From 9313608914e8cb4c985d915267d12fa8a5532757 Mon Sep 17 00:00:00 2001 From: weiquan Date: Wed, 3 Nov 2021 15:47:31 +0800 Subject: [PATCH] Adaptation jetson nano --- .gitignore | 1 + mycobot_ai/scripts/ai_windows.py | 79 +++++++++++++------------- mycobot_ai/scripts/detect_encode.py | 51 ++++++++++------- mycobot_ai/scripts/detect_obj_color.py | 53 ++++++++++------- mycobot_ai/scripts/detect_obj_img.py | 64 +++++++++++++-------- mycobot_ai/scripts/pump.py | 37 ++++++++---- 6 files changed, 169 insertions(+), 116 deletions(-) diff --git a/.gitignore b/.gitignore index 00c879a..8668ff9 100644 --- a/.gitignore +++ b/.gitignore @@ -5,6 +5,7 @@ .vscode/ .history *.pyc +*.bat # Editor directories and files .idea diff --git a/mycobot_ai/scripts/ai_windows.py b/mycobot_ai/scripts/ai_windows.py index 04afca4..4cd4c46 100644 --- a/mycobot_ai/scripts/ai_windows.py +++ b/mycobot_ai/scripts/ai_windows.py @@ -20,15 +20,21 @@ class Application(object): self.run_py = "" # 判断通信口并给权限 try: - self.ports = os.popen("ls /dev/ttyUSB*").readline() - if "dev" not in self.ports: - self.ports = os.popen("ls /dev/ttyACM*").readline()[:-1] - self.command = ''.format( - self.ports) - # 根据通信口修改ros启动文件 - os.system( - "sed -i '2c {}' /home/h/catkin_mycobot/src/mycobot_ros/mycobot_ai/launch/vision.launch" - .format(self.command)) + self.robot_m5 = os.popen("ls /dev/ttyUSB*").readline()[:-1] + self.robot_wio = os.popen("ls /dev/ttyACM*").readline()[:-1] + self.robot_raspi = os.popen("ls /dev/ttyAMA*").readline()[:-1] + self.robot_jes = os.popen("ls /dev/ttyTHS1").readline()[:-1] + if "dev" in self.robot_wio: + self.command = ''.format( + self.robot_wio) + # 根据通信口修改ros启动文件 + os.system( + "sed -i '2c {}' ~/catkin_ws/src/mycobot_ros/mycobot_ai/launch/vision.launch" + .format(self.command)) + elif "dev" in self.robot_raspi: + self.change_file(self.robot_raspi) + elif "dev" in self.robot_jes: + self.change_file(self.robot_jes) except Exception as e: pass @@ -36,9 +42,6 @@ class Application(object): self.win.title("aikit启动工具") self.win.geometry( "550x350+100+100") # 290 160为窗口大小，+10 +10 定义窗口弹出时的默认展示位置 - # 打开ros按钮 - self.btn = Button(self.win, text="open ROS", command=self.open_ros) - self.btn.grid(row=0) self.chanse_code = Label(self.win, text="选择程序:", width=10) self.chanse_code.grid(row=1) @@ -50,23 +53,7 @@ class Application(object): self.add_btn = Button(self.win, text="添加新的物体图像", command=self.add_img) self.add_btn.grid(row=1, column=2) - # self.set_xy = Label(self.win, text="set_xy:", width=10) - # self.set_xy.grid(row=1) - - # self.x = Label(self.win, text="x:") - # self.x.grid(row=2) - # self.v1 = StringVar() - # self.e1 = Entry(self.win,textvariable=self.v1, width=10) - # self.e1.insert(0,0) - # self.e1.grid(row=2,column=1) - - # self.y = Label(self.win, text="y:") - # self.y.grid(row=3) - # self.v2 = StringVar() - # self.e2 = Entry(self.win,textvariable=self.v2, width=10) - # self.e2.insert(0,0) - # self.e2.grid(row=3,column=1) - self.tips = "1、首先打开ros,大概需要等待15s\n2、选择所要运行的程序点击运行即可,开启大概需要10秒,可以通过查看终端查看开启情况。\n\n添加新的图像：\n1、点击按钮，等待开启摄像头\n2、选中图像框，按z键拍照\n3、使用鼠标框出需要识别的图像区域\n4、按Enter键提取图像\n5、再次按Enter键保存即可" + self.tips = "1、等待打开ros,大概需要15s\n2、选择所要运行的程序点击运行即可,开启大概需要10秒,可以通过查看终端查看开启情况。