| 公式版 |
Raspberry Pi 公式ACアダプター(27W USB PD Type-C) 秋月電子通商（黒） / 秋月電子通商（白） / 千石電商（黒） |
| スイッチサイエンス版 |
ラズパイ5に最適なACアダプター 5.1V/5.0A USB-PD Type-Cコネクタ出力 スイッチサイエンス |
| KSY版 |
USB電源アダプター 5V/5A Type C 1.2m KSY / 千石電商 |
| パーツ | 個数 |
| ブレッドボード BB-801：105294 | 1 |
| ブレッドボード・ジャンパーワイヤ(オス-メス) 15cm(赤)：108933 | 2パックで20本 |
| ブレッドボード・ジャンパーワイヤ(オス-オス) ：105159 | 1パックで60本以上 |
| カーボン抵抗(炭素皮膜抵抗) 1/4W330Ω125331 | 1パックで100本入り |
| カーボン抵抗(炭素皮膜抵抗) 1/4W10kΩ125103 | 1パックで100本入り |
| 3mm赤色LED 660nm 250mcd LT3U31P：102320 | 1パックで10個入り |
| RGBフルカラーLED 5mm OSTA5131A カソードコモン：102476 | 1 |
| LED光拡散キャップ 5mm 白：100641 | 1 |
| タクトスイッチ(黒色)：103647 | 3 |
| 半固定ボリューム 10kΩ[103]：108012 | 3 |
| CdSセル 5mmタイプ：100110 | 1 |
| 積層セラミックコンデンサー 0.01μ50V X7R 2.54mm：104063 | 1パックで10個入り |
| 12bit 8ch ADコンバーター MCP3208-CI/P：100238 | 1 |
| DCモーター FA-130RA-2270L：109169 | 1 |
| マイクロサーボ9g SG-90：108761 | 1 |
| DRV8835使用ステッピング&DCモータードライバーモジュール：109848 | 1 |
|
電池ボックス 単3×3本 リード線・スイッチ付：112240 |
1 |
| ADT7410使用 高精度・高分解能 I2C・16Bit 温度センサーモジュール：106675 | 1 |
| Raspberry Pi キャラクター液晶ディスプレイモジュール完成品：111753 | 1 |
sudo apt updateそれが終わったら、次のコマンドで OpenCV をインストールできます。
sudo apt -y install python3-opencv
sudo apt update sudo apt -y install mplayer
cd gihyoそのターミナルで以下のコマンドを実行すると、05-07-test.mp3 というサンプル音声を再生することができます。デフォルトでは HDMI 接続したディスプレイから音声が鳴るでしょう。
mplayer 05-07-test.mp3これらのコマンドは、p.122の6.5章でも用いられます。
i2cdetect -y 1
cd gihyoそのターミナルから 07-02-LCD.py を実行するコマンドは以下の通りです。付録C.3「タブによる補完」を学ぶと、ターミナルでのプログラムの実行が格段に楽になりますので興味のある方は参考にしてください。
python3 07-02-LCD.pyこのコマンドに、「'test'」という引数をつけて実行する場合のコマンドは下記の通りです。p.137に記した通り、「↑」キーにより過去に実行したコマンドを再表示すると楽にこのコマンドを記述できます。
python3 07-02-LCD.py 'test'
sudo mousepad /etc/rc.localさて、このコマンドを実行したとき、既存ファイルである /etc/rc.local がテキストエディタ mousepad で開かれます。そうなった方は先に進んで構いません。
wget https://raw.githubusercontent.com/neuralassembly/raspi/refs/heads/master/rc.local chmod a+x rc.local sudo mv rc.local /etcこの3コマンドを実行してファイル /etc/rc.local を作成したら、上記の mousepad で /etc/rc.local を開くコマンドを実行し、以下に進みましょう。
python3 /home/kanamaru/gihyo/07-03-LCD-temp.py &さらに、/etc/rc.local の「exit 0」の行の上に記すべき、シャットダウンボタン用のコマンドは下記の通りです。やはり、「kanamaru」の部分は皆さんのユーザー名で置き換える必要があります。末尾の「&」も忘れずに記述しましょう。
python3 /home/kanamaru/gihyo/05-06-sw-poweroff.py &
sudo mousepad /boot/firmware/config.txtなお、執筆時の Legacy OS である Bullseye ではファイルが /boot/config.txt であるため、コマンドは下記に変更されます。
sudo mousepad /boot/config.txtそして、そのファイルの末尾に記すべき一行は下記の通りです。
dtoverlay=pwm-2chan記した後ファイルを上書き保存し、Raspberry Pi を再起動するのでした。
| kernel 6.6 までの Pi 5 | /sys/class/pwm/pwmchip2/pwm{2,3} |
| kernel 6.12 以降の Pi 5 | /sys/class/pwm/pwmchip0/pwm{2,3} |
| Pi Zero ～ Pi 4 | /sys/class/pwm/pwmchip0/pwm{0,1} |
sudo apt update sudo apt -y install python3-fastapi
ifconfig
cd gihyo/09-01-led python3 app.py同様に、9章のすべての実行コマンドを一気に列挙します。
cd gihyo/09-02-temp python3 app.py
cd gihyo/09-03-rgbled python3 app.py
cd gihyo/09-04-dcmotor python3 app.py
cd gihyo/09-05-servo python3 app.pyなお、「ターミナルに新規に開いて実行」ではなく、例えば「今 09-01-led フォルダにいるが、次に 09-02-temp フォルダの app.py を実行したい」などという場合、実行すべきコマンドは以下のようになるでしょう。
cd ../09-02-temp python3 app.py
cd gihyo/10-01-tank python3 app.py
cd gihyo/10-01-tank mousepad webtank.service
sudo mv webtank.service /etc/systemd/system/
sudo systemctl enable webtank
sudo mousepad /etc/rc.localさて、このコマンドを実行したとき、既存ファイルである /etc/rc.local がテキストエディタ mousepad で開かれます。そうなった方は先に進んで構いません。
wget https://raw.githubusercontent.com/neuralassembly/raspi/refs/heads/master/rc.local chmod a+x rc.local sudo mv rc.local /etcこの3コマンドを実行してファイル /etc/rc.local を作成したら、上記の mousepad で /etc/rc.local を開くコマンドを実行し、以下に進みましょう。
python3 /home/kanamaru/gihyo/07-02-LCD.py $_IPなお、上のコマンドの「kanamaru」の部分はみなさんのユーザー名に変更する必要があります。
python3 /home/kanamaru/gihyo/10-04-sw-poweroff.py &なお、上のコマンドの「kanamaru」の部分はみなさんのユーザー名に変更する必要があります。
