racerxdl / axispipe.py

import serial import struct import os import sys import time class AxisPipe: def __init__(self, port): self.port = port self.serial = serial.Serial(port, 115200, timeout=0.01) self.axis = [ 0,0,0,0 ] self.aux = [ 0,0 ] def UpdateAxis(self, axis, value): if self.axis[axis] != value & 0xFFFF: print "Updating Axis %s with %s" %(axis,value) print "HUE(%s,%s)" % (value&0xFF,(value/256) & 0xFF) self.axis[axis] = value & 0xFFFF self.serial.write(struct.pack("BBB",axis,value&0xFF,(value/256)&0xFF)) def UpdateAux(self, aux, value): if self.aux[aux] != value & 0xFFFF: print "Updating Aux %s with %s" %(aux,value) self.aux[aux] = value & 0xFFFF self.serial.write(struct.pack("BBB",aux+7,value&0xFF,value/256)) def SetLed(self, val): self.serial.write(struct.pack("BBB",4,val&0xFF,0)) def ReadData(self): data = self.serial.readline() if len(data) > 1: print "Response: %s" %data.replace("\n","") def TurnOn(self): self.serial.write("\x05\x00\x00") self.UpdateAxis(0,1500); self.UpdateAxis(1,1500); self.UpdateAxis(2,1500); self.UpdateAxis(3,1500); self.UpdateAux(0,1500); self.UpdateAux(1,1500); def TurnOff(self): self.serial.write("\x06\x00\x00") def KeepAlive(self): self.serial.write("\x09\x00\x00") def Close(self): self.TurnOff() self.serial.close()

/* _ __ _____ ____ ____ ___ ____ _____ / \ \ \/ /_ _/ ___|| _ \_ _| _ \| ____| / _ \ \ / | |\___ \| |_) | || |_) | _| / ___ \ / \ | | ___) | __/| || __/| |___ /_/ \_\/_/\_\___|____/|_| |___|_| |_____| This is an Serial Axis Pipe developed for ATMEGA328 You basicly has 6 Servo outputs that are configurable through the serialport. You will ALWAYS send 3 bytes through serial, and them are: CMD DATA0 DATA1 CMD List: 0x00 => Enable Channel 0 Servo with DATA0 + DATA1 * 256 0x01 => Enable Channel 1 Servo with DATA0 + DATA1 * 256 0x02 => Enable Channel 2 Servo with DATA0 + DATA1 * 256 0x03 => Enable Channel 3 Servo with DATA0 + DATA1 * 256 0x04 => Do Nothing on Atmega328, used for led blinking 0x05 => Turn On the controller . The default state is turned off. This simulates controller Turn On Button 0x06 => Turn Off the controller. The default state is turned off. This simulates controller Turn Off Button 0x07 => Enable Aux Channel 0 Servo with DATA0 + DATA1 * 256 0x08 => Enable Aux Channel 1 Servo with DATA0 + DATA1 * 256 0x09 => Keep-Alive. You must send this at least more than 60 times per second. This is the safest and simplier way I found to make wireless fail-proof. This is an prototype that is used with axispipe.py needs improvement. Have fun! */ #include <Servo.h> Servo ch[6]; unsigned char buff[3]; unsigned short count; unsigned short kcount = 0; void TurnOn() { ch[0].attach(3); ch[1].attach(5); ch[2].attach(6); ch[3].attach(9); ch[4].attach(8); ch[5].attach(10); digitalWrite(13, HIGH); Serial.println("Controller ON"); } void TurnOff() { /* for(int i=0;i<6;i++) ch[i].detach(); digitalWrite(3, LOW); digitalWrite(5, LOW); digitalWrite(6, LOW); digitalWrite(8, LOW); digitalWrite(9, LOW); digitalWrite(10, LOW); digitalWrite(13, LOW); Serial.println("Controller OFF"); */ } void KeepAlive() { TCCR2B = 0x00; TCNT2 = 0x00; TIFR2 = 0x00; TIMSK2 = 0x01; TCCR2A = 0x00; TCCR2B |= (1<< CS12) | (1<< CS10); kcount = 0; } ISR(TIMER2_OVF_vect) { //We didnt receive the signal yet. So we must shutdown the output kcount++; if(kcount == 255) TurnOff(); TCCR2B = 0x00; TCNT2 = 0x00; TIFR2 = 0x00; TIMSK2 = 0x01; TCCR2A = 0x00; TCCR2B |= (1<< CS12) | (1<< CS10); } void setup() { Serial.begin(115200); Serial.println("Inititializing controllers"); pinMode(13, OUTPUT); pinMode(3, OUTPUT); pinMode(5, OUTPUT); pinMode(6, OUTPUT); pinMode(8, OUTPUT); pinMode(9, OUTPUT); pinMode(10, OUTPUT); digitalWrite(3, LOW); digitalWrite(5, LOW); digitalWrite(6, LOW); digitalWrite(8, LOW); digitalWrite(9, LOW); digitalWrite(10, LOW); count = 0; Serial.println("AxisPipe Started!"); KeepAlive(); } void loop() { short val; if(count == 3) { count = 0; val = buff[1] + buff[2] * 256; Serial.println(val); switch(buff[0]) { case 0: case 1: case 2: case 3: ch[buff[0]].writeMicroseconds(val); break; case 4: break; // Nothing on 328 case 5: TurnOn(); break; case 6: TurnOff(); break; case 7: case 8: // Aux Outputs ch[buff[0]-3].writeMicroseconds(val); break; case 9: break; default: Serial.println("Unknown CMD"); } KeepAlive(); } if (Serial.available() > 0) { buff[count] = Serial.read(); count++; } }