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initial README; posted two new scripts
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ifurusato committed May 19, 2020
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24 changes: 22 additions & 2 deletions README.md
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# scripts
Miscellaneous Raspberry Pi and Arduino scripts
# scripts : Miscellaneous Raspberry Pi and Arduino scripts

* **pin_check.py**: displays a continually-updating console display showing the status of a Raspberry Pi 3 B+'s pins.
* **pink_led.py**: grabs a snapshot of a 640x480 Raspberry Pi camera and compares the 'color distance' between each pixel and a fixed color, displaying the result to the console.


## Support & Liability

These files come with no promise of support or liability. Use at your own risk.


## Further Information

This project is part of the _New Zealand Personal Robotics (NZPRG)_ "Robot Operating System", not to be confused with other "ROS" projects.
For more information check out the [NZPRG Blog](https://robots.org.nz/) and [NZPRG Wiki](https://service.robots.org.nz/wiki/).


## Copyright & License

All contents (including software, documentation and images) Copyright 2020 by Murray Altheim, All Rights Reserved.

Software and documentation are distributed under the MIT License, see LICENSE file included with project.
131 changes: 131 additions & 0 deletions pin_check.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# Copyright 2020 by Murray Altheim. All rights reserved. This file is part of
# the Robot OS project and is released under the "Apache Licence, Version 2.0".
# Please see the LICENSE file included as part of this package.
#
# author: altheim
# created: 2020-01-18
# modified: 2020-02-06
#
# This script displays the GPIO pins of the Raspberry Pi 3 B+ and hilights
# any whose input value is high or low (depending on setting).

import time, sys, itertools
import RPi.GPIO as GPIO
from colorama import init, Fore, Style
init()

# ..............................................................................
class Pin():
def __init__(self, pin, label):
GPIO.setup(pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
# https://raspi.tv/2013/rpi-gpio-basics-6-using-inputs-and-outputs-together-with-rpi-gpio-pull-ups-and-pull-downs
# pull_up_down=GPIO.PUD_DOWN. If you want/need pull-up you can change the GPIO.PUD_DOWN for GPIO.PUD_UP
self._pin = pin
self._label = label

def get(self):
'''
Change the NORMAL and BRIGHT as desired,
'''
if GPIO.input(self._pin): # if low
return Fore.GREEN + Style.NORMAL + self._label
else:
return Fore.GREEN + Style.BRIGHT + self._label

# ..............................................................................
def main():
try:

TITLE = 'Raspberry Pi 3 B+ Pinout'
DELAY_TIME_SEC = 0.5
GND = Fore.BLACK + Style.DIM + 'GND '
CYAN_NORMAL = Fore.CYAN + Style.NORMAL
ROWS = 35
NNNN = '\n' * ROWS # as tall as your screen
INDENT = ' '

GPIO.setmode(GPIO.BOARD)

# column 1 ..............
_pin07 = Pin(7, 'GPIO4')
_pin11 = Pin(11,'GPIO17')
_pin13 = Pin(13,'GPIO27')
_pin15 = Pin(15,'GPIO22')
_pin19 = Pin(19,'GPIO10')
_pin21 = Pin(21,'GPIO9')
_pin23 = Pin(23,'GPIO11')
# GND 25
# SC0 27
_pin29 = Pin(29,'GPIO5')
_pin31 = Pin(31,'GPIO6')
_pin33 = Pin(33,'GPIO13')
_pin35 = Pin(35,'GPIO19')
_pin37 = Pin(37,'GPIO26')
# GND 39

# column 2 ..............
_pin08 = Pin(8, 'GPIO14')
_pin10 = Pin(10,'GPIO15')
_pin12 = Pin(12,'GPIO18')
# GND 14
_pin16 = Pin(16,'GPIO23')
_pin18 = Pin(18,'GPIO24')
# GND 20
_pin22 = Pin(22,'GPIO25')
_pin24 = Pin(24,'GPIO8')
_pin26 = Pin(26,'GPIO7')
# SC1 28
# GND 30
_pin32 = Pin(32,'GPIO12')
# GND 34
_pin36 = Pin(36,'GPIO16')
_pin38 = Pin(38,'GPIO20')
_pin40 = Pin(40,'GPIO21')


