#include <Servo.h>
#define NUM_FINGERS 5 // Number of fingers
#define DELAY_TIME 500 // Delay time between movements in milliseconds
Servo fingers[NUM_FINGERS]; // Array to hold servo objects for each finger
// Pin numbers for each finger servo
int fingerPins[NUM_FINGERS] = {2, 3, 4, 5, 6}; // Example pin numbers, adjust as needed
void setup() {
// Attach each servo to its respective pin
for (int i = 0; i < NUM_FINGERS; i++) {
fingers[i].attach(fingerPins[i]);
}
}
void loop() {
// Move each finger sequentially
moveFingersForward();
delay(DELAY_TIME);
moveFingersBackward();
delay(DELAY_TIME);
}
// Function to move fingers forward (closing)
void moveFingersForward() {
for (int i = 0; i < NUM_FINGERS; i++) {
fingers[i].write(0); // Adjust angle as needed for closed position
}
}
// Function to move fingers backward (opening)
void moveFingersBackward() {
for (int i = 0; i < NUM_FINGERS; i++) {
fingers[i].write(180); // Adjust angle as needed for open position
}
}
import java.util.concurrent.TimeUnit;
import edu.wpi.first.wpilibj.Servo;
public class FingerControl {
private static final int NUM_FINGERS = 5;
private static final int DELAY_TIME = 500; // Delay time between movements in milliseconds
public static void main(String[] args) throws InterruptedException {
Servo[] fingers = new Servo[NUM_FINGERS];
int[] fingerPins = { 2, 3, 4, 5, 6 }; // Example pin numbers, adjust as needed
// Attach each servo to its respective pin
for (int i = 0; i < NUM_FINGERS; i++) {
fingers[i] = new Servo(fingerPins[i]);
}
while (true) {
// Move each finger sequentially
moveFingersForward(fingers);
TimeUnit.MILLISECONDS.sleep(DELAY_TIME);
moveFingersBackward(fingers);
TimeUnit.MILLISECONDS.sleep(DELAY_TIME);
}
}
// Function to move fingers forward (closing)
private static void moveFingersForward(Servo[] fingers) {
for (int i = 0; i < NUM_FINGERS; i++) {
fingers[i].setAngle(0); // Adjust angle as needed for closed position
}
}
// Function to move fingers backward (opening)
private static void moveFingersBackward(Servo[] fingers) {
for (int i = 0; i < NUM_FINGERS; i++) {
fingers[i].setAngle(180); // Adjust angle as needed for open position
}
}
}
import time
import RPi.GPIO as GPIO
NUM_FINGERS = 5
DELAY_TIME = 0.5 # Delay time between movements in seconds
# Example pin numbers, adjust as needed
finger_pins = [2, 3, 4, 5, 6]
# Setup GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setup(finger_pins, GPIO.OUT)
def move_fingers_forward():
for pin in finger_pins:
GPIO.output(pin, GPIO.LOW) # Adjust angle as needed for closed position
def move_fingers_backward():
for pin in finger_pins:
GPIO.output(pin, GPIO.HIGH) # Adjust angle as needed for open position
try:
while True:
# Move each finger sequentially
move_fingers_forward()
time.sleep(DELAY_TIME)
move_fingers_backward()
time.sleep(DELAY_TIME)
except KeyboardInterrupt:
GPIO.cleanup()
; Define constants
NUM_FINGERS EQU 5 ; Number of fingers
DELAY_TIME EQU 500 ; Delay time between movements in milliseconds
SERVO_PIN_1 EQU 2 ; Pin number for servo 1
SERVO_PIN_2 EQU 3 ; Pin number for servo 2
; Define servo angles
SERVO_CLOSED EQU 0 ; Angle for closed position
SERVO_OPEN EQU 180 ; Angle for open position
; Define register usage
REG_DELAY R0 ; Delay register
REG_COUNTER R1 ; Loop counter register
REG_SERVO R2 ; Servo angle register
; Initialize
INIT:
; Setup GPIO pins for servo control
GPIO_SETUP SERVO_PIN_1, OUTPUT
GPIO_SETUP SERVO_PIN_2, OUTPUT
; Main loop
MAIN_LOOP:
; Move fingers forward (closing)
MOVE_FINGERS_FORWARD
; Delay
MOV REG_DELAY, DELAY_TIME
CALL DELAY
; Move fingers backward (opening)
MOVE_FINGERS_BACKWARD
; Delay
MOV REG_DELAY, DELAY_TIME
CALL DELAY
; Repeat
JMP MAIN_LOOP
; Subroutine to move fingers forward (closing)
MOVE_FINGERS_FORWARD:
; Set servo angle for each finger
MOV REG_SERVO, SERVO_CLOSED
FOR REG_COUNTER, 0, NUM_FINGERS-1
; Write servo angle to GPIO pin
PWM_WRITE SERVO_PIN[REG_COUNTER], REG_SERVO
ENDFOR
RET
; Subroutine to move fingers backward (opening)
MOVE_FINGERS_BACKWARD:
; Set servo angle for each finger
MOV REG_SERVO, SERVO_OPEN
FOR REG_COUNTER, 0, NUM_FINGERS-1
; Write servo angle to GPIO pin
PWM_WRITE SERVO_PIN[REG_COUNTER], REG_SERVO
ENDFOR
RET
; Subroutine for delay
DELAY:
; Loop for delay
DELAY_LOOP:
; Decrement delay register
DEC REG_DELAY
; Check if delay complete
BRZ DELAY_DONE
; Repeat delay loop
JMP DELAY_LOOP
DELAY_DONE:
RET
#include <Servo.h>
#define NUM_LEGS 2 // Number of legs
#define NUM_JOINTS 3 // Number of joints per leg
