value between 0 (stopped) and 1 (full speed). The default is 1. """ self.left_motor.backward(speed) self.right_motor.backward(speed)
[docs] def left(self, speed=1): """ Make the robot turn left by running the right motor forward and left motor backward. :param float speed: Speed at which to drive the motors, as a value between 0 (stopped) and 1 (full speed). The default is 1. """ self.right_motor.forward(speed) self.left_motor.backward(speed)
[docs] def right(self, speed=1): """ Make the robot turn right by running the left motor forward and right motor backward. :param float speed: Speed at which to drive the motors, as a value between 0 (stopped) and 1 (full speed). The default is 1. """ self.left_motor.forward(speed) self.right_motor.backward(speed)
[docs] def reverse(self): """ Reverse the robot's current motor directions. If the robot is currently running full speed forward, it will run full speed backward. If the robot is turning left at half-speed, it will turn right at half-speed. If the robot is currently stopped it will remain stopped. """ self.left_motor.reverse() self.right_motor.reverse()
[docs] def stop(self): """ Stop the robot. """ self.left_motor.stop() self.right_motor.stop()
[docs]class RyanteckRobot(Robot): """ Extends :class:`Robot` for the `Ryanteck MCB`_ robot. The Ryanteck MCB pins are fixed and therefore there's no need to specify them when constructing this class. The following example drives the robot forward:: from gpiozero import RyanteckRobot robot = RyanteckRobot() robot.forward() .. _Ryanteck MCB: https://ryanteck.uk/add-ons/6-ryanteck-rpi-motor-controller-board-0635648607160.html """ def __init__(self): super(RyanteckRobot, self).__init__((17, 18), (22, 23))
[docs]class CamJamKitRobot(Robot): """ Extends :class:`Robot` for the `CamJam #3 EduKit`_ robot controller. The CamJam robot controller pins are fixed and therefore there's no need to specify them when constructing this class. The following example drives the robot forward:: from gpiozero import CamJamKitRobot robot = CamJamKitRobot() robot.forward() .. _CamJam #3 EduKit: http://camjam.me/?page_id=1035 """ def __init__(self): super(CamJamKitRobot, self).__init__((9, 10), (7, 8))
class _EnergenieMaster(SharedMixin, CompositeOutputDevice): def __init__(self): self._lock = Lock() super(_EnergenieMaster, self).__init__( *(OutputDevice(pin) for pin in (17, 22, 23, 27)), mode=OutputDevice(24), enable=OutputDevice(25), _order=('mode', 'enable')) def close(self): if self._lock: with self._lock: super(_EnergenieMaster, self).close() self._lock = None @classmethod def _shared_key(cls): # There's only one Energenie master return None def transmit(self, socket, enable): with self._lock: try: code = (8 * bool(enable)) + (8 - socket) for bit in self[:4]: bit.value = (code & 1) code >>= 1 sleep(0.1) self.enable.on() sleep(0.25) finally: self.enable.off()
[docs]class Energenie(SourceMixin, Device): """ Extends :class:`Device` to represent an `Energenie socket`_ controller. This class is constructed with a socket number and an optional initial state (defaults to ``False``, meaning off). Instances of this class can be used to switch peripherals on and off. For example:: from gpiozero import Energenie lamp = Energenie(1) lamp.on() :param int socket: Which socket this instance should control. This is an integer number between 1 and 4. :param bool initial_value: The initial state of the socket. As Energenie sockets provide no means of reading their state, you must provide an initial state for the socket, which will be set upon construction. This defaults to ``False`` which will switch the socket off. .. _Energenie socket: https://energenie4u.co.uk/index.php/catalogue/product/ENER002-2PI """ def __init__(self, socket=None, initial_value=False): if socket is None: raise EnergenieSocketMissing('socket number must be provided') if not (1 <= socket <= 4): raise EnergenieBadSocket('socket number must be between 1 and 4') self._value = None super(Energenie, self).__init__() self._socket = socket self._master = _EnergenieMaster() if initial_value: self.on() else: self.off()
[docs] def close(self): if self._master: m = self._master self._master = None m.close()
@property def closed(self): return self._master is None def __repr__(self): try: self._check_open() return "<gpiozero.Energenie object on socket %d>" % self._socket except DeviceClosed: return "<gpiozero.Energenie object closed>" @property def value(self): return self._value @value.setter def value(self, value): value = bool(value) self._master.transmit(self._socket, value) self._value = value def on(self): self.value = True def off(self): self.value = False