@RequestMapping("/left.html")
  public String left() throws InterruptedException {

    leftFrontMotor.toggle();
    rightFrontMotor.toggle();

    return "Moving left...";
  }
Exemplo n.º 2
0
  public static void main(String[] args) throws InterruptedException {
    System.out.println("works");
    GpioController gpio = GpioFactory.getInstance();
    GpioPinDigitalOutput pin1 =
        gpio.provisionDigitalOutputPin(RaspiPin.GPIO_01, "MyLed", PinState.HIGH);
    pin1.setShutdownOptions(true, PinState.LOW);

    Thread.sleep(5000);
    System.out.println("pin low");
    pin1.low();

    Thread.sleep(5000);
    System.out.println("pin toggle");
    pin1.toggle();

    Thread.sleep(5000);
    System.out.println("pin pulse");
    pin1.pulse(1000, true);

    Thread.sleep(2000);
    System.out.println("pin blink");
    pin1.blink(500, 5000);

    Thread.sleep(2000);
    System.out.println("koniec");
    gpio.shutdown();
  }
Exemplo n.º 3
0
 @Override
 public void toggle(GpioPinDigitalOutput... pin) {
   if (pin == null || pin.length == 0) {
     throw new IllegalArgumentException("Missing pin argument.");
   }
   for (GpioPinDigitalOutput p : pin) {
     // ensure the requested pin has been provisioned
     if (!pins.contains(p)) {
       throw new GpioPinNotProvisionedException(p.getPin());
     }
     // toggle pin state
     p.toggle();
   }
 }
Exemplo n.º 4
0
  public static void main(String[] args) throws InterruptedException {

    // START SNIPPET: usage-create-controller-snippet
    // create gpio controller instance
    final GpioController gpio = GpioFactory.getInstance();
    // END SNIPPET: usage-create-controller-snippet

    // START SNIPPET: usage-provision-input-pin-snippet
    // provision gpio pin #02 as an input pin with its internal pull down resistor enabled
    // (configure pin edge to both rising and falling to get notified for HIGH and LOW state
    // changes)
    GpioPinDigitalInput myButton =
        gpio.provisionDigitalInputPin(
            RaspiPin.GPIO_02, // PIN NUMBER
            "MyButton", // PIN FRIENDLY NAME (optional)
            PinPullResistance.PULL_DOWN); // PIN RESISTANCE (optional)

    // END SNIPPET: usage-provision-input-pin-snippet
    // START SNIPPET: usage-provision-output-pin-snippet
    // provision gpio pins #04 as an output pin and make sure is is set to LOW at startup
    GpioPinDigitalOutput myLed =
        gpio.provisionDigitalOutputPin(
            RaspiPin.GPIO_04, // PIN NUMBER
            "My LED", // PIN FRIENDLY NAME (optional)
            PinState.LOW); // PIN STARTUP STATE (optional)
    // END SNIPPET: usage-provision-output-pin-snippet

    // START SNIPPET: usage-shutdown-pin-snippet
    // configure the pin shutdown behavior; these settings will be
    // automatically applied to the pin when the application is terminated
    // ensure that the LED is turned OFF when the application is shutdown
    myLed.setShutdownOptions(true, PinState.LOW, PinPullResistance.OFF);
    // END SNIPPET: usage-shutdown-pin-snippet

    // START SNIPPET: usage-control-pin-snippet
    // explicitly set a state on the pin object
    myLed.setState(PinState.HIGH);

    // use convenience wrapper method to set state on the pin object
    myLed.low();
    myLed.high();

    // use toggle method to apply inverse state on the pin object
    myLed.toggle();

    // use pulse method to set the pin to the HIGH state for
    // an explicit length of time in milliseconds
    myLed.pulse(1000);
    // END SNIPPET: usage-control-pin-snippet

    // START SNIPPET: usage-read-pin-snippet
    // get explicit state enumeration for the GPIO pin associated with the button
    PinState myButtonState = myButton.getState();