\n\n添加新的图像：\n1、点击按钮，等待开启摄像头\n2、选中图像框，按z键拍照\n3、使用鼠标框出需要识别的图像区域\n4、按Enter键提取图像\n5、再次按Enter键保存即可" self.btn = Button(self.win, text="运行", command=self.start_run) self.btn.grid(row=5) @@ -78,10 +65,23 @@ class Application(object): self.log_data = Text(self.win, width=66, height=10) self.log_data.grid(row=16, column=0, columnspan=10) self.log_data.insert(END, self.tips) - # self.code_list = ttk.Combobox(self.win, width=15) - # self.code_list["value"] = ("颜色识别", "物体识别", "二维码识别") - # self.code_list.current(0) - # self.code_list.grid(row=1, column=1) + + self.open_ros() + self.win.protocol('WM_DELETE_WINDOW', self.close_rviz) + + def close_rviz(self): + os.system( + "ps -ef | grep -E mycobot.rviz | grep -v 'grep' | awk '{print $2}' | xargs kill -9") + sys.exit(0) + + def change_file(self, port): + command1 = ''.format(port) + command2 = ''.format(1000000) + # 根据通信口修改ros启动文件 + os.system( + "sed -i '2c {}' ~/catkin_ws/src/mycobot_ros/mycobot_ai/launch/vision.launch".format(command1)) + os.system( + "sed -i '3c {}' ~/catkin_ws/src/mycobot_ros/mycobot_ai/launch/vision.launch".format(command2)) def start_run(self): try: @@ -108,28 +108,25 @@ class Application(object): def open_py(self): os.system( - "python /home/h/catkin_mycobot/src/mycobot_ros/mycobot_ai/scripts/detect_obj_img.py" + "python ~/catkin_ws/src/mycobot_ros/mycobot_ai/scripts/detect_obj_img.py" ) def open_py1(self): os.system( - "python /home/h/catkin_mycobot/src/mycobot_ros/mycobot_ai/scripts/detect_obj_color.py" + "python ~/catkin_ws/src/mycobot_ros/mycobot_ai/scripts/detect_obj_color.py" ) def open_py2(self): os.system( - "python /home/h/catkin_mycobot/src/mycobot_ros/mycobot_ai/scripts/detect_encode.py" + "python ~/catkin_ws/src/mycobot_ros/mycobot_ai/scripts/detect_encode.py" ) def add_img(self): os.system( - "python /home/h/catkin_mycobot/src/mycobot_ros/mycobot_ai/scripts/add_img.py" + "python ~/catkin_ws/src/mycobot_ros/mycobot_ai/scripts/add_img.py" ) def open_ros(self): - if self.ros: - print("ros is opened") - return t1 = threading.Thread(target=self.ross) t1.setDaemon(True) t1.start() @@ -137,7 +134,7 @@ class Application(object): def ross(self): os.system( - "roslaunch ~/catkin_mycobot/src/mycobot_ros/mycobot_ai/launch/vision.launch" + "roslaunch ~/catkin_ws/src/mycobot_ros/mycobot_ai/launch/vision.launch" ) def close_py(self): diff --git a/mycobot_ai/scripts/detect_encode.py b/mycobot_ai/scripts/detect_encode.py index d469294..7bbe645 100644 --- a/mycobot_ai/scripts/detect_encode.py +++ b/mycobot_ai/scripts/detect_encode.py @@ -24,6 +24,7 @@ class Detect_marker(Movement): self.robot_m5 = os.popen("ls /dev/ttyUSB*").readline()[:-1] self.robot_wio = os.popen("ls /dev/ttyACM*").readline()[:-1] self.robot_raspi = os.popen("ls /dev/ttyAMA*").readline()[:-1] + self.robot_jes = os.popen("ls /dev/ttyTHS1").readline()[:-1] self.raspi = False if "dev" in self.robot_m5: self.Pin = [2, 5] @@ -31,17 +32,21 @@ class Detect_marker(Movement): self.Pin = [20, 21] for i in self.move_coords: i[2] -= 20 - elif "dev" in self.robot_raspi: + elif "dev" in self.robot_raspi or "dev" in self.robot_jes: import RPi.GPIO as GPIO + self.GPIO = GPIO + GPIO.setwarnings(False) GPIO.setmode(GPIO.BCM) GPIO.setup(20, GPIO.OUT) GPIO.setup(21, GPIO.OUT) self.raspi = True - pump_y -= 5 - + if self.raspi: + self.gpio_status(False) + else: + self.pub_pump(False, self.Pin) # Creating a Camera Object cap_num = 0 - self.cap = cv.VideoCapture(cap_num) + self.cap = cv.VideoCapture(cap_num, cv.CAP_V4L) # Get ArUco marker dict that can be detected. self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250) # Get ArUco marker params. @@ -93,7 +98,7 @@ class Detect_marker(Movement): def move(self, x, y): if self.raspi: coords = [ - [145.6, -64.9, 285.2, 179.88, 7.67, -177.06], + [145.6, -64.9, 285.2, 179.88, 7.67, 179], [130.1, -155.6, 243.9, 178.99, 5.38, -179.9] ] else: @@ -138,6 +143,7 @@ class Detect_marker(Movement): else: self.pub_pump(False, self.Pin) # publish marker + time.sleep(1) self.marker.header.stamp = rospy.Time.now() self.marker.pose.position.x = coords[1][0]/1000.0 self.marker.pose.position.y = coords[1][1]/1000.0 @@ -148,11 +154,11 @@ class Detect_marker(Movement): def gpio_status(self, flag): if flag: - GPIO.output(20, 0) - GPIO.output(21, 0) + self.GPIO.output(20, 0) + self.GPIO.output(21, 0) else: - GPIO.output(20, 1) - GPIO.output(21, 1) + self.GPIO.output(20, 1) + self.GPIO.output(21, 1) # decide whether grab cube def decide_move(self, x, y): @@ -164,41 +170,44 @@ class Detect_marker(Movement): return else: self.cache_x = self.cache_y = 0 + if "dev" in self.robot_jes: + if x > -20: + y += 10 + if y > -25: + x -= 5 + x += 10 + self.move(x, y) # init mycobot def init_mycobot(self): - if self.raspi: - self.gpio_status(False) - else: - self.pub_pump(False, self.Pin) + for _ in range(5): print _ - self.pub_coords([145.6, -64.9, 285.2, 179.88, 7.67, -177.06], 20, 1), 20, 1) - + self.pub_coords([145.6, -64.9, 285.2, 179.88, 7.67, 179], 20, 1) time.sleep(0.5) def run(self): global pump_y, pump_x self.init_mycobot() - num=sum_x=sum_y=0 + num = sum_x = sum_y = 0 while cv.waitKey(1) < 0: - success, img=self.cap.read() + success, img = self.cap.read() if not success: print("It seems that the image cannot be acquired correctly.") break # transfrom the img to model of gray - gray=cv.cvtColor(img, cv.COLOR_BGR2GRAY) + gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY) # Detect ArUco marker. - corners, ids, rejectImaPoint=cv.aruco.detectMarkers( - gray, self.aruco_dict, parameters = self.aruco_params + corners, ids, rejectImaPoint = cv.aruco.detectMarkers( + gray, self.aruco_dict, parameters=self.aruco_params ) if len(corners) > 0: if ids is not None: # get informations of aruco - ret=cv.aruco.estimatePoseSingleMarkers( + ret = cv.aruco.estimatePoseSingleMarkers( corners, 0.03, self.camera_matrix, self.dist_coeffs ) # rvec:rotation offset,tvec:translation deviator diff --git a/mycobot_ai/scripts/detect_obj_color.py b/mycobot_ai/scripts/detect_obj_color.py index 8a27d06..e3d42df 100644 --- a/mycobot_ai/scripts/detect_obj_color.py +++ b/mycobot_ai/scripts/detect_obj_color.py @@ -26,15 +26,16 @@ class Object_detect(Movement): dir_path = os.path.dirname(__file__) # 移动角度 self.move_angles = [ - [-7.11, -6.94, -55.01, -24.16, 0, -38.84], # init the point - [-1.14, -10.63, -87.8, 9.05, -3.07, -37.7], # point to grab - [17.4, -10.1, -87.27, 