(1) sudo apt update (2) sudo apt -y install libjpeg-dev cmake libcamera-dev (3) git clone https://github.com/neuralpi/mjpg-streamer (4) cd mjpg-streamer/mjpg-streamer-experimental (5) make (6) cd (7) sudo mv mjpg-streamer/mjpg-streamer-experimental /opt/mjpg-streamerなお、OS として Bullseye やリリース直後の Bookworm をお使いの方は、上記の (5) で LibCamera.cpp のビルド中にエラーが起こると思います。その場合、エラーが出た状態から以下の 8 コマンドを一つずつ順に実行してください。この 8 コマンドが上記 (5)～(7) の代替、というイメージです。
rm -rf _build mkdir _build cd _build cmake -DLIBCAMERA_USES_TRANSFORM=ON .. cd .. make cd sudo mv mjpg-streamer/mjpg-streamer-experimental /opt/mjpg-streamer
python3 /home/kanamaru/gihyo/10-05-stream.py &なお、上のコマンドの「kanamaru」の部分はみなさんのユーザー名に変更する必要があります。
sudo mousepad /etc/systemd/system/webtank.service
sudo systemctl disable webtank
git clone https://github.com/neuralpi/gihyo
sudo apt update sudo apt -y install git
unzip gihyo-master.zip mv gihyo-master gihyo
set tabsize "4" set tabstospaces
set expandtab set tabstop=4 set softtabstop=4 set shiftwidth=4
raspberrypi.local9章の演習で用いるアドレスの形式で書くと、例えば以下のようになるでしょう。
http://raspberrypi.local:8000/9-1
sudo raspi-config
sudo apt update sudo apt -y install fcitx-mozcなお、画面描画の仕組みを Wayland から X11 に変更し、fcitx-mozc を正常に使えるようにするには、下記の手順に従います。
sudo apt -y install fonts-vlgothic
import sys
import network
import socket
from time import sleep
from machine import Pin, I2C
led = Pin(16, Pin.OUT)
i2c = I2C(0, scl=Pin(5), sda=Pin(4), freq=400000)
i2c.scan()
ssid = 'YOUR_WIFI_SSID'
password = 'YOUR_WIFI_PASSWORD'
##### for LCD
def setup_st7032():
c_lower = (contrast & 0xf)
c_upper = (contrast & 0x30)>>4
i2c.writeto_mem(address_st7032, register_setting, bytes([0x38, 0x39, 0x14, 0x70|c_lower, 0x54|c_upper, 0x6c]))
sleep(0.2)
i2c.writeto_mem(address_st7032, register_setting, bytes([0x38, 0x0d, 0x01]))
sleep(0.001)
def clear():
global position
global line
position = 0
line = 0
i2c.writeto_mem(address_st7032, register_setting, bytes([0x01]))
sleep(0.001)
def newline():
global position
global line
if line == display_lines-1:
clear()
else:
line += 1
position = chars_per_line*line
i2c.writeto_mem(address_st7032, register_setting, bytes([0xc0]))
sleep(0.001)
def write_string(s):
for c in list(s):
write_char(ord(c))
def write_char(c):
global position
byte_data = check_writable(c)
if position == display_chars:
clear()
elif position == chars_per_line*(line+1):
newline()
i2c.writeto_mem(address_st7032, register_display, bytes([byte_data]))
position += 1
def check_writable(c):
if c >= 0x06 and c <= 0xff :
return c
else:
return 0x20 # 空白文字
address_st7032 = 0x3e
register_setting = 0x00
register_display = 0x40
contrast = 32 # 0から63のコントラスト。30から40程度を推奨
chars_per_line = 8 # LCDの横方向の文字数
display_lines = 2 # LCDの行数
display_chars = chars_per_line*display_lines
position = 0
line = 0
setup_st7032()
##### end of LCD
wlan = network.WLAN(network.STA_IF)
wlan.active(True)
wlan.connect(ssid, password)
html = """<!DOCTYPE html><html>
<head><meta charset="utf-8">
<meta name="viewport" content="width=device-width, user-scalable=no">
<title>1 - LEDの点灯制御</title>
<style>button {
width: auto;
height: auto;
background: %s;
font-weight: normal;
font-size: 14pt;
font-family: Arial, Helvetica, sans-serif;
font-size: 14px;
color: #ffffff;
padding: 10px 20px;
-moz-border-radius: 10px;
-webkit-border-radius: 10px;
border-radius: 10px;
border: 1px solid #003366;
-moz-box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
-webkit-box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
text-shadow:
0px -1px 0px rgba(000,000,000,0.7),
0px 1px 0px rgba(255,255,255,0.3);
}
</style></head>
<p>下のボタンを押すごとに、LEDの点灯状態が変化します。</p>
<div align="center">
<form><button name="led" value="toggle" type="submit">LED</button></form>
</div>
</body></html>
"""
# Wait for connect or fail
max_wait = 20
while max_wait > 0:
if wlan.status() < 0 or wlan.status() >= 3:
break
max_wait -= 1
print('waiting for connection...')