    // use convenience wrapper method to interrogate the button state
    boolean buttonPressed = myButton.isHigh();
    // END SNIPPET: usage-read-pin-snippet

    // START SNIPPET: usage-register-listener-snippet
    // create and register gpio pin listener
    myButton.addListener(new GpioUsageExampleListener());
    // END SNIPPET: usage-register-listener-snippet

    // START SNIPPET: usage-trigger-snippet
    // create a gpio synchronization trigger on the input pin
    // when the input state changes, also set LED controlling gpio pin to same state
    myButton.addTrigger(new GpioSyncStateTrigger(myLed));
    // END SNIPPET: usage-trigger-snippet

    // keep program running until user aborts (CTRL-C)
    while (true) {
      Thread.sleep(500);
    }

    // stop all GPIO activity/threads by shutting down the GPIO controller
    // (this method will forcefully shutdown all GPIO monitoring threads and scheduled tasks)
    // gpio.shutdown();   <--- implement this method call if you wish to terminate the Pi4J GPIO
    // controller
  }
Exemplo n.º 5
0
  /** Process the message */
  @Override
  public void process(Exchange exchange) throws Exception {
    if (log.isTraceEnabled()) {
      log.trace(exchange.toString());
    }

    GPIOAction messageAction =
        exchange.getIn().getHeader(Pi4jConstants.CAMEL_RBPI_PIN_ACTION, action, GPIOAction.class);

    if (messageAction == null) {
      log.trace("No action pick up body");
      this.output(exchange, exchange.getIn().getBody());
    } else {
      log.trace("action= {} ", action);
      switch (messageAction) {
        case TOGGLE:
          if (pin.getMode() == PinMode.DIGITAL_OUTPUT) {
            ((GpioPinDigitalOutput) pin).toggle();
          }
          break;

        case LOW:
          if (pin.getMode() == PinMode.DIGITAL_OUTPUT) {
            ((GpioPinDigitalOutput) pin).low();
          }
          break;

        case HIGH:
          if (pin.getMode() == PinMode.DIGITAL_OUTPUT) {
            ((GpioPinDigitalOutput) pin).high();
          }
          break;

        case BLINK:
          if (pin.getMode() == PinMode.DIGITAL_OUTPUT) {

            pool.submit(
                new Runnable() {

                  @Override
                  public void run() {
                    try {
                      Thread.sleep(getEndpoint().getDelay());
                      ((GpioPinDigitalOutput) pin).toggle();
                      Thread.sleep(getEndpoint().getDuration());
                      ((GpioPinDigitalOutput) pin).toggle();
                    } catch (InterruptedException e) {
                      log.error("Thread interruption into BLINK sequence", e);
                    }
                  }
                });
          }

          break;

        default:
          log.error("Any action set found");
          break;
      }
    }
  }
Exemplo n.º 6
0
  /**
   * [ARGUMENT/OPTION "--pin (#)" | "-p (#)" ] This example program accepts an optional argument for
   * specifying the GPIO pin (by number) to use with this GPIO listener example. If no argument is
   * provided, then GPIO #1 will be used. -- EXAMPLE: "--pin 4" or "-p 0".
   *
   * @param args
   * @throws InterruptedException
   * @throws PlatformAlreadyAssignedException
   */
  public static void main(String[] args)
      throws InterruptedException, PlatformAlreadyAssignedException {

    // ####################################################################
    //
    // since we are not using the default Raspberry Pi platform, we should
    // explicitly assign the platform as the BananaPi platform.
    //
    // ####################################################################
    PlatformManager.setPlatform(Platform.BANANAPI);

    // create Pi4J console wrapper/helper
    // (This is a utility class to abstract some of the boilerplate code)
    final Console console = new Console();

    // print program title/header
    console.title("<-- The Pi4J Project -->", "GPIO Output Example");