#define DELAY_TIME 500 // Delay time between movements in milliseconds
Servo legs[NUM_LEGS][NUM_JOINTS]; // Array to hold servo objects for each leg and joint
// Pin numbers for each leg joint servo
int legPins[NUM_LEGS][NUM_JOINTS] = {
{2, 3, 4}, // Example pin numbers for leg 1, adjust as needed
{5, 6, 7} // Example pin numbers for leg 2, adjust as needed
};
void setup() {
// Attach each servo to its respective pin
for (int i = 0; i < NUM_LEGS; i++) {
for (int j = 0; j < NUM_JOINTS; j++) {
legs[i][j].attach(legPins[i][j]);
}
}
}
void loop() {
// Move legs forward
moveLegsForward();
delay(DELAY_TIME);
// Move legs backward
moveLegsBackward();
delay(DELAY_TIME);
}
// Function to move legs forward
void moveLegsForward() {
for (int i = 0; i < NUM_LEGS; i++) {
for (int j = 0; j < NUM_JOINTS; j++) {
legs[i][j].write(0); // Adjust angle as needed for forward movement
}
}
}
// Function to move legs backward
void moveLegsBackward() {
for (int i = 0; i < NUM_LEGS; i++) {
for (int j = 0; j < NUM_JOINTS; j++) {
legs[i][j].write(180); // Adjust angle as needed for backward movement
}
}
}
import edu.wpi.first.wpilibj.Servo;
public class LegControl {
private static final int NUM_LEGS = 2; // Number of legs
private static final int NUM_JOINTS = 3; // Number of joints per leg
private static final int DELAY_TIME = 500; // Delay time between movements in milliseconds
public static void main(String[] args) {
Servo[][] legs = new Servo[NUM_LEGS][NUM_JOINTS];
int[][] legPins = {
{2, 3, 4}, // Example pin numbers for leg 1, adjust as needed
{5, 6, 7} // Example pin numbers for leg 2, adjust as needed
};
// Attach each servo to its respective pin
for (int i = 0; i < NUM_LEGS; i++) {
for (int j = 0; j < NUM_JOINTS; j++) {
legs[i][j] = new Servo(legPins[i][j]);
}
}
while (true) {
// Move legs forward
moveLegsForward(legs);
delay(DELAY_TIME);
// Move legs backward
moveLegsBackward(legs);
delay(DELAY_TIME);
}
}
// Function to move legs forward
private static void moveLegsForward(Servo[][] legs) {
for (int i = 0; i < NUM_LEGS; i++) {
for (int j = 0; j < NUM_JOINTS; j++) {
legs[i][j].setAngle(0); // Adjust angle as needed for forward movement
}
}
}
// Function to move legs backward
private static void moveLegsBackward(Servo[][] legs) {
for (int i = 0; i < NUM_LEGS; i++) {
for (int j = 0; j < NUM_JOINTS; j++) {
legs[i][j].setAngle(180); // Adjust angle as needed for backward movement
}
}
}
// Function to emulate delay
private static void delay(int milliseconds) {
try {
Thread.sleep(milliseconds);
}
catch (InterruptedException e) {
e.printStackTrace();
}
}
}
from time import sleep
import RPi.GPIO as GPIO
NUM_LEGS = 2 # Number of legs
NUM_JOINTS = 3 # Number of joints per leg
DELAY_TIME = 0.5 # Delay time between movements in seconds
# Pin numbers for each leg joint servo
leg_pins = [
[2, 3, 4], # Example pin numbers for leg 1, adjust as needed
[5, 6, 7] # Example pin numbers for leg 2, adjust as needed
]
# Setup GPIO
GPIO.setmode(GPIO.BCM)
for leg in leg_pins:
for pin in leg:
GPIO.setup(pin, GPIO.OUT)
# Function to move legs forward
def move_legs_forward():
for leg in leg_pins:
for pin in leg:
GPIO.output(pin, GPIO.LOW) # Adjust angle as needed for forward movement
# Function to move legs backward
def move_legs_backward():
for leg in leg_pins:
for pin in leg:
GPIO.output(pin, GPIO.HIGH) # Adjust angle as needed for backward movement
try:
while True:
# Move legs forward
move_legs_forward()
sleep(DELAY_TIME)
# Move legs backward
move_legs_backward()
sleep(DELAY_TIME)
except KeyboardInterrupt:
GPIO.cleanup()
; Define constants
NUM_LEGS EQU 2 ; Number of legs
NUM_JOINTS EQU 3 ; Number of joints per leg
DELAY_TIME EQU 500 ; Delay time between movements in milliseconds
; Define servo angles
SERVO_FORWARD EQU 0 ; Angle for forward movement
SERVO_BACKWARD EQU 180 ; Angle for backward movement
; Define register usage
REG_DELAY R0 ; Delay register
REG_COUNTER R1 ; Loop counter register
REG_SERVO_ANGLE R2 ; Servo angle register
; Define pin numbers for each leg joint servo
LEG_PINS DSB 6 ; Array to hold pin numbers for each leg joint servo
DB 2, 3, 4 ; Example pin numbers for leg 1, adjust as needed
DB 5, 6, 7 ; Example pin numbers for leg 2, adjust as needed
; Initialize
INIT:
; Setup GPIO pins for leg joint servos
LDR R1, =LEG_PINS
MOV R2, #NUM_LEGS
INIT_LOOP:
LDRB R3, [R1], #1
MOV R0, #1
; Setup GPIO pin for servo control
GPIO_SETUP R3, OUTPUT
SUBS R2, R2, R0
BNE INIT_LOOP
; Main loop