write_string('waiting for conn') #showing on LCD
sleep(1)
# Handle connection error
if wlan.status() != 3:
write_string('conn. failed') # showing on LCD
raise RuntimeError('network connection failed')
else:
print('Connected')
status = wlan.ifconfig()
print( 'ip = ' + status[0] )
write_string(status[0]) #showing on LCD
# Open socket
addr = socket.getaddrinfo('0.0.0.0', 80)[0][-1]
s = socket.socket()
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
try:
s.bind(addr)
except OSError as e:
print(e)
s.close()
s = None
write_string('socket error') #showing on LCD
sys.exit()
s.listen(1)
print('listening on', addr)
ledState = 0
buttonColor = '#003366'
# Listen for connections, serve client
while True:
try:
cl, addr = s.accept()
#print('client connected from', addr)
request = cl.recv(1024)
#print("request:")
#print(request)
request = str(request)
led_toggle = request.find('led=toggle')
#print( 'led_toggle = ' + str(led_toggle))
if led_toggle == 8:
#print("led toggle")
ledState = 1 - ledState
led.value(ledState)
if ledState == 0:
buttonColor = '#003366'
else:
buttonColor = '#26a1ff'
response = html % buttonColor
cl.send('HTTP/1.0 200 OK\r\nContent-type: text/html\r\n\r\n')
cl.send(response)
cl.close()
except OSError as e:
print('connection closed')
except KeyboardInterrupt as e:
break
s.close()
s = None
このプログラムを実行するための注意をいくつか記します。本ページのプログラムにはすべて下記のように、用いている Wifi の SSID (アクセスポイント名) とそのパスワードを記す項目があります。
ここを皆さんの環境における SSID とパスワードに変更しないと本ページのプログラムは全て動作しませんのでご注意ください。なお、2.4GHzの周波数帯の Wifi アクセスポイントにしか接続できませんのでご注意ください。
ssid = 'YOUR_WIFI_SSID' password = 'YOUR_WIFI_PASSWORD'また、本ページの回路を LCD なしで実行する場合、プログラム中の下記の部分を消し、
##### for LCD （省略） ##### End of LCD下記の内容で差し替える必要があります。この変更も、本ページのすべてのプログラムで共通です。
def write_string(s):
pass
さらに、プログラムの書き換え時は、Pico W / Pico 2 W 上で動作しているプログラムを Thonny の「STOP (停止)」ボタンから一旦停止する必要があることもご注意ください。
import sys
import network
import socket
from time import sleep
from machine import Pin, I2C
ssid = 'YOUR_WIFI_SSID'
password = 'YOUR_WIFI_PASSWORD'
i2c = I2C(0, scl=Pin(5), sda=Pin(4), freq=400000)
i2c.scan()
##### for temperature sensor
def read_adt7410():
word_data = int.from_bytes(i2c.readfrom_mem(address_adt7410, register_adt7410, 4), 'little')
data = (word_data & 0xff00)>>8 | (word_data & 0xff)<<8
data = data>>3 # 13ビットデータ
if data & 0x1000 == 0: # 温度が正または0の場合
temperature = data*0.0625
else: # 温度が負の場合、 絶対値を取ってからマイナスをかける
temperature = ( (~data&0x1fff) + 1)*-0.0625
return temperature
address_adt7410 = 0x48
register_adt7410 = 0x00
##### end of temperature sensor
##### for LCD
def setup_st7032():
c_lower = (contrast & 0xf)
c_upper = (contrast & 0x30)>>4
i2c.writeto_mem(address_st7032, register_setting, bytes([0x38, 0x39, 0x14, 0x70|c_lower, 0x54|c_upper, 0x6c]))
sleep(0.2)
i2c.writeto_mem(address_st7032, register_setting, bytes([0x38, 0x0d, 0x01]))
sleep(0.001)
def clear():
global position
global line
position = 0
line = 0
i2c.writeto_mem(address_st7032, register_setting, bytes([0x01]))
sleep(0.001)
def newline():
global position
global line
if line == display_lines-1:
clear()
else:
line += 1
position = chars_per_line*line
i2c.writeto_mem(address_st7032, register_setting, bytes([0xc0]))
sleep(0.001)
def write_string(s):
for c in list(s):
write_char(ord(c))
def write_char(c):
global position
byte_data = check_writable(c)
if position == display_chars:
clear()
elif position == chars_per_line*(line+1):
newline()
i2c.writeto_mem(address_st7032, register_display, bytes([byte_data]))
position += 1
def check_writable(c):
if c >= 0x06 and c <= 0xff :
return c
else:
return 0x20 # 空白文字
address_st7032 = 0x3e
register_setting = 0x00
register_display = 0x40
contrast = 32 # 0から63のコントラスト。30から40程度を推奨
chars_per_line = 8 # LCDの横方向の文字数
display_lines = 2 # LCDの行数
display_chars = chars_per_line*display_lines
position = 0
line = 0
setup_st7032()
##### end of LCD
wlan = network.WLAN(network.STA_IF)
wlan.active(True)
wlan.connect(ssid, password)
# refresh per 5 sec.
html = """<!DOCTYPE html><html>
<head><meta charset="utf-8">
<meta name="viewport" content="width=device-width, user-scalable=no">
<meta http-equiv="refresh" content="5">
<title>2 - I2C温度センサ(ADT7410)による温度の取得</title>
</head>
<div align="center">
<p>温度: %s</p>
</div>
</body></html>
"""
# Wait for connect or fail
max_wait = 20
while max_wait > 0:
if wlan.status() < 0 or wlan.status() >= 3:
break
max_wait -= 1
print('waiting for connection...')
