匂いとか出ないか緊張しながら初通電。

焦げ臭くならないよな。。。
うん。大丈夫そうだ。

さっそく以下ページを参考に動作確認。

https://github.com/simonmonk/raspirobotboard/wiki/Tutorial-01---Getting-Started


まずライブラリのインストール。

pi@raspberrypi ~ $
pi@raspberrypi ~ $ sudo apt-get install python-rpi.gpio
Reading package lists... Done
Building dependency tree
Reading state information... Done
python-rpi.gpio is already the newest version.
0 upgraded, 0 newly installed, 0 to remove and 1 not upgraded.
pi@raspberrypi ~ $ sudo apt-get install python-serial
Reading package lists... Done
Building dependency tree
Reading state information... Done
Suggested packages:
  python-wxgtk2.8 python-wxgtk2.6 python-wxgtk
The following NEW packages will be installed:
  python-serial
0 upgraded, 1 newly installed, 0 to remove and 1 not upgraded.
Need to get 79.0 kB of archives.
After this operation, 483 kB of additional disk space will be used.
Get:1 http://mirrordirector.raspbian.org/raspbian/ wheezy/main python-serial all 2.5-2.1 [79.0 kB]
Fetched 79.0 kB in 1s (64.6 kB/s)
Selecting previously unselected package python-serial.
(Reading database ... 69361 files and directories currently installed.)
Unpacking python-serial (from .../python-serial_2.5-2.1_all.deb) ...
Setting up python-serial (2.5-2.1) ...
pi@raspberrypi ~ $

次にテストプログラム(？) のDLと展開

pi@raspberrypi ~ $ wget https://github.com/simonmonk/raspirobotboard/archive/master.zip
--2014-03-20 22:38:41--  https://github.com/simonmonk/raspirobotboard/archive/master.zip
Resolving github.com (github.com)... 192.30.252.129
Connecting to github.com (github.com)|192.30.252.129|:443... connected.
HTTP request sent, awaiting response... 302 Found
Location: https://codeload.github.com/simonmonk/raspirobotboard/zip/master [following]
--2014-03-20 22:38:49--  https://codeload.github.com/simonmonk/raspirobotboard/zip/master
Resolving codeload.github.com (codeload.github.com)... 192.30.252.145
Connecting to codeload.github.com (codeload.github.com)|192.30.252.145|:443... connected.
HTTP request sent, awaiting response... 200 OK
Length: unspecified [application/zip]
Saving to: `master.zip'

    [ <=>                                   ] 5,340       --.-K/s   in 0.005s

2014-03-20 22:38:55 (951 KB/s) - `master.zip' saved [5340]

pi@raspberrypi ~ $ ls
Desktop  Documents  master.zip  ocr_pi.png  python_games  Scratch
pi@raspberrypi ~ $ unzip master.zip
Archive:  master.zip
95281349acc1bba464c6929cea67ed33ede9b648
   creating: raspirobotboard-master/
  inflating: raspirobotboard-master/INSTALL.txt
  inflating: raspirobotboard-master/PKG-INFO
  inflating: raspirobotboard-master/README.md
   creating: raspirobotboard-master/examples/
  inflating: raspirobotboard-master/examples/key_test.py
  inflating: raspirobotboard-master/examples/led_test.py
  inflating: raspirobotboard-master/examples/ocs_test.py
  inflating: raspirobotboard-master/examples/pin_test.py
  inflating: raspirobotboard-master/examples/rangefinder_test.py
  inflating: raspirobotboard-master/examples/rover.py
  inflating: raspirobotboard-master/examples/switch_test.py
  inflating: raspirobotboard-master/raspirobotboard.py
  inflating: raspirobotboard-master/setup.py
pi@raspberrypi ~ $ ls
Desktop    master.zip  python_games            Scratch
Documents  ocr_pi.png  raspirobotboard-master
pi@raspberrypi ~ $ cd raspirobotboard-master/
pi@raspberrypi ~/raspirobotboard-master $ sudo python setup.py install
running install
running build
running build_py
creating build
creating build/lib.linux-armv6l-2.7
copying raspirobotboard.py -> build/lib.linux-armv6l-2.7
running install_lib
copying build/lib.linux-armv6l-2.7/raspirobotboard.py -> /usr/local/lib/python2.7/dist-packages
byte-compiling /usr/local/lib/python2.7/dist-packages/raspirobotboard.py to raspirobotboard.pyc
running install_egg_info
Writing /usr/local/lib/python2.7/dist-packages/raspirobotboard-1.0.egg-info
pi@raspberrypi ~/raspirobotboard-master $

順調、順調。
じゃ、動かしてみよう。

pi@raspberrypi ~/raspirobotboard-master $ sudo python
Python 2.7.3 (default, Jan 13 2013, 11:20:46)
[GCC 4.6.3] on linux2
Type "help", "copyright", "credits" or "license" for more information.
>>> from raspirobotboard import *
>>> rr = RaspiRobot()
raspirobotboard.py:34: RuntimeWarning: This channel is already in use, continuing anyway.  Use GPIO.setwarnings(False) to disable warnings.
  GPIO.setup(OC2_PIN, GPIO.OUT)
>>>

んん！？
なんかエラー出たぞ。
とりあえず無視。

>>> rr.set_led1(1) #LED1 ON
>>> rr.set_led1(0) #LED1 OFF
>>> rr.set_led2(1) #LED2 ON
>>> rr.set_led2(0) #LED2 OFF
>>> rr.set_oc1(1) #oc1 ON
>>> rr.set_oc1(0) #oc1 OFF
>>> rr.set_oc2(0) #oc2 ?オンのまま
>>> rr.set_oc2(1) #oc2 ?オンのまま
>>> rr.set_oc3(1)
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
AttributeError: RaspiRobot instance has no attribute 'set_oc3'
>>>

なるほど。
でもOC2 がずーっとONのまま。。。
半田付けに失敗してるのかな？

とりあえず続き

>>> rr.forward() # L(+ -), R(- +) 3V 出力。
>>> rr.right()   # L極性反転 L(- +), R(- +)
>>> rr.left()    # R極性反転 L(+ -), R(+ -)
>>> rr.stop()    # L, R 0v
>>> rr.get_range_inch() # ？　ビデオを見る限りだと近接センサ？
0
>>> rr.sw1_closed() # sw1 短絡状態　短絡するとTrue
False
>>> rr.sw1_closed()
True
>>> rr.sw2_closed() # sw2 短絡状態　短絡するとTrue
False
>>> rr.sw2_closed()
True

なるほど。わかりやすい。

エラーが出る件と、oc2 がONになりっぱなしの件だけ
あとでのんびり調べてみようっと。