MAIN_LOOP:
; Move legs forward
MOVE_LEGS_FORWARD
; Delay
MOV R0, #DELAY_TIME
CALL DELAY
; Move legs backward
MOVE_LEGS_BACKWARD
; Delay
MOV R0, #DELAY_TIME
CALL DELAY
; Repeat
B MAIN_LOOP
Subroutine to move legs forward
MOVE_LEGS_FORWARD:
; Set servo angle for each leg joint
LDR R1, =SERVO_FORWARD
MOV R2, #NUM_LEGS
MOVE_FORWARD_LOOP:
; Set servo angle
LDRB R3, [R1], #1
FOR R4, 0, NUM_JOINTS-1
; Write servo angle to GPIO pin
PWM_WRITE [R3+R4], R1
ENDFOR
SUBS R2, R2, #1
BNE MOVE_FORWARD_LOOP
RET
; Subroutine to move legs backward
MOVE_LEGS_BACKWARD:
; Set servo angle for each leg joint
LDR R1, =SERVO_BACKWARD
MOV R2, #NUM_LEGS
MOVE_BACKWARD_LOOP:
; Set servo angle
LDRB R3, [R1], #1
FOR R4, 0, NUM_JOINTS-1
; Write servo angle to GPIO pin
#include <Servo.h>
#define NECK_PIN 2 // Pin number for the neck servo
#define NECK_DELAY 500 // Delay time between movements in milliseconds
Servo neck; // Servo object for the neck
void setup() {
neck.attach(NECK_PIN); // Attach the servo to the pin
}
void loop() {
// Move neck left
moveNeckLeft();
delay(NECK_DELAY);
// Move neck right
moveNeckRight();
delay(NECK_DELAY);
}
// Function to move the neck left
void moveNeckLeft() {
neck.write(0); // Adjust angle as needed for left movement
}
// Function to move the neck right
void moveNeckRight() {
neck.write(180); // Adjust angle as needed for right movement
}
import edu.wpi.first.wpilibj.Servo;
public class NeckControl {
private static final int NECK_PIN = 2; // Pin number for the neck servo
private static final int NECK_DELAY = 500; // Delay time between movements in milliseconds
public static void main(String[] args) {
Servo neck = new Servo(NECK_PIN); // Servo object for the neck
while (true) {
// Move neck left
moveNeckLeft(neck);
delay(NECK_DELAY);
// Move neck right
moveNeckRight(neck);
delay(NECK_DELAY);
}
}
// Function to move the neck left
private static void moveNeckLeft(Servo neck) {
neck.setAngle(0); // Adjust angle as needed for left movement
}
// Function to move the neck right
private static void moveNeckRight(Servo neck) {
neck.setAngle(180); // Adjust angle as needed for right movement
}
// Function to emulate delay
private static void delay(int milliseconds) {
try {
Thread.sleep(milliseconds);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
}
from time import sleep
import RPi.GPIO as GPIO
NECK_PIN = 2 # Pin number for the neck servo
NECK_DELAY = 0.5 # Delay time between movements in seconds
# Setup GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setup(NECK_PIN, GPIO.OUT)
neck = GPIO.PWM(NECK_PIN, 50) # GPIO pin for PWM with frequency 50Hz (standard for servos)
neck.start(0) # Start PWM with 0 duty cycle
# Function to move the neck left
def move_neck_left():
neck.ChangeDutyCycle(2.5) # Adjust duty cycle for left movement
sleep(0.5)
# Function to move the neck right
def move_neck_right():
neck.ChangeDutyCycle(12.5) # Adjust duty cycle for right movement
sleep(0.5)
try:
while True:
# Move neck left
move_neck_left()
# Move neck right
move_neck_right()
except KeyboardInterrupt:
neck.stop()
GPIO.cleanup()
; Define constants
NECK_PIN EQU 2 ; Pin number for the neck servo
NECK_DELAY EQU 500 ; Delay time between movements in milliseconds
; Define register usage
REG_DELAY R0 ; Delay register
REG_SERVO_ANGLE R1 ; Servo angle register
; Initialize
INIT:
; Setup GPIO pin for neck servo control
GPIO_SETUP NECK_PIN, OUTPUT
; Main loop
MAIN_LOOP:
; Move neck left
MOVE_NECK_LEFT
; Delay
MOV R0, #NECK_DELAY
CALL DELAY
; Move neck right
MOVE_NECK_RIGHT
; Delay
MOV R0, #NECK_DELAY
CALL DELAY
; Repeat
B MAIN_LOOP
; Subroutine to move the neck left
MOVE_NECK_LEFT:
; Set servo angle for left movement
MOV R1, #0 ; Adjust angle as needed for left movement
; Write servo angle to GPIO pin
PWM_WRITE NECK_PIN, R1
RET
; Subroutine to move the neck right
MOVE_NECK_RIGHT:
; Set servo angle for right movement
MOV R1, #180 ; Adjust angle as needed for right movement
; Write servo angle to GPIO pin
PWM_WRITE NECK_PIN, R1
RET
; Subroutine for delay
DELAY:
; Loop for delay
DELAY_LOOP:
; Decrement delay register
SUBS R0, R0, #1
; Check if delay complete
BEQ DELAY_DONE
; Repeat delay loop
B DELAY_LOOP
DELAY_DONE:
RET
#include <Servo.h>
#define ESC_PIN 9 // Pin number connected to ESC signal wire
#define THROTTLE_MIN 1000 // Minimum throttle value (microseconds)
#define THROTTLE_MAX 2000 // Maximum throttle value (microseconds)
Servo esc; // Servo object for the ESC
void setup() {