write_string('waiting for conn') #showing on LCD
sleep(1)
# Handle connection error
if wlan.status() != 3:
write_string('conn. failed') # showing on LCD
raise RuntimeError('network connection failed')
else:
print('Connected')
status = wlan.ifconfig()
print( 'ip = ' + status[0] )
write_string(status[0]) #showing on LCD
# Open socket
addr = socket.getaddrinfo('0.0.0.0', 80)[0][-1]
s = socket.socket()
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
try:
s.bind(addr)
except OSError as e:
print(e)
s.close()
s = None
write_string('socket error') #showing on LCD
sys.exit()
s.listen(1)
print('listening on', addr)
# Listen for connections, serve client
while True:
try:
cl, addr = s.accept()
#print('client connected from', addr)
request = cl.recv(1024)
#print("request:")
#print(request)
request = str(request)
inputValue = read_adt7410()
inputStr = '{:.1f}'.format(inputValue)
response = html % inputStr
cl.send('HTTP/1.0 200 OK\r\nContent-type: text/html\r\n\r\n')
cl.send(response)
cl.close()
except OSError as e:
print('connection closed')
except KeyboardInterrupt as e:
break
s.close()
s = None
なお、「1. ブラウザのボタンによるLEDの点灯」で述べたように、YOUR_WIFI_SSID と YOUR_WIFI_PASSWORD を自分の環境のものに変更することと、
LCD なしでプログラムを実行したい場合は「# for LCD ～ # End of LCD」の部分の差し替えが必要ですのでご注意ください。
<meta http-equiv="refresh" content="5">
import sys
import network
import socket
from time import sleep
from machine import Pin, PWM, I2C
pwm1 = PWM(Pin(16))
pwm2 = PWM(Pin(17))
pwm3 = PWM(Pin(18))
pwm1.freq(100)
pwm2.freq(100)
pwm3.freq(100)
pwm1.duty_u16(0)
pwm2.duty_u16(0)
pwm3.duty_u16(0)
# アノードコモンの場合、下記の3行を有効に
#pwm1.duty_u16(65535)
#pwm2.duty_u16(65535)
#pwm3.duty_u16(65535)
i2c = I2C(0, scl=Pin(5), sda=Pin(4), freq=400000)
i2c.scan()
ssid = 'YOUR_WIFI_SSID'
password = 'YOUR_WIFI_PASSWORD'
##### for LCD
def setup_st7032():
c_lower = (contrast & 0xf)
c_upper = (contrast & 0x30)>>4
i2c.writeto_mem(address_st7032, register_setting, bytes([0x38, 0x39, 0x14, 0x70|c_lower, 0x54|c_upper, 0x6c]))
sleep(0.2)
i2c.writeto_mem(address_st7032, register_setting, bytes([0x38, 0x0d, 0x01]))
sleep(0.001)
def clear():
global position
global line
position = 0
line = 0
i2c.writeto_mem(address_st7032, register_setting, bytes([0x01]))
sleep(0.001)
def newline():
global position
global line
if line == display_lines-1:
clear()
else:
line += 1
position = chars_per_line*line
i2c.writeto_mem(address_st7032, register_setting, bytes([0xc0]))
sleep(0.001)
def write_string(s):
for c in list(s):
write_char(ord(c))
def write_char(c):
global position
byte_data = check_writable(c)
if position == display_chars:
clear()
elif position == chars_per_line*(line+1):
newline()
i2c.writeto_mem(address_st7032, register_display, bytes([byte_data]))
position += 1
def check_writable(c):
if c >= 0x06 and c <= 0xff :
return c
else:
return 0x20 # 空白文字
address_st7032 = 0x3e
register_setting = 0x00
register_display = 0x40
contrast = 32 # 0から63のコントラスト。30から40程度を推奨
chars_per_line = 8 # LCDの横方向の文字数
display_lines = 2 # LCDの行数
display_chars = chars_per_line*display_lines
position = 0
line = 0
setup_st7032()
##### end of LCD
wlan = network.WLAN(network.STA_IF)
wlan.active(True)
wlan.connect(ssid, password)
html = """<!DOCTYPE html><html>
<head><meta charset="utf-8">
<meta name="viewport" content="width=device-width, user-scalable=no">
<title>3 - RGBフルカラーLEDの制御</title>
<style>button {
width: auto;
height: auto;
background: #003366;
font-weight: normal;
font-size: 14pt;
font-family: Arial, Helvetica, sans-serif;
font-size: 14px;
color: #ffffff;
padding: 10px 20px;
-moz-border-radius: 10px;
-webkit-border-radius: 10px;
border-radius: 10px;
border: 1px solid #003366;
-moz-box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
-webkit-box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
text-shadow:
0px -1px 0px rgba(000,000,000,0.7),
0px 1px 0px rgba(255,255,255,0.3);
}
</style></head>
<p>ボタンをクリックすることで、RGBフルカラーLEDの色が変わります。</p>
<p>どの行のボタンが赤、青、緑の何色に対応するかは用いるRGBフルカラーLEDの種類によって異なります。</p>
<div align="center">
<form>色 1 <button name="col1_0" value="on" type="submit" style="background: %s;"> 0 </button>
<button name="col1_1" value="on" type="submit" style="background: %s;"> 1 </button>
<button name="col1_2" value="on" type="submit" style="background: %s;"> 2 </button>
<button name="col1_3" value="on" type="submit" style="background: %s;"> 3 </button>
<button name="col1_4" value="on" type="submit" style="background: %s;"> 4 </button>
</form>
<br /><br />
<form>色 2 <button name="col2_0" value="on" type="submit" style="background: %s;"> 0 </button>
<button name="col2_1" value="on" type="submit" style="background: %s;"> 1 </button>
<button name="col2_2" value="on" type="submit" style="background: %s;"> 2 </button>
<button name="col2_3" value="on" type="submit" style="background: %s;"> 3 </button>
<button name="col2_4" value="on" type="submit" style="background: %s;"> 4 </button>
</form>
<br /><br />
<form>色 3 <button name="col3_0" value="on" type="submit" style="background: %s;"> 0 </button>
<button name="col3_1" value="on" type="submit" style="background: %s;"> 1 </button>
<button name="col3_2" value="on" type="submit" style="background: %s;"> 2 </button>
<button name="col3_3" value="on" type="submit" style="background: %s;"> 3 </button>
<button name="col3_4" value="on" type="submit" style="background: %s;"> 4 </button>
</form>
<br /><br />
</div>
</body></html>
"""
# Wait for connect or fail
max_wait = 20
while max_wait > 0:
if wlan.status() < 0 or wlan.status() >= 3:
break
max_wait -= 1
print('waiting for connection...')