5.8, -2.02, -37.7], # point to grab + [-7.11, -6.94, -55.01, -24.16, 0, 15], # init the point + [5, -10.63, -87.8, 9.05, -3.07, 15], # point to grab + [17.4, -10.1, -87.27, 5.8, -2.02, 15], # point to grab ] # 移动坐标 self.move_coords = [ - [120.1, -141.6, 240.9, -173.34, -8.15, -83.11], # above the red bucket + [120.1, -141.6, 240.9, -173.34, -8.15, -110.11], # above the red bucket # above the yello bucket - [215.2, -127.8, 260.9, -157.51, -17.5, -71.18], + #[215.2, -127.8, 260.9, -157.51, -17.5, -71.18], + [210.6, -130.5, 263.0, -150.99, -0.07, -107.35], [209.7, -18.6, 230.4, -168.48, -9.86, -39.38], [196.9, -64.7, 232.6, -166.66, -9.44, -52.47], [126.6, -118.1, 305.0, -157.57, -13.72, -75.3], @@ -43,6 +44,7 @@ class Object_detect(Movement): self.robot_m5 = os.popen("ls /dev/ttyUSB*").readline()[:-1] self.robot_wio = os.popen("ls /dev/ttyACM*").readline()[:-1] self.robot_raspi = os.popen("ls /dev/ttyAMA*").readline()[:-1] + self.robot_jes = os.popen("ls /dev/ttyTHS1").readline()[:-1] self.raspi = False if "dev" in self.robot_m5: self.Pin = [2, 5] @@ -50,12 +52,20 @@ class Object_detect(Movement): self.Pin = [20, 21] for i in self.move_coords: i[2] -= 20 - elif "dev" in self.robot_raspi: + elif "dev" in self.robot_raspi or "dev" in self.robot_jes: import RPi.GPIO as GPIO + GPIO.setwarnings(False) + self.GPIO = GPIO GPIO.setmode(GPIO.BCM) GPIO.setup(20, GPIO.OUT) GPIO.setup(21, GPIO.OUT) + GPIO.output(20,1) + GPIO.output(21,1) self.raspi = True + if self.raspi: + self.gpio_status(False) + else: + self.pub_pump(False, self.Pin) # choose place to set cube self.color = 0 @@ -120,11 +130,11 @@ class Object_detect(Movement): def gpio_status(self, flag): if flag: - GPIO.output(20, 0) - GPIO.output(21, 0) + self.GPIO.output(20, 0) + self.GPIO.output(21, 0) else: - GPIO.output(20, 1) - GPIO.output(21, 1) + self.GPIO.output(20, 1) + self.GPIO.output(21, 1) # Grasping motion def move(self, x, y, color): @@ -151,6 +161,7 @@ class Object_detect(Movement): elif x < 135: h = -20 self.pub_coords([x, y, 31.9+h, -178.9, -1, -25.95], 20, 1) + time.sleep(1.5) # open pump if self.raspi: @@ -182,6 +193,7 @@ class Object_detect(Movement): self.gpio_status(False) else: self.pub_pump(False, self.Pin) + time.sleep(1) if color == 1: self.pub_marker( self.move_coords[color][0]/1000.0+0.04, self.move_coords[color][1]/1000.0-0.02) @@ -203,7 +215,7 @@ class Object_detect(Movement): else: self.cache_x = self.cache_y = 0 # 调整吸泵吸取位置，y增大,向左移动;y减小,向右移动;x增大,前方移动;x减小,向后方移动 - if "dev" not in self.robot_wio: + if "dev" in self.robot_raspi: if (y < -30 and x > 140) or (x > 150 and y < -10): x -= 10 @@ -213,26 +225,26 @@ class Object_detect(Movement): elif x > 170: x -= 10 y += 10 - print x, y - else: + elif "dev" in self.robot_wio: if x > 160: y += 10 elif y < -20: x -= 10 y += 10 + elif "dev" in self.robot_jes: + y+=13 + x+=4 + print x, y self.move(x, y, color) # init mycobot def run(self): - + for _ in range(5): - self.pub_angles([-7.11, -6.94, -55.01, -24.16, 0, -38.84], 20) + self.pub_angles([-7.11, -6.94, -55.01, -24.16, 0, -15], 20) print(_) time.sleep(0.5) - if self.raspi: - self.gpio_status(False) - else: - self.pub_pump(False, self.Pin) + # draw aruco def