esc.attach(ESC_PIN); // Attach the ESC signal wire to the specified pin
}
void loop() {
// Set throttle to minimum (motor off)
esc.writeMicroseconds(THROTTLE_MIN);
delay(2000); // Wait for 2 seconds
// Set throttle to maximum (full speed)
esc.writeMicroseconds(THROTTLE_MAX);
delay(2000); // Wait for 2 seconds
}
import edu.wpi.first.wpilibj.Servo;
public class ESCControl {
private static final int ESC_PIN = 9; // Pin number connected to ESC signal wire
private static final int THROTTLE_MIN = 1000; // Minimum throttle value (microseconds)
private static final int THROTTLE_MAX = 2000; // Maximum throttle value (microseconds)
public static void main(String[] args) {
Servo esc = new Servo(ESC_PIN); // Servo object for the ESC
while (true) {
// Set throttle to minimum (motor off)
setThrottle(esc, THROTTLE_MIN);
delay(2000); // Wait for 2 seconds
// Set throttle to maximum (full speed)
setThrottle(esc, THROTTLE_MAX);
delay(2000); // Wait for 2 seconds
}
}
// Function to set throttle
private static void setThrottle(Servo esc, int microseconds) {
esc.setPWM(microseconds); // Set PWM pulse width in microseconds
}
// Function to emulate delay
private static void delay(int milliseconds) {
try {
Thread.sleep(milliseconds);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
}
from time import sleep
import RPi.GPIO as GPIO
from time import sleep
import RPi.GPIO as GPIO
ESC_PIN = 9 # Pin number connected to ESC signal wire
THROTTLE_MIN = 1000 # Minimum throttle value (microseconds)
THROTTLE_MAX = 2000 # Maximum throttle value (microseconds)
# Setup GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setup(ESC_PIN, GPIO.OUT)
esc = GPIO.PWM(ESC_PIN, 50) # GPIO pin for PWM with frequency 50Hz (standard for ESCs)
esc.start(0) # Start PWM with 0 duty cycle
try:
while True:
# Set throttle to minimum (motor off)
esc.ChangeDutyCycle(THROTTLE_MIN / 10) # Convert microseconds to percentage
sleep(2) # Wait for 2 seconds
# Set throttle to maximum (full speed)
esc.ChangeDutyCycle(THROTTLE_MAX / 10) # Convert microseconds to percentage
sleep(2) # Wait for 2 seconds
except KeyboardInterrupt:
esc.stop()
GPIO.cleanup()
ESC_PIN = 9 # Pin number connected to ESC signal wire
THROTTLE_MIN = 1000 # Minimum throttle value (microseconds)
THROTTLE_MAX = 2000 # Maximum throttle value (microseconds)
# Setup GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setup(ESC_PIN, GPIO.OUT)
esc = GPIO.PWM(ESC_PIN, 50) # GPIO pin for PWM with frequency 50Hz (standard for ESCs)
esc.start(0) # Start PWM with 0 duty cycle
try:
while True:
# Set throttle to minimum (motor off)
esc.ChangeDutyCycle(THROTTLE_MIN / 10) # Convert microseconds to percentage
sleep(2) # Wait for 2 seconds
# Set throttle to maximum (full speed)
esc.ChangeDutyCycle(THROTTLE_MAX / 10) # Convert microseconds to percentage
sleep(2) # Wait for 2 seconds
except KeyboardInterrupt:
esc.stop()
GPIO.cleanup()
; Define constants
ESC_PIN EQU 9 ; Pin number connected to ESC signal wire
THROTTLE_MIN EQU 1000 ; Minimum throttle value (microseconds)
THROTTLE_MAX EQU 2000 ; Maximum throttle value (microseconds)
; Define register usage
REG_DELAY R0 ; Delay register
REG_THROTTLE R1 ; Throttle register
; Initialize
INIT:
; Setup GPIO pin for ESC control
GPIO_SETUP ESC_PIN, OUTPUT
; Main loop
MAIN_LOOP:
; Set throttle to minimum (motor off)
MOV R1, #THROTTLE_MIN
SET_THROTTLE
; Delay
MOV R0, #2000
CALL DELAY
; Set throttle to maximum (full speed)
MOV R1, #THROTTLE_MAX
SET_THROTTLE
; Delay
MOV R0, #2000
CALL DELAY
; Repeat
B MAIN_LOOP
; Subroutine to set throttle
SET_THROTTLE:
; Write PWM pulse width to GPIO pin
PWM_WRITE ESC_PIN, R1
RET
; Subroutine for delay
DELAY:
; Loop for delay
DELAY_LOOP:
; Decrement delay register
SUBS R0, R0, #1
; Check if delay complete
BEQ DELAY_DONE
; Repeat delay loop
B DELAY_LOOP
DELAY_DONE:
RET
#include <Arduino.h>
#include <Wire.h>
#include <ArduCAM.h>
// ArduCAM pin definitions
#define CS_PIN 10 // Chip select pin
#define RESET_PIN 9 // Reset pin
// Initialize ArduCAM object
ArduCAM arduCAM(OV2640, CS_PIN);
void setup() {
Serial.begin(115200);
while (!Serial);
// Initialize I2C communication
Wire.begin();
arduCAM.write_reg(ARDUCHIP_TEST1, 0x55); // Test connection to ArduCAM module
// Initialize ArduCAM
while (arduCAM.initialize() != 0) {
Serial.println(F("Failed to initialize ArduCAM!"));
delay(1000);
}
Serial.println(F("ArduCAM initialized!"));
// Reset ArduCAM
arduCAM.write_reg(ARDUCHIP_FRAMES, FRAMES_NUM);
arduCAM.clear_fifo_flag();
}
void loop() {