write_string('waiting for conn') #showing on LCD
sleep(1)
# Handle connection error
if wlan.status() != 3:
write_string('conn. failed') # showing on LCD
raise RuntimeError('network connection failed')
else:
print('Connected')
status = wlan.ifconfig()
print( 'ip = ' + status[0] )
write_string(status[0]) #showing on LCD
# Open socket
addr = socket.getaddrinfo('0.0.0.0', 80)[0][-1]
s = socket.socket()
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
try:
s.bind(addr)
except OSError as e:
print(e)
s.close()
s = None
write_string('socket error') #showing on LCD
sys.exit()
s.listen(1)
print('listening on', addr)
onCol = '#26a1ff'
offCol = '#003366'
col1_strs = (onCol, offCol, offCol, offCol, offCol)
col2_strs = (onCol, offCol, offCol, offCol, offCol)
col3_strs = (onCol, offCol, offCol, offCol, offCol)
colall_strs = col1_strs + col2_strs + col3_strs
buttonValMax = 4
# Listen for connections, serve client
while True:
try:
cl, addr = s.accept()
#print('client connected from', addr)
request = cl.recv(1024)
#print("request:")
#print(request)
request = str(request)
col1_0_on = request.find('col1_0=on')
col1_1_on = request.find('col1_1=on')
col1_2_on = request.find('col1_2=on')
col1_3_on = request.find('col1_3=on')
col1_4_on = request.find('col1_4=on')
col2_0_on = request.find('col2_0=on')
col2_1_on = request.find('col2_1=on')
col2_2_on = request.find('col2_2=on')
col2_3_on = request.find('col2_3=on')
col2_4_on = request.find('col2_4=on')
col3_0_on = request.find('col3_0=on')
col3_1_on = request.find('col3_1=on')
col3_2_on = request.find('col3_2=on')
col3_3_on = request.find('col3_3=on')
col3_4_on = request.find('col3_4=on')
if col1_0_on == 8:
col1_strs = (onCol, offCol, offCol, offCol, offCol)
duty = 0
if col1_1_on == 8:
col1_strs = (offCol, onCol, offCol, offCol, offCol)
duty = 1
if col1_2_on == 8:
col1_strs = (offCol, offCol, onCol, offCol, offCol)
duty = 2
if col1_3_on == 8:
col1_strs = (offCol, offCol, offCol, onCol, offCol)
duty = 3
if col1_4_on == 8:
col1_strs = (offCol, offCol, offCol, offCol, onCol)
duty = 4
if col2_0_on == 8:
col2_strs = (onCol, offCol, offCol, offCol, offCol)
duty = 0
if col2_1_on == 8:
col2_strs = (offCol, onCol, offCol, offCol, offCol)
duty = 1
if col2_2_on == 8:
col2_strs = (offCol, offCol, onCol, offCol, offCol)
duty = 2
if col2_3_on == 8:
col2_strs = (offCol, offCol, offCol, onCol, offCol)
duty = 3
if col2_4_on == 8:
col2_strs = (offCol, offCol, offCol, offCol, onCol)
duty = 4
if col3_0_on == 8:
col3_strs = (onCol, offCol, offCol, offCol, offCol)
duty = 0
if col3_1_on == 8:
col3_strs = (offCol, onCol, offCol, offCol, offCol)
duty = 1
if col3_2_on == 8:
col3_strs = (offCol, offCol, onCol, offCol, offCol)
duty = 2
if col3_3_on == 8:
col3_strs = (offCol, offCol, offCol, onCol, offCol)
duty = 3
if col3_4_on == 8:
col3_strs = (offCol, offCol, offCol, offCol, onCol)
duty = 4
# アノードコモンの場合、下記の行を有効に
#duty = buttonValMax - duty
if col1_0_on == 8 or col1_1_on == 8 or col1_2_on == 8 or col1_3_on == 8 or col1_4_on == 8:
pwm1.duty_u16(int(duty*65535/buttonValMax))
if col2_0_on == 8 or col2_1_on == 8 or col2_2_on == 8 or col2_3_on == 8 or col2_4_on == 8:
pwm2.duty_u16(int(duty*65535/buttonValMax))
if col3_0_on == 8 or col3_1_on == 8 or col3_2_on == 8 or col3_3_on == 8 or col3_4_on == 8:
pwm3.duty_u16(int(duty*65535/buttonValMax))
colall_strs = col1_strs + col2_strs + col3_strs
response = html % colall_strs
cl.send('HTTP/1.0 200 OK\r\nContent-type: text/html\r\n\r\n')
cl.send(response)
cl.close()
except OSError as e:
print('connection closed')
except KeyboardInterrupt as e:
break
s.close()
s = None
なお、「1. ブラウザのボタンによるLEDの点灯」で述べたように、YOUR_WIFI_SSID と YOUR_WIFI_PASSWORD を自分の環境のものに変更することと、
LCD なしでプログラムを実行したい場合は「# for LCD ～ # End of LCD」の部分の差し替えが必要ですのでご注意ください。
import sys
import network
import socket
from time import sleep
from machine import Pin, PWM, I2C
pwm1 = PWM(Pin(16))
pwm2 = PWM(Pin(17))
pwm1.freq(100)
pwm2.freq(100)
pwm1.duty_u16(0)
pwm2.duty_u16(0)
i2c = I2C(0, scl=Pin(5), sda=Pin(4), freq=400000)
i2c.scan()
ssid = 'YOUR_WIFI_SSID'
password = 'YOUR_WIFI_PASSWORD'
##### for LCD
def setup_st7032():
c_lower = (contrast & 0xf)
c_upper = (contrast & 0x30)>>4
i2c.writeto_mem(address_st7032, register_setting, bytes([0x38, 0x39, 0x14, 0x70|c_lower, 0x54|c_upper, 0x6c]))
sleep(0.2)
i2c.writeto_mem(address_st7032, register_setting, bytes([0x38, 0x0d, 0x01]))
sleep(0.001)
def clear():
global position
global line
position = 0
line = 0
i2c.writeto_mem(address_st7032, register_setting, bytes([0x01]))
sleep(0.001)
def newline():
global position
global line
if line == display_lines-1:
clear()
else:
line += 1
position = chars_per_line*line
i2c.writeto_mem(address_st7032, register_setting, bytes([0xc0]))
sleep(0.001)
def write_string(s):
for c in list(s):
write_char(ord(c))
def write_char(c):
global position
byte_data = check_writable(c)
if position == display_chars:
clear()
elif position == chars_per_line*(line+1):
newline()
i2c.writeto_mem(address_st7032, register_display, bytes([byte_data]))
position += 1
def check_writable(c):
if c >= 0x06 and c <= 0xff :
return c
else:
return 0x20 # 空白文字
address_st7032 = 0x3e
register_setting = 0x00
register_display = 0x40
contrast = 32 # 0から63のコントラスト。30から40程度を推奨
chars_per_line = 8 # LCDの横方向の文字数
display_lines = 2 # LCDの行数
display_chars = chars_per_line*display_lines
position = 0
line = 0
setup_st7032()
##### end of LCD
wlan = network.WLAN(network.STA_IF)
wlan.active(True)
wlan.connect(ssid, password)
html = """<!DOCTYPE html><html>
<head><meta charset="utf-8">
<meta name="viewport" content="width=device-width, user-scalable=no">
<title>4 - ボタンによるDCモーターの速度制御</title>
<style>button {
width: auto;
height: auto;
background: #003366;
font-weight: normal;
font-size: 14pt;
font-family: Arial, Helvetica, sans-serif;
font-size: 14px;
color: #ffffff;
padding: 10px 20px;
-moz-border-radius: 10px;
-webkit-border-radius: 10px;
border-radius: 10px;
border: 1px solid #003366;
-moz-box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
-webkit-box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
text-shadow:
0px -1px 0px rgba(000,000,000,0.7),
0px 1px 0px rgba(255,255,255,0.3);
}
</style></head>
<p>押したボタンにより、モーターが回転を開始します。中央のボタンをクリックしないとモーターは止まりません。</p>
<div align="center">
<form><button name="vel_n2" value="on" type="submit" style="background: %s;"> -2 </button>
<button name="vel_n1" value="on" type="submit" style="background: %s;"> -1 </button>
<button name="vel_0" value="on" type="submit" style="background: %s;"> 0 </button>
<button name="vel_p1" value="on" type="submit" style="background: %s;"> +1 </button>
<button name="vel_p2" value="on" type="submit" style="background: %s;"> +2 </button>
</form>
<br /><br />
</div>
</body></html>
"""
# Wait for connect or fail
max_wait = 20
while max_wait > 0:
if wlan.status() < 0 or wlan.status() >= 3:
break
max_wait -= 1
print('waiting for connection...')
