python类RPI_REVISION的实例源码

def init():
    global p, q, a, b
    # Initialise the PWM device using the default address

    #use physical pin numbering
    GPIO.setmode(GPIO.BOARD)
    #print GPIO.RPI_REVISION

    #set up digital line detectors as inputs
    GPIO.setup(lineRight, GPIO.IN) # Right line sensor
    GPIO.setup(lineLeft, GPIO.IN) # Left line sensor

    #Set up IR obstacle sensors as inputs
    GPIO.setup(irFL, GPIO.IN) # Left obstacle sensor
    GPIO.setup(irFR, GPIO.IN) # Right obstacle sensor

    #use pwm on inputs so motors don't go too fast
    GPIO.setup(L1, GPIO.OUT)
    p = GPIO.PWM(L1, 20)
    p.start(0)

    GPIO.setup(L2, GPIO.OUT)
    q = GPIO.PWM(L2, 20)
    q.start(0)

    GPIO.setup(R1, GPIO.OUT)
    a = GPIO.PWM(R1, 20)
    a.start(0)

    GPIO.setup(R2, GPIO.OUT)
    b = GPIO.PWM(R2, 20)
    b.start(0)

    startServos()

# cleanup(). Sets all motors off and sets GPIO to standard values

def _gpio_board_to_bcm(self, pin):
        if GPIO.RPI_REVISION == 1:
            pin_to_gpio = self._pin_to_gpio_rev1
        elif GPIO.RPI_REVISION == 2:
            pin_to_gpio = self._pin_to_gpio_rev2
        else:
            pin_to_gpio = self._pin_to_gpio_rev3

        return pin_to_gpio[pin]

def _gpio_bcm_to_board(self, pin):
        if GPIO.RPI_REVISION == 1:
            pin_to_gpio = self._pin_to_gpio_rev1
        elif GPIO.RPI_REVISION == 2:
            pin_to_gpio = self._pin_to_gpio_rev2
        else:
            pin_to_gpio = self._pin_to_gpio_rev3

        return pin_to_gpio.index(pin)