captureImage();
delay(5000); // Capture an image every 5 seconds
}
void captureImage() {
Serial.println(F("Capturing image..."));
arduCAM.flush_fifo();
arduCAM.clear_fifo_flag();
arduCAM.start_capture();
// Wait for image to be captured
while (!arduCAM.get_bit(ARDUCHIP_TRIG, CAP_DONE_MASK));
// Get image length
uint32_t length = arduCAM.read_fifo_length();
Serial.print(F("Image length: "));
Serial.println(length);
if (length >= MAX_FIFO_SIZE) {
Serial.println(F("FIFO overflow!"));
return;
}
// Read image data from FIFO
uint8_t image[length];
arduCAM.read_fifo(image, length);
// Save image to SD card (optional)
// e.g., SD.write(image, length);
Serial.println(F("Image captured!"));
}
import java.util.concurrent.TimeUnit;
public class ArduCAM {
private static final int ARDUCHIP_TEST1 = 0x00;
private static final int ARDUCHIP_FRAMES = 0x04;
private static final int ARDUCHIP_TRIG = 0x41;
private static final int CAP_DONE_MASK = 0x08;
private static final int FRAMES_NUM = 0x00;
private static final int MAX_FIFO_SIZE = 0x5FFFFF; // Maximum FIFO size for OV2640
private int csPin;
public ArduCAM(int ovType, int csPin) {
this.csPin = csPin;
}
public void writeReg(int regAddr, int regData) {
// Implementation needed
}
public int initialize() {
writeReg(ARDUCHIP_TEST1, 0x55); // Test connection to ArduCAM module
return 0; // Successful initialization
}
public void clearFifoFlag() {
// Implementation needed
}
public void flushFifo() {
// Implementation needed
}
public void startCapture() {
// Implementation needed
}
public boolean getBit(int regAddr, int mask) {
// Implementation needed
return false;
}
public int readFifoLength() {
// Implementation needed
return 0;
}
public byte[] readFifo(int length) {
// Implementation needed
return new byte[length];
}
public static void main(String[] args) {
// ArduCAM pin definitions
int CS_PIN = 10; // Chip select pin
int RESET_PIN = 9; // Reset pin
// Initialize ArduCAM object
ArduCAM arduCAM = new ArduCAM(0, CS_PIN);
// Main loop
while (true) {
// Initialize ArduCAM
while (arduCAM.initialize() != 0) {
System.out.println("Failed to initialize ArduCAM!");
try {
TimeUnit.SECONDS.sleep(1);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
System.out.println("ArduCAM initialized!");
// Reset ArduCAM
arduCAM.writeReg(ARDUCHIP_FRAMES, FRAMES_NUM);
arduCAM.clearFifoFlag();
// Capture an image
captureImage(arduCAM);
// Delay for 5 seconds
try {
TimeUnit.SECONDS.sleep(5);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
}
// Function to capture an image
private static void captureImage(ArduCAM arduCAM) {
System.out.println("Capturing image...");
arduCAM.flushFifo();
arduCAM.clearFifoFlag();
arduCAM.startCapture();
// Wait for image to be captured
while (!arduCAM.getBit(ARDUCHIP_TRIG, CAP_DONE_MASK)) {
// Wait
}
// Get image length
int length = arduCAM.readFifoLength();
System.out.println("Image length: " + length);
if (length >= MAX_FIFO_SIZE) {
System.out.println("FIFO overflow!");
return;
}
// Read image data from FIFO
byte[] image = arduCAM.readFifo(length);
// Save image to SD card (optional)
// e.g., SD.write(image, length);
System.out.println("Image captured!");
}
}
import time
import smbus
import numpy as np
# ArduCAM pin definitions
CS_PIN = 10 # Chip select pin
RESET_PIN = 9 # Reset pin
# ArduCAM constants
ARDUCHIP_TEST1 = 0x00
ARDUCHIP_FRAMES = 0x04
ARDUCHIP_TRIG = 0x41
CAP_DONE_MASK = 0x08
FRAMES_NUM = 0x00
MAX_FIFO_SIZE = 0x5FFFFF # Maximum FIFO size for OV2640
# Initialize ArduCAM object
class ArduCAM:
def __init__(self, ov_type, cs_pin):
self.cs_pin = cs_pin
self.bus = smbus.SMBus(1) # I2C bus number
self.address = 0x30 # ArduCAM I2C address
def write_reg(self, reg_addr, reg_data):
self.bus.write_byte_data(self.address, reg_addr, reg_data)
def initialize(self):
self.write_reg(ARDUCHIP_TEST1, 0x55) # Test connection to ArduCAM module
return 0 # Successful initialization
def clear_fifo_flag(self):
pass # Implementation needed
def flush_fifo(self):
pass # Implementation needed
def start_capture(self):
pass # Implementation needed
def get_bit(self, reg_addr, mask):
pass # Implementation needed
def read_fifo_length(self):
pass # Implementation needed
def read_fifo(self, length):
pass # Implementation needed
# Initialize ArduCAM object
arduCAM = ArduCAM("OV2640", CS_PIN)
# Main function
def main():
# Initialize ArduCAM
while arduCAM.initialize() != 0:
print("Failed to initialize ArduCAM!")
time.sleep(1)
print("ArduCAM initialized!")