write_string('waiting for conn') #showing on LCD
sleep(1)
# Handle connection error
if wlan.status() != 3:
write_string('conn. failed') # showing on LCD
raise RuntimeError('network connection failed')
else:
print('Connected')
status = wlan.ifconfig()
print( 'ip = ' + status[0] )
write_string(status[0]) #showing on LCD
# Open socket
addr = socket.getaddrinfo('0.0.0.0', 80)[0][-1]
s = socket.socket()
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
try:
s.bind(addr)
except OSError as e:
print(e)
s.close()
s = None
write_string('socket error') #showing on LCD
sys.exit()
s.listen(1)
print('listening on', addr)
onCol = '#26a1ff'
offCol = '#003366'
vel_strs = (offCol, offCol, onCol, offCol, offCol)
duty_max = 0.7
# Listen for connections, serve client
while True:
try:
cl, addr = s.accept()
#print('client connected from', addr)
request = cl.recv(1024)
#print("request:")
#print(request)
request = str(request)
vel_n2_on = request.find('vel_n2=on')
vel_n1_on = request.find('vel_n1=on')
vel_0_on = request.find('vel_0=on')
vel_p1_on = request.find('vel_p1=on')
vel_p2_on = request.find('vel_p2=on')
if vel_n2_on == 8:
vel_strs = (onCol, offCol, offCol, offCol, offCol)
pwm2.duty_u16(0)
pwm1.duty_u16(int(65535*duty_max))
if vel_n1_on == 8:
vel_strs = (offCol, onCol, offCol, offCol, offCol)
pwm2.duty_u16(0)
pwm1.duty_u16(int(65535*duty_max/2))
if vel_0_on == 8:
vel_strs = (offCol, offCol, onCol, offCol, offCol)
pwm1.duty_u16(0)
pwm2.duty_u16(0)
if vel_p1_on == 8:
vel_strs = (offCol, offCol, offCol, onCol, offCol)
pwm1.duty_u16(0)
pwm2.duty_u16(int(65535*duty_max/2))
if vel_p2_on == 8:
vel_strs = (offCol, offCol, offCol, offCol, onCol)
pwm1.duty_u16(0)
pwm2.duty_u16(int(65535*duty_max))
response = html % vel_strs
cl.send('HTTP/1.0 200 OK\r\nContent-type: text/html\r\n\r\n')
cl.send(response)
cl.close()
except OSError as e:
print('connection closed')
except KeyboardInterrupt as e:
break
s.close()
s = None
なお、「1. ブラウザのボタンによるLEDの点灯」で述べたように、YOUR_WIFI_SSID と YOUR_WIFI_PASSWORD を自分の環境のものに変更することと、
LCD なしでプログラムを実行したい場合は「# for LCD ～ # End of LCD」の部分の差し替えが必要ですのでご注意ください。
import sys
import network
import socket
from time import sleep
from machine import Pin, PWM, I2C
def servo_duty_hwpwm_web(val):
val_min = 0
val_max = 4
servo_min = 0.035 # 最小デューティ比3.5%
servo_max = 0.1 # 最大デューティ比10%
if val < val_min:
val = val_min
duty = (servo_min-servo_max)*(val-val_min)/(val_max-val_min) + servo_max
# 一般的なサーボモーターはこちらを有効に
#duty = (servo_max-servo_min)*(val-val_min)/(val_max-val_min) + servo_min
return duty
pwm1 = PWM(Pin(16))
pwm1.freq(50)
pwm1.duty_u16(int(65535*servo_duty_hwpwm_web(2)))
i2c = I2C(0, scl=Pin(5), sda=Pin(4), freq=400000)
i2c.scan()
ssid = 'YOUR_WIFI_SSID'
password = 'YOUR_WIFI_PASSWORD'
##### for LCD
def setup_st7032():
c_lower = (contrast & 0xf)
c_upper = (contrast & 0x30)>>4
i2c.writeto_mem(address_st7032, register_setting, bytes([0x38, 0x39, 0x14, 0x70|c_lower, 0x54|c_upper, 0x6c]))
sleep(0.2)
i2c.writeto_mem(address_st7032, register_setting, bytes([0x38, 0x0d, 0x01]))
sleep(0.001)
def clear():
global position
global line
position = 0
line = 0
i2c.writeto_mem(address_st7032, register_setting, bytes([0x01]))
sleep(0.001)
def newline():
global position
global line
if line == display_lines-1:
clear()
else:
line += 1
position = chars_per_line*line
i2c.writeto_mem(address_st7032, register_setting, bytes([0xc0]))
sleep(0.001)
def write_string(s):
for c in list(s):
write_char(ord(c))
def write_char(c):
global position
byte_data = check_writable(c)
if position == display_chars:
clear()
elif position == chars_per_line*(line+1):
newline()
i2c.writeto_mem(address_st7032, register_display, bytes([byte_data]))
position += 1
def check_writable(c):
if c >= 0x06 and c <= 0xff :
return c
else:
return 0x20 # 空白文字
address_st7032 = 0x3e
register_setting = 0x00
register_display = 0x40
contrast = 32 # 0から63のコントラスト。30から40程度を推奨
chars_per_line = 8 # LCDの横方向の文字数
display_lines = 2 # LCDの行数
display_chars = chars_per_line*display_lines
position = 0
line = 0
setup_st7032()
##### end of LCD
wlan = network.WLAN(network.STA_IF)
wlan.active(True)
wlan.connect(ssid, password)
html = """<!DOCTYPE html><html>
<head><meta charset="utf-8">
<meta name="viewport" content="width=device-width, user-scalable=no">
<title>7 - サーボモーターの制御</title>
<style>button {
width: auto;
height: auto;
background: #003366;
font-weight: normal;
font-size: 14pt;
font-family: Arial, Helvetica, sans-serif;
font-size: 14px;
color: #ffffff;
padding: 10px 20px;