_counter = itertools.count()

while True:
print(NNNN)
print(INDENT + Fore.WHITE + Style.BRIGHT + '\t ' + TITLE + Style.RESET_ALL)
print('')
print(INDENT + Fore.RED + Style.NORMAL + '3.3V ' + CYAN_NORMAL + '\t(01) | (02)\t' + Fore.MAGENTA + Style.NORMAL + '5V' + Style.RESET_ALL)
print(INDENT + Fore.BLUE + Style.BRIGHT + 'SDA ' + CYAN_NORMAL + '\t(03) | (04)\t' + Fore.MAGENTA + Style.NORMAL + '5V' + Style.RESET_ALL)
print(INDENT + Fore.BLUE + Style.BRIGHT + 'SCL ' + CYAN_NORMAL + '\t(05) | (06)\t' + GND + Style.RESET_ALL)
print(INDENT + _pin07.get() + CYAN_NORMAL + '\t(07) | (08)\t' + _pin08.get() + ' (TXD)' + Style.RESET_ALL)
print(INDENT + GND + CYAN_NORMAL + '\t(09) | (10)\t' + _pin10.get() + ' (RXD)' + Style.RESET_ALL)
print(INDENT + _pin11.get() + CYAN_NORMAL + '\t(11) | (12)\t' + _pin12.get() + ' (PWM0)' + Style.RESET_ALL)
print(INDENT + _pin13.get() + CYAN_NORMAL + '\t(13) | (14)\t' + GND + Style.RESET_ALL)
print(INDENT + _pin15.get() + CYAN_NORMAL + '\t(15) | (16)\t' + _pin16.get() + Style.RESET_ALL)
print(INDENT + Fore.RED + Style.NORMAL + '3.3V ' + CYAN_NORMAL + '\t(17) | (18)\t' + _pin18.get() + Style.RESET_ALL)
print(INDENT + _pin19.get() + Fore.BLACK + '/MOSI' + CYAN_NORMAL + '\t(19) | (20)\t' + GND + Style.RESET_ALL)
print(INDENT + _pin21.get() + Fore.BLACK + '/MISO' + CYAN_NORMAL + '\t(21) | (22)\t' + _pin22.get() + Style.RESET_ALL)
print(INDENT + _pin23.get() + Fore.BLACK + '/SCLK' + CYAN_NORMAL + '\t(23) | (24)\t' + _pin24.get() + Fore.BLACK + '/CE0' + Style.RESET_ALL)
print(INDENT + GND + CYAN_NORMAL + '\t(25) | (26)\t' + _pin26.get() + Fore.BLACK + '/CE1' + Style.RESET_ALL)
print(INDENT + Fore.CYAN + Style.BRIGHT + 'SC0 ' + CYAN_NORMAL + '\t(27) | (28)\t' + Fore.CYAN + Style.BRIGHT + 'SC1' + Style.RESET_ALL)
print(INDENT + _pin29.get() + CYAN_NORMAL + '\t(29) | (30)\t' + GND + Style.RESET_ALL)
print(INDENT + _pin31.get() + CYAN_NORMAL + '\t(31) | (32)\t' + _pin32.get() + Style.RESET_ALL)
print(INDENT + _pin33.get() + CYAN_NORMAL + '\t(33) | (34)\t' + GND + Style.RESET_ALL)
print(INDENT + _pin35.get() + CYAN_NORMAL + '\t(35) | (36)\t' + _pin36.get() + Style.RESET_ALL)
print(INDENT + _pin37.get() + CYAN_NORMAL + '\t(37) | (38)\t' + _pin38.get() + Style.RESET_ALL)
print(INDENT + GND + CYAN_NORMAL + '\t(39) | (40)\t' + _pin40.get() + Style.RESET_ALL)

count = next(_counter)
_style = Style.BRIGHT if ( count % 2 == 0 ) else Style.DIM
print('\n\n' + Fore.BLACK + _style + INDENT + Style.NORMAL + '\tpoll {} \tType Ctrl-C to exit.'.format(count) + Style.RESET_ALL)
time.sleep(DELAY_TIME_SEC)


except KeyboardInterrupt:
print('Ctrl-C caught, exiting...')
sys.exit(0)


if __name__== "__main__":
main()