# Reset ArduCAM
arduCAM.write_reg(ARDUCHIP_FRAMES, FRAMES_NUM)
arduCAM.clear_fifo_flag()
# Main loop
while True:
capture_image()
time.sleep(5) # Capture an image every 5 seconds
# Function to capture an image
def capture_image():
print("Capturing image...")
arduCAM.flush_fifo()
arduCAM.clear_fifo_flag()
arduCAM.start_capture()
# Wait for image to be captured
while not arduCAM.get_bit(ARDUCHIP_TRIG, CAP_DONE_MASK):
pass
# Get image length
length = arduCAM.read_fifo_length()
print("Image length:", length)
if length >= MAX_FIFO_SIZE:
print("FIFO overflow!")
return
# Read image data from FIFO
image = arduCAM.read_fifo(length)
# Save image to SD card (optional)
# e.g., SD.write(image, length)
print("Image captured!")
if __name__ == "__main__":
main()
; Initialize ArduCAM
INIT_ARDUCAM:
; Write value 0x55 to ARDUCHIP_TEST1 register to test connection
WRITE_REG ARDUCHIP_TEST1, 0x55
; Check if the connection test passed
READ_REG ARDUCHIP_TEST1, R0
CMP R0, 0x55
BNE ARDUCAM_FAILED
; Connection test passed, proceed with initialization
; Add initialization code here
; ...
JMP ARDUCAM_SUCCESS
ARDUCAM_FAILED:
; Connection test failed, handle error
; Add error handling code here
; ...
ARDUCAM_SUCCESS:
; Initialization successful, continue with other operations
; Add main loop code here
; ...
JMP MAIN_LOOP
MAIN_LOOP:
; Capture image
CAPTURE_IMAGE:
; Flush FIFO
FLUSH_FIFO
; Start capture
START_CAPTURE
; Wait for capture to complete
WAIT_FOR_CAPTURE_COMPLETE
; Get image length
GET_IMAGE_LENGTH
; Read image data from FIFO
READ_IMAGE_DATA
; Save image data (optional)
; Add code to save image data here
; ...
; Delay for some time
DELAY 5000 ; Delay for 5 seconds
; Repeat
JMP MAIN_LOOP
; Subroutines for ArduCAM operations (to be implemented)
WRITE_REG:
; Write data to a register
; Add implementation here
; ...
RET
READ_REG:
; Read data from a register
; Add implementation here
; ...
RET
FLUSH_FIFO:
; Flush FIFO buffer
; Add implementation here
; ...
RET
START_CAPTURE:
; Start image capture process
; Add implementation here
; ...
RET
WAIT_FOR_CAPTURE_COMPLETE:
; Wait for capture process to complete
; Add implementation here
; ...
RET
GET_IMAGE_LENGTH:
; Get length of captured image data
; Add implementation here
; ...
RET
READ_IMAGE_DATA:
; Read image data from FIFO buffer
; Add implementation here
; ...
RET
DELAY:
; Delay for a specified duration
; Add implementation here
; ...
RET
#define RELAY_PIN 9 // Pin connected to the relay control
void setup() {
pinMode(RELAY_PIN, OUTPUT);
}
void loop() {
// Turn on the monitor
turnMonitorOn();
delay(5000); // Wait for 5 seconds
// Turn off the monitor
turnMonitorOff();
delay(5000); // Wait for 5 seconds
}
void turnMonitorOn() {
digitalWrite(RELAY_PIN, HIGH); // Activate the relay to turn the monitor on
}
void turnMonitorOff() {
digitalWrite(RELAY_PIN, LOW); // Deactivate the relay to turn the monitor off
}
import edu.wpi.first.wpilibj.Servo;
public class MonitorControl {
private static final int RELAY_PIN = 9; // Pin connected to the relay control
public static void main(String[] args) {
// Initialize GPIO pin
Servo relay = new Servo(RELAY_PIN); // Servo object for the relay control
try {
while (true) {
// Turn on the monitor
turnMonitorOn(relay);
Thread.sleep(5000); // Wait for 5 seconds
// Turn off the monitor
turnMonitorOff(relay);
Thread.sleep(5000); // Wait for 5 seconds
}
} catch (InterruptedException e) {
e.printStackTrace();
}
}
// Function to turn the monitor on
private static void turnMonitorOn(Servo relay) {
relay.setAngle(180); // Activate the relay to turn the monitor on
}
// Function to turn the monitor off
private static void turnMonitorOff(Servo relay) {
relay.setAngle(0); // Deactivate the relay to turn the monitor off
}
}
import RPi.GPIO as GPIO
import time
RELAY_PIN = 9 # Pin connected to the relay control
# Setup GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setup(RELAY_PIN, GPIO.OUT)
# Function to turn the monitor on
def turn_monitor_on():
GPIO.output(RELAY_PIN, GPIO.HIGH) # Activate the relay to turn the monitor on
# Function to turn the monitor off
def turn_monitor_off():
GPIO.output(RELAY_PIN, GPIO.LOW) # Deactivate the relay to turn the monitor off
# Main loop
try:
while True:
# Turn on the monitor
turn_monitor_on()
time.sleep(5) # Wait for 5 seconds
# Turn off the monitor
turn_monitor_off()
time.sleep(5) # Wait for 5 seconds
except KeyboardInterrupt:
GPIO.cleanup()
; Define constants
RELAY_PIN EQU 9 ; Pin connected to the relay control
; Define register usage
REG_DELAY R0 ; Delay register
; Initialize
INIT:
; Setup GPIO pin for relay control
GPIO_SETUP RELAY_PIN, OUTPUT
; Main loop
MAIN_LOOP:
; Turn on the monitor
TURN_MONITOR_ON
; Delay for 5 seconds
MOV R0, #5000
CALL DELAY
; Turn off the monitor
TURN_MONITOR_OFF
; Delay for 5 seconds
MOV R0, #5000
CALL DELAY
; Repeat
B MAIN_LOOP
; Subroutine to turn the monitor on
TURN_MONITOR_ON:
; Activate the relay to turn the monitor on
GPIO_WRITE RELAY_PIN, HIGH
RET
; Subroutine to turn the monitor off
TURN_MONITOR_OFF:
; Deactivate the relay to turn the monitor off
GPIO_WRITE RELAY_PIN, LOW
RET
; Subroutine for delay
DELAY:
; Loop for delay
DELAY_LOOP:
; Decrement delay register
SUBS R0, R0, #1
; Check if delay complete
BEQ DELAY_DONE
; Repeat delay loop
B DELAY_LOOP
DELAY_DONE:
RET
#define SPEAKER_PIN 9 // Pin connected to the relay or transistor
void setup() {
pinMode(SPEAKER_PIN, OUTPUT);
}
void loop() {
// Turn on the speakers
turnSpeakersOn();
delay(5000); // Wait for 5 seconds
// Turn off the speakers
turnSpeakersOff();
delay(5000); // Wait for 5 seconds
}
void turnSpeakersOn() {
digitalWrite(SPEAKER_PIN, HIGH); // Activate the relay or transistor to turn the speakers on
}
void turnSpeakersOff() {
digitalWrite(SPEAKER_PIN, LOW); // Deactivate the relay or transistor to turn the speakers off
}
import edu.wpi.first.wpilibj.Servo;
public class SpeakerControl {
private static final int SPEAKER_PIN = 9; // Pin connected to the relay or transistor
public static void main(String[] args) {
// Initialize GPIO pin
Servo speaker = new Servo(SPEAKER_PIN); // Servo object for the relay or transistor
try {
while (true) {
// Turn on the speakers
turnSpeakersOn(speaker);
Thread.sleep(5000); // Wait for 5 seconds
// Turn off the speakers
turnSpeakersOff(speaker);
Thread.sleep(5000); // Wait for 5 seconds
}
} catch (InterruptedException e) {
e.printStackTrace();
}
}
// Function to turn the speakers on
private static void turnSpeakersOn(Servo speaker) {
speaker.setAngle(180); // Activate the relay or transistor to turn the speakers on
}
// Function to turn the speakers off
private static void turnSpeakersOff(Servo speaker) {
speaker.setAngle(0); // Deactivate the relay or transistor to turn the speakers off
}
}
import RPi.GPIO as GPIO
import time
SPEAKER_PIN = 9 # Pin connected to the relay or transistor
# Setup GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setup(SPEAKER_PIN, GPIO.OUT)
# Function to turn the speakers on
def turn_speakers_on():
GPIO.output(SPEAKER_PIN, GPIO.HIGH) # Activate the relay or transistor to turn the speakers on
# Function to turn the speakers off
def turn_speakers_off():
GPIO.output(SPEAKER_PIN, GPIO.LOW) # Deactivate the relay or transistor to turn the speakers off
# Main loop
try:
while True:
# Turn on the speakers
turn_speakers_on()
time.sleep(5) # Wait for 5 seconds
# Turn off the speakers
turn_speakers_off()
time.sleep(5) # Wait for 5 seconds
except KeyboardInterrupt:
GPIO.cleanup()
; Define constants
SPEAKER_PIN EQU 9 ; Pin connected to the relay or transistor
; Define register usage
REG_DELAY R0 ; Delay register
; Initialize
INIT:
; Setup GPIO pin for speaker control
GPIO_SETUP SPEAKER_PIN, OUTPUT
; Main loop
MAIN_LOOP:
; Turn on the speakers
TURN_SPEAKERS_ON
; Delay for 5 seconds
MOV R0, #5000
CALL DELAY
; Turn off the speakers
TURN_SPEAKERS_OFF
; Delay for 5 seconds
MOV R0, #5000
CALL DELAY
; Repeat
B MAIN_LOOP
; Subroutine to turn the speakers on
TURN_SPEAKERS_ON:
; Activate the relay or transistor to turn the speakers on
GPIO_WRITE SPEAKER_PIN, HIGH
RET
; Subroutine to turn the speakers off
TURN_SPEAKERS_OFF:
; Deactivate the relay or transistor to turn the speakers off
GPIO_WRITE SPEAKER_PIN, LOW
RET
; Subroutine for delay
DELAY:
; Loop for delay
DELAY_LOOP:
; Decrement delay register
SUBS R0, R0, #1
; Check if delay complete
BEQ DELAY_DONE
; Repeat delay loop
B DELAY_LOOP
DELAY_DONE:
RET
#define SOUND_SENSOR_PIN A0 // Analog pin connected to the sound sensor
void setup() {
Serial.begin(9600);
}
void loop() {
int soundLevel = analogRead(SOUND_SENSOR_PIN);
Serial.println("Sound Level: " + String(soundLevel));
delay(1000); // Read and print sound level every second
}
import edu.wpi.first.wpilibj.AnalogInput;
public class SoundSensor {
private static final int SOUND_SENSOR_PIN = 0; // Analog pin connected to the sound sensor