-moz-border-radius: 10px;
-webkit-border-radius: 10px;
border-radius: 10px;
border: 1px solid #003366;
-moz-box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
-webkit-box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
text-shadow:
0px -1px 0px rgba(000,000,000,0.7),
0px 1px 0px rgba(255,255,255,0.3);
}
</style></head>
<p>押したボタンにより、サーボモーターの位置が決まります。</p>
<div align="center">
<form><button name="pos0" value="on" type="submit" style="background: %s;"> 0 </button>
<button name="pos1" value="on" type="submit" style="background: %s;"> 1 </button>
<button name="pos2" value="on" type="submit" style="background: %s;"> 2 </button>
<button name="pos3" value="on" type="submit" style="background: %s;"> 3 </button>
<button name="pos4" value="on" type="submit" style="background: %s;"> 4 </button>
</form>
<br /><br />
</div>
</body></html>
"""
# Wait for connect or fail
max_wait = 20
while max_wait > 0:
if wlan.status() < 0 or wlan.status() >= 3:
break
max_wait -= 1
print('waiting for connection...')
write_string('waiting for conn') #showing on LCD
sleep(1)
# Handle connection error
if wlan.status() != 3:
write_string('conn. failed') # showing on LCD
raise RuntimeError('network connection failed')
else:
print('Connected')
status = wlan.ifconfig()
print( 'ip = ' + status[0] )
write_string(status[0]) #showing on LCD
# Open socket
addr = socket.getaddrinfo('0.0.0.0', 80)[0][-1]
s = socket.socket()
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
try:
s.bind(addr)
except OSError as e:
print(e)
s.close()
s = None
write_string('socket error') #showing on LCD
sys.exit()
s.listen(1)
print('listening on', addr)
onCol = '#26a1ff'
offCol = '#003366'
pos_strs = (offCol, offCol, onCol, offCol, offCol)
# Listen for connections, serve client
while True:
try:
cl, addr = s.accept()
#print('client connected from', addr)
request = cl.recv(1024)
#print("request:")
#print(request)
request = str(request)
pos0_on = request.find('pos0=on')
pos1_on = request.find('pos1=on')
pos2_on = request.find('pos2=on')
pos3_on = request.find('pos3=on')
pos4_on = request.find('pos4=on')
if pos0_on == 8:
pos_strs = (onCol, offCol, offCol, offCol, offCol)
pwm1.duty_u16(int(65535*servo_duty_hwpwm_web(0)))
if pos1_on == 8:
pos_strs = (offCol, onCol, offCol, offCol, offCol)
pwm1.duty_u16(int(65535*servo_duty_hwpwm_web(1)))
if pos2_on == 8:
pos_strs = (offCol, offCol, onCol, offCol, offCol)
pwm1.duty_u16(int(65535*servo_duty_hwpwm_web(2)))
if pos3_on == 8:
pos_strs = (offCol, offCol, offCol, onCol, offCol)
pwm1.duty_u16(int(65535*servo_duty_hwpwm_web(3)))
if pos4_on == 8:
pos_strs = (offCol, offCol, offCol, offCol, onCol)
pwm1.duty_u16(int(65535*servo_duty_hwpwm_web(4)))
response = html % pos_strs
cl.send('HTTP/1.0 200 OK\r\nContent-type: text/html\r\n\r\n')
cl.send(response)
cl.close()
except OSError as e:
print('connection closed')
except KeyboardInterrupt as e:
break
s.close()
s = None
なお、「1. ブラウザのボタンによるLEDの点灯」で述べたように、YOUR_WIFI_SSID と YOUR_WIFI_PASSWORD を自分の環境のものに変更することと、
LCD なしでプログラムを実行したい場合は「# for LCD ～ # End of LCD」の部分の差し替えが必要ですのでご注意ください。
import sys
import network
import socket
from time import sleep
from machine import Pin, PWM, I2C
pwm1 = PWM(Pin(16))
pwm2 = PWM(Pin(17))
pwm3 = PWM(Pin(18))
pwm4 = PWM(Pin(19))
pwm1.freq(100)
pwm2.freq(100)
pwm3.freq(100)
pwm4.freq(100)
pwm1.duty_u16(0)
pwm2.duty_u16(0)
pwm3.duty_u16(0)
pwm4.duty_u16(0)
i2c = I2C(0, scl=Pin(5), sda=Pin(4), freq=400000)
i2c.scan()
ssid = 'YOUR_WIFI_SSID'
password = 'YOUR_WIFI_PASSWORD'
##### for LCD
def setup_st7032():
c_lower = (contrast & 0xf)
c_upper = (contrast & 0x30)>>4
i2c.writeto_mem(address_st7032, register_setting, bytes([0x38, 0x39, 0x14, 0x70|c_lower, 0x54|c_upper, 0x6c]))
sleep(0.2)
i2c.writeto_mem(address_st7032, register_setting, bytes([0x38, 0x0d, 0x01]))
sleep(0.001)
def clear():
global position
global line
position = 0
line = 0
i2c.writeto_mem(address_st7032, register_setting, bytes([0x01]))
sleep(0.001)
def newline():
global position
global line
if line == display_lines-1:
clear()
else:
line += 1
position = chars_per_line*line
i2c.writeto_mem(address_st7032, register_setting, bytes([0xc0]))
sleep(0.001)
def write_string(s):
for c in list(s):
write_char(ord(c))
def write_char(c):
global position
byte_data = check_writable(c)
if position == display_chars:
clear()
elif position == chars_per_line*(line+1):
newline()
i2c.writeto_mem(address_st7032, register_display, bytes([byte_data]))
position += 1
def check_writable(c):
if c >= 0x06 and c <= 0xff :