    // allow for user to exit program using CTRL-C
    console.promptForExit();

    // create gpio controller
    final GpioController gpio = GpioFactory.getInstance();

    // ####################################################################
    //
    // When provisioning a pin, use the BananaPiPin class.
    //
    // ####################################################################

    // by default we will use gpio pin #01; however, if an argument
    // has been provided, then lookup the pin by address
    Pin pin =
        CommandArgumentParser.getPin(
            BananaPiPin.class, // pin provider class to obtain pin instance from
            BananaPiPin.GPIO_01, // default pin if no pin argument found
            args); // argument array to search in

    // provision gpio pin as an output pin and turn on
    final GpioPinDigitalOutput output =
        gpio.provisionDigitalOutputPin(pin, "My Output", PinState.HIGH);

    // set shutdown state for this pin: keep as output pin, set to low state
    output.setShutdownOptions(false, PinState.LOW);

    // create a pin listener to print out changes to the output gpio pin state
    output.addListener(
        new GpioPinListenerDigital() {
          @Override
          public void handleGpioPinDigitalStateChangeEvent(GpioPinDigitalStateChangeEvent event) {
            // display pin state on console
            console.println(
                " --> GPIO PIN STATE CHANGE: "
                    + event.getPin()
                    + " = "
                    + ConsoleColor.conditional(
                        event.getState().isHigh(), // conditional expression
                        ConsoleColor.GREEN, // positive conditional color
                        ConsoleColor.RED, // negative conditional color
                        event.getState())); // text to display
          }
        });

    // prompt user that we are ready
    console.println(" ... Successfully provisioned output pin: " + output.toString());
    console.emptyLine();
    console.box("The GPIO output pin states will cycle HIGH and LOW states now.");
    console.emptyLine();

    // notify user of current pin state
    console.println(
        "--> ["
            + output.toString()
            + "] state was provisioned with state = "
            + ConsoleColor.conditional(
                output.getState().isHigh(), // conditional expression
                ConsoleColor.GREEN, // positive conditional color
                ConsoleColor.RED, // negative conditional color
                output.getState())); // text to display

    // wait
    Thread.sleep(500);

    // --------------------------------------------------------------------------

    // tset gpio pin state to LOW
    console.emptyLine();
    console.println("Setting output pin state is set to LOW.");
    output.low(); // or ... output.setState(PinState.LOW);

    // wait
    Thread.sleep(500);

    // --------------------------------------------------------------------------

    // tset gpio pin state to HIGH
    console.emptyLine();
    console.println("Setting output pin state from LOW to HIGH.");
    output.setState(PinState.HIGH); // or ... output.high();

    // wait
    Thread.sleep(500);

    // --------------------------------------------------------------------------

    // toggle the current state of gpio pin (from HIGH to LOW)
    console.emptyLine();
    console.println("Toggling output pin state from HIGH to LOW.");
    output.toggle();

    // wait
    Thread.sleep(500);

    // --------------------------------------------------------------------------

    // pulse gpio pin state for 1 second HIGH and then return to LOW
    console.emptyLine();
    console.println("Pulsing output pin state HIGH for 1 second.");
    output.pulse(1000, true); // set second argument to 'true' use a blocking call
    Thread.sleep(50);

    // --------------------------------------------------------------------------

    // blink gpio pin state for 1 second between HIGH and LOW states
    console.emptyLine();
    console.println(
        "Blinking output pin state between HIGH and LOW for 3 seconds with a blink rate of 250ms.");
    Future future = output.blink(250, 3000);

    // --------------------------------------------------------------------------

    // wait for blinking to finish; we are notified in a future object
    while (!future.isDone()) {
      Thread.sleep(50);
    }

    // stop all GPIO activity/threads by shutting down the GPIO controller
    // (this method will forcefully shutdown all GPIO monitoring threads and scheduled tasks)
    gpio.shutdown();
  }