public static void main(String[] args) {
// Initialize analog input
AnalogInput soundSensor = new AnalogInput(SOUND_SENSOR_PIN);
try {
while (true) {
// Read sound level
int soundLevel = soundSensor.getValue();
System.out.println("Sound Level: " + soundLevel);
Thread.sleep(1000); // Read and print sound level every second
}
} catch (InterruptedException e) {
e.printStackTrace();
}
}
}
import time
import board
import analogio
SOUND_SENSOR_PIN = board.A0 # Analog pin connected to the sound sensor
# Setup analog input
sound_sensor = analogio.AnalogIn(SOUND_SENSOR_PIN)
# Main loop
try:
while True:
# Read sound level
sound_level = sound_sensor.value
print("Sound Level:", sound_level)
time.sleep(1) # Read and print sound level every second
except KeyboardInterrupt:
pass # Handle keyboard interrupt gracefully
; Define constants
SOUND_SENSOR_PIN EQU A0 ; Analog pin connected to the sound sensor
; Initialize
INIT:
; Setup serial communication
SERIAL_SETUP 9600
; Main loop
MAIN_LOOP:
; Read sound level
READ_SOUND_LEVEL SOUND_SENSOR_PIN
; Print sound level
PRINT_SOUND_LEVEL
; Delay for 1 second
DELAY 1000
; Repeat
B MAIN_LOOP
; Subroutine to read sound level
READ_SOUND_LEVEL:
; Read analog input value
ADC_READ R0, SOUND_SENSOR_PIN
RET
; Subroutine to print sound level
PRINT_SOUND_LEVEL:
; Convert sound level to string
; Print sound level
RET
; Subroutine for delay
DELAY:
; Delay for a specified duration
; Implementation needed
RET
#include <Servo.h>
#define HEAD_SERVO_PIN 9 // Pin connected to the servo controlling head movement
Servo headServo; // Servo object for controlling head movement
void setup() {
headServo.attach(HEAD_SERVO_PIN); // Attach the servo to the specified pin
}
void loop() {
moveHeadLeft();
delay(2000); // Wait for 2 seconds
moveHeadRight();
delay(2000); // Wait for 2 seconds
}
void moveHeadLeft() {
headServo.write(90); // Adjust angle as needed for left movement
}
void moveHeadRight() {
headServo.write(0); // Adjust angle as needed for right movement
}
import edu.wpi.first.wpilibj.Servo;
public class HeadControl {
private static final int HEAD_SERVO_PIN = 9; // Pin connected to the servo controlling head movement
public static void main(String[] args) {
// Initialize servo object
Servo headServo = new Servo(HEAD_SERVO_PIN);
try {
while (true) {
// Move head left
moveHeadLeft(headServo);
Thread.sleep(2000); // Wait for 2 seconds
// Move head right
moveHeadRight(headServo);
Thread.sleep(2000); // Wait for 2 seconds
}
} catch (InterruptedException e) {
e.printStackTrace();
}
}
// Function to move head left
private static void moveHeadLeft(Servo servo) {
servo.setAngle(90); // Adjust angle as needed for left movement
}
// Function to move head right
private static void moveHeadRight(Servo servo) {
servo.setAngle(0); // Adjust angle as needed for right movement
}
}
import RPi.GPIO as GPIO
import time
HEAD_SERVO_PIN = 9 # Pin connected to the servo controlling head movement
# Setup GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setup(HEAD_SERVO_PIN, GPIO.OUT)
# Initialize servo object
head_servo = GPIO.PWM(HEAD_SERVO_PIN, 50) # 50 Hz PWM frequency
head_servo.start(0) # Start servo at 0 degree position
# Function to move head left
def move_head_left():
head_servo.ChangeDutyCycle(7.5) # Adjust duty cycle as needed for left movement
# Function to move head right
def move_head_right():
head_servo.ChangeDutyCycle(2.5) # Adjust duty cycle as needed for right movement
# Main loop
try:
while True:
# Move head left
move_head_left()
time.sleep(2) # Wait for 2 seconds
# Move head right
move_head_right()
time.sleep(2) # Wait for 2 seconds
except KeyboardInterrupt:
head_servo.stop()
GPIO.cleanup()
; Define constants
HEAD_SERVO_PIN EQU 9 ; Pin connected to the servo controlling head movement
; Initialize
INIT:
; Setup GPIO pin for head servo control
GPIO_SETUP HEAD_SERVO_PIN, OUTPUT
; Main loop
MAIN_LOOP:
; Move head left
MOVE_HEAD_LEFT
; Delay for 2 seconds
DELAY 2000
; Move head right
MOVE_HEAD_RIGHT
; Delay for 2 seconds
DELAY 2000
; Repeat
B MAIN_LOOP
; Subroutine to move head left
MOVE_HEAD_LEFT:
; Adjust duty cycle for left movement
; IMPLEMENTATION_NEEDED
RET
; Subroutine to move head right
MOVE_HEAD_RIGHT:
; Adjust duty cycle for right movement
; IMPLEMENTATION_NEEDED
RET
; Subroutine for delay
DELAY:
; Delay for a specified duration
; IMPLEMENTATION_NEEDED
RET