return c
else:
return 0x20 # 空白文字
address_st7032 = 0x3e
register_setting = 0x00
register_display = 0x40
contrast = 32 # 0から63のコントラスト。30から40程度を推奨
chars_per_line = 8 # LCDの横方向の文字数
display_lines = 2 # LCDの行数
display_chars = chars_per_line*display_lines
position = 0
line = 0
setup_st7032()
##### end of LCD
wlan = network.WLAN(network.STA_IF)
wlan.active(True)
wlan.connect(ssid, password)
html = """<!DOCTYPE html><html>
<head><meta charset="utf-8">
<meta name="viewport" content="width=device-width, user-scalable=no">
<title>5 - クローラーの操作</title>
<style>button {
width: auto;
height: auto;
background: #003366;
font-weight: normal;
font-size: 14pt;
font-family: Arial, Helvetica, sans-serif;
font-size: 14px;
color: #ffffff;
padding: 10px 20px;
-moz-border-radius: 10px;
-webkit-border-radius: 10px;
border-radius: 10px;
border: 1px solid #003366;
-moz-box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
-webkit-box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
box-shadow:
0px 1px 3px rgba(000,000,000,0.5),
inset 0px 0px 1px rgba(255,255,255,0.5);
text-shadow:
0px -1px 0px rgba(000,000,000,0.7),
0px 1px 0px rgba(255,255,255,0.3);
}
</style></head>
<p>押したボタンにより、クローラーが移動します。中央のボタンをクリックしないとクローラーは止まりません。</p>
<div align="center">
<table border="0">
<tr align="center">
<td></td>
<td><form><button name="forward" value="on" type="submit" style="background: %s;"> ↑ </button></form></td>
<td></td>
</tr>
<tr align="center">
<td><form><button name="rot_l" value="on" type="submit" style="background: %s;"> ← </button></form></td>
<td><form><button name="stop" value="on" type="submit" style="background: %s;"> 〇 </button></form></td>
<td><form><button name="rot_r" value="on" type="submit" style="background: %s;"> → </button></form></td>
</tr>
<tr align="center">
<td></td>
<td><form><button name="backward" value="on" type="submit" style="background: %s;"> ↓ </button></form></td>
<td></td>
</tr>
</table>
<br /><br />
</div>
</body></html>
"""
# Wait for connect or fail
max_wait = 20
while max_wait > 0:
if wlan.status() < 0 or wlan.status() >= 3:
break
max_wait -= 1
print('waiting for connection...')
write_string('waiting for conn') #showing on LCD
sleep(1)
# Handle connection error
if wlan.status() != 3:
write_string('conn. failed') # showing on LCD
raise RuntimeError('network connection failed')
else:
print('Connected')
status = wlan.ifconfig()
print( 'ip = ' + status[0] )
write_string(status[0]) #showing on LCD
# Open socket
addr = socket.getaddrinfo('0.0.0.0', 80)[0][-1]
s = socket.socket()
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
try:
s.bind(addr)
except OSError as e:
print(e)
s.close()
s = None
write_string('socket error') #showing on LCD
sys.exit()
s.listen(1)
print('listening on', addr)
onCol = '#26a1ff'
offCol = '#003366'
move_strs = (offCol, offCol, onCol, offCol, offCol)
duty_max = 0.7
# Listen for connections, serve client
while True:
try:
cl, addr = s.accept()
#print('client connected from', addr)
request = cl.recv(1024)
#print("request:")
#print(request)
request = str(request)
forward_on = request.find('forward=on')
rot_l_on = request.find('rot_l=on')
stop_on = request.find('stop=on')
rot_r_on = request.find('rot_r=on')
backward_on = request.find('backward=on')
if forward_on == 8:
move_strs = (onCol, offCol, offCol, offCol, offCol)
pwm2.duty_u16(0)
pwm1.duty_u16(int(65535*duty_max))
pwm4.duty_u16(0)
pwm3.duty_u16(int(65535*duty_max))
if rot_l_on == 8:
move_strs = (offCol, onCol, offCol, offCol, offCol)
pwm1.duty_u16(0)
pwm2.duty_u16(int(65535*duty_max))
pwm4.duty_u16(0)
pwm3.duty_u16(int(65535*duty_max))
if stop_on == 8:
move_strs = (offCol, offCol, onCol, offCol, offCol)
pwm1.duty_u16(0)
pwm2.duty_u16(0)
pwm3.duty_u16(0)
pwm4.duty_u16(0)
if rot_r_on == 8:
move_strs = (offCol, offCol, offCol, onCol, offCol)
pwm2.duty_u16(0)
pwm1.duty_u16(int(65535*duty_max))
pwm3.duty_u16(0)
pwm4.duty_u16(int(65535*duty_max))
if backward_on == 8:
move_strs = (offCol, offCol, offCol, offCol, onCol)
pwm1.duty_u16(0)
pwm2.duty_u16(int(65535*duty_max))
pwm3.duty_u16(0)
pwm4.duty_u16(int(65535*duty_max))
response = html % move_strs
cl.send('HTTP/1.0 200 OK\r\nContent-type: text/html\r\n\r\n')
cl.send(response)
cl.close()
except OSError as e:
print('connection closed')
except KeyboardInterrupt as e:
break
s.close()
s = None
なお、「1. ブラウザのボタンによるLEDの点灯」で述べたように、YOUR_WIFI_SSID と YOUR_WIFI_PASSWORD を自分の環境のものに変更することと、
LCD なしでプログラムを実行したい場合は「# for LCD ～ # End of LCD」の部分の差し替えが必要ですのでご注意ください。