#EOF
102 changes: 102 additions & 0 deletions pink_led.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# Copyright 2020 by Murray Altheim. All rights reserved. This file is part of
# the Robot Operating System project and is released under the "Apache Licence,
# Version 2.0". Please see the LICENSE file included as part of this package.
#
# author: Murray Altheim
# created: 2020-05-19
# modified: 2020-05-19
# see: https://robots.org.nz/2020/05/19/four-corners/
# This script is used as a possible solution for the Four Corners Competition,
# as a way for a robot to locate the trajectory to a distant target.
#

import math, colorsys, traceback
import picamera
import picamera.array
from picamera.array import PiRGBArray

from colorama import init, Fore, Style
init()

PINK_RGB = [151, 55, 180] # hue = 286

def color_distance(e0, e1):
hsv0 = colorsys.rgb_to_hsv(e0[0], e0[1], e0[2])
hsv1 = colorsys.rgb_to_hsv(e1[0], e1[1], e1[2])
dh = min(abs(hsv1[0]-hsv0[0]), 360-abs(hsv1[0]-hsv0[0])) / 180.0
ds = abs(hsv1[1]-hsv0[1])
dv = abs(hsv1[2]-hsv0[2]) / 255.0
distance = math.sqrt(dh*dh+ds*ds+dv*dv)
return distance


def print_row(image, y):
print(Fore.WHITE + '{:d}\t'.format(y) + Fore.BLACK, end='')
for x in reversed(range(0,image.shape[1])):
_rgb = image[y,x]
dist = color_distance(_rgb, PINK_RGB)
_hilite = get_hilite(dist)
print(_hilite + "▪", end='')
print(Style.RESET_ALL)


def get_hilite(dist):
if dist < 0.025:
return Fore.MAGENTA + Style.BRIGHT
elif dist < 0.05:
return Fore.MAGENTA + Style.NORMAL
elif dist < 0.08:
return Fore.RED + Style.BRIGHT
elif dist < 0.10:
return Fore.RED + Style.NORMAL
elif dist < 0.15:
return Fore.YELLOW + Style.BRIGHT
elif dist < 0.2:
return Fore.YELLOW + Style.NORMAL
elif dist < 0.3:
return Fore.GREEN + Style.BRIGHT
elif dist < 0.4:
return Fore.GREEN + Style.NORMAL
elif dist < 0.5:
return Fore.CYAN + Style.NORMAL
elif dist < 0.6:
return Fore.BLUE + Style.BRIGHT
elif dist < 0.7:
return Fore.BLUE + Style.NORMAL
elif dist < 0.8:
return Fore.BLACK + Style.NORMAL
else:
return Fore.BLACK + Style.DIM


# ..............................................................................

try:
print(Fore.CYAN + 'starting...' + Style.RESET_ALL)

# don't necessarily process the whole image (it takes a long time)
_start_row = 180 # the bottom row of the image to be processed
_end_row = 260 # the top row of the image to be processed

with picamera.PiCamera() as camera:
with PiRGBArray(camera) as output:
camera.resolution = (640, 480)
camera.capture(output, 'rgb')
image = output.array
print(Fore.YELLOW + 'Captured {:d}x{:d} image\n'.format(image.shape[1], image.shape[0]) + Style.RESET_ALL)
_width = image.shape[1]
_height = image.shape[0]
print(Fore.YELLOW + 'Captured size {:d}x{:d} image'.format(_width, _height) + Style.RESET_ALL)
for _row in reversed(range(_start_row + 1,_end_row + 1)):
print_row(image, _row)

except picamera.PiCameraMMALError:
print(Fore.RED + Style.BRIGHT + 'could not get camera: in use by another process.' + Style.RESET_ALL)
except Exception:
print(Fore.RED + Style.BRIGHT + 'error starting ros: {}'.format(traceback.format_exc()) + Style.RESET_ALL)

print(Fore.CYAN + 'complete.' + Style.RESET_ALL)

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