draw_marker(self, img, x, y): @@ -374,7 +386,8 @@ class Object_detect(Movement): if __name__ == "__main__": # open the camera cap_num = 0 - cap = cv2.VideoCapture(cap_num) + cap = cv2.VideoCapture(cap_num, cv2.CAP_V4L) + if not cap.isOpened(): cap.open() # init a class of Object_detect diff --git a/mycobot_ai/scripts/detect_obj_img.py b/mycobot_ai/scripts/detect_obj_img.py index eed80a2..1b7459a 100644 --- a/mycobot_ai/scripts/detect_obj_img.py +++ b/mycobot_ai/scripts/detect_obj_img.py @@ -27,15 +27,16 @@ class Object_detect(Movement): dir_path = os.path.dirname(__file__) # 移动角度 self.move_angles = [ - [-7.11, -6.94, -55.01, -24.16, 0, -38.84], # init the point - [-1.14, -10.63, -87.8, 9.05, -3.07, -37.7], # point to grab - [17.4, -10.1, -87.27, 5.8, -2.02, -37.7], # point to grab + [-7.11, -6.94, -55.01, -24.16, 0, 15], # init the point + [-1.14, -10.63, -87.8, 9.05, -3.07, 15], # point to grab + [17.4, -10.1, -87.27, 5.8, -2.02, 15], # point to grab ] # 移动坐标 self.move_coords = [ - [120.1, -141.6, 240.9, -173.34, -8.15, -83.11], # above the red bucket + [120.1, -141.6, 240.9, -173.34, -8.15, -110.11], # above the red bucket # above the yello bucket - [208.2, -127.8, 260.9, -157.51, -17.5, -71.18], + #[208.2, -127.8, 260.9, -157.51, -17.5, -71.18], + [205.6, -130.5, 263.0, -150.99, -0.07, -107.35], [209.7, -18.6, 230.4, -168.48, -9.86, -39.38], [196.9, -64.7, 232.6, -166.66, -9.44, -52.47], [126.6, -118.1, 305.0, -157.57, -13.72, -75.3], @@ -44,6 +45,7 @@ class Object_detect(Movement): self.robot_m5 = os.popen("ls /dev/ttyUSB*").readline()[:-1] self.robot_wio = os.popen("ls /dev/ttyACM*").readline()[:-1] self.robot_raspi = os.popen("ls /dev/ttyAMA*").readline()[:-1] + self.robot_jes = os.popen("ls /dev/ttyTHS1").readline()[:-1] self.raspi = False if "dev" in self.robot_m5: self.Pin = [2, 5] @@ -51,13 +53,19 @@ class Object_detect(Movement): self.Pin = [20, 21] for i in self.move_coords: i[2] -= 20 - elif "dev" in self.robot_raspi: + elif "dev" in self.robot_raspi or "dev" in self.robot_jes: import RPi.GPIO as GPIO + self.GPIO = GPIO + GPIO.setwarnings(False) GPIO.setmode(GPIO.BCM) GPIO.setup(20, GPIO.OUT) GPIO.setup(21, GPIO.OUT) - self.raspi = True + self.raspi = True + if self.raspi: + self.gpio_status(False) + else: + self.pub_pump(False, self.Pin) # choose place to set cube self.color = 0 # parameters to calculate camera clipping parameters @@ -126,11 +134,11 @@ class Object_detect(Movement): def gpio_status(self, flag): if flag: - GPIO.output(20, 0) - GPIO.output(21, 0) + self.GPIO.output(20, 0) + self.GPIO.output(21, 0) else: - GPIO.output(20, 1) - GPIO.output(21, 1) + self.GPIO.output(20, 1) + self.GPIO.output(21, 1) # Grasping motion def move(self, x, y, color): @@ -142,11 +150,12 @@ class Object_detect(Movement): self.pub_angles(self.move_angles[2], 20) time.sleep(1.5) # send coordinates to move mycobot - self.pub_coords([x, y, 165, -178.9, -1.57, -25.95], 20, 1) + self.pub_coords([x, y, 165, -178.9, -1.57, -66], 20, 1) time.sleep(1.5) # 根据不同底板机械臂，调整吸泵高度 if "dev" in self.robot_m5: - self.pub_coords([x, y, 90, -178.9, -1.57, -25.95], 20, 1) + # m5 and jetson nano + self.pub_coords([x, y, 90, -178.9, -1.57, -66], 25, 1) elif "dev" in self.robot_wio: h = 0 if 165 < x < 180: @@ -155,7 +164,12 @@ class Object_detect(Movement): h = 20 elif x < 135: h = -20 - self.pub_coords([x, y, 31.9+h, -178.9, -1, -25.95], 20, 1) + self.pub_coords([x, y, 31.9+h, -178.9, -1, -66], 20, 1) + elif "dev" in self.robot_jes: + h = 0 + if x<130: + h=15 + self.pub_coords([x, y, 90-h, -178.9, -1.57, -66], 25, 1) time.sleep(1.5) # open pump if self.raspi: @@ -177,7 +191,7 @@ class Object_detect(Movement): time.sleep(1.5) self.pub_marker( self.move_coords[4][0]/1000.0, self.move_coords[4][1]/1000.0, self.move_coords[4][2]/1000.0) - + print self.move_coords[color] self.pub_coords(self.move_coords[color], 20, 1) self.pub_marker(self.move_coords[color][0]/1000.0, self.move_coords[color] [1]/1000.0, self.move_coords[color][2]/1000.0) @@ -187,6 +201,7 @@ class Object_detect(Movement): self.gpio_status(False) else: self.pub_pump(False, self.Pin) + time.sleep(1) if color == 1: self.pub_marker( self.move_coords[color][0]/1000.0+0.04, self.move_coords[color][1]/1000.0-0.02) @@ -207,7 +222,7 @@ class Object_detect(Movement): else: self.cache_x = self.cache_y = 0 # 调整吸泵吸取位置，y增大,向左移动;y减小,向右移动;x增大,前方移动;x减小,向后方移动 - if "dev" not in self.robot_wio: + if "dev" in self.robot_wio: if (y < -30 and x > 140) or (x > 150 and y < -10): x -= 10 y += 10 @@ -216,22 +231,25 @@ class Object_detect(Movement): elif x > 170: x -= 10 y += 10 - elif "dev" not in self.robot_m5: + elif "dev" in self.robot_m5: y += 10 x -= 5 if y < -20: y += 5 # print x,y + elif "dev" in self.robot_jes: + if y<0: + x+=5 + y+=3 + y+=10 + print x,y self.move(x, y, color) # init mycobot def run(self): - if self.raspi: - self.gpio_status(False) - else: - self.pub_pump(False, self.Pin) + for _ in range(5): - self.pub_angles([-7.11, -6.94, -55.01, -24.16, 0, -38.84], 20) + self.pub_angles([-7.11, -6.94, -55.01, -24.16, 0, -15], 20) print(_) time.sleep(0.5) @@ -459,7 +477,7 @@ def run(): for l in k: goal.append(cv2.imread('local_photo/img/{}'.format(l))) cap_num = 0 - cap = cv2.VideoCapture(cap_num) + cap = cv2.VideoCapture(cap_num, cv2.CAP_V4L) if not cap.isOpened(): cap.open() # init a class of Object_detect diff --git a/mycobot_ai/scripts/pump.py b/mycobot_ai/scripts/pump.py index 3feb6d2..2f67e7b 100644 --- a/mycobot_ai/scripts/pump.py +++ b/mycobot_ai/scripts/pump.py @@ -5,19 +5,34 @@ import rospy import time from moving_utils import Movement + class Pump(Movement): - def __init__(self): - super(Pump, self).__init__() - rospy.init_node("pump", anonymous=True) + def __init__(self): + super(Pump, self).__init__() + rospy.init_node("pump", anonymous=True) + + def run(self): + self.pub_pump(False) + time.sleep(1) + self.pub_pump(True) + time.sleep(5) + self.pub_pump(False) + + def gpiod(self): + import RPi.GPIO as GPIO + GPIO.setwarnings(False) + GPIO.setmode(GPIO.BCM) + GPIO.setup(20, GPIO.OUT) + GPIO.setup(21, GPIO.OUT) + GPIO.output(20, 0) + GPIO.output(21, 0) + time.sleep(3) + print "close" + GPIO.output(20, 1) + GPIO.output(21, 1) - def run(self): - self.pub_pump(False) - time.sleep(1) - self.pub_pump(True) - time.sleep(5) - self.pub_pump(False) if __name__ == "__main__": - pump = Pump() - pump.run() \ No newline at end of file + pump = Pump() + pump.gpiod()