{"id":232,"date":"2021-12-10T16:28:13","date_gmt":"2021-12-10T07:28:13","guid":{"rendered":"https:\/\/www.avancesys.co.jp\/laboratory\/?post_type=article&p=232"},"modified":"2021-12-10T16:28:13","modified_gmt":"2021-12-10T07:28:13","slug":"%e7%ac%ac6%e5%9b%9e-%e9%a1%94%e8%aa%8d%e8%ad%98%e3%83%87%e3%83%90%e3%82%a4%e3%82%b9-raspberry-pi-4b%e7%b7%a8-%e3%80%9c%e6%93%8d%e4%bd%9c%e5%91%a8%e8%be%ba%e3%81%ae%e3%82%bd%e3%83%95%e3%83%88%e3%82%a6","status":"publish","type":"article","link":"https:\/\/www.avancesys.co.jp\/laboratory\/article\/%e7%ac%ac6%e5%9b%9e-%e9%a1%94%e8%aa%8d%e8%ad%98%e3%83%87%e3%83%90%e3%82%a4%e3%82%b9-raspberry-pi-4b%e7%b7%a8-%e3%80%9c%e6%93%8d%e4%bd%9c%e5%91%a8%e8%be%ba%e3%81%ae%e3%82%bd%e3%83%95%e3%83%88%e3%82%a6\/","title":{"rendered":"\u7b2c6\u56de \u9854\u8a8d\u8b58\u30c7\u30d0\u30a4\u30b9 Raspberry Pi 4B\u7de8 \u301c\u64cd\u4f5c\u5468\u8fba\u306e\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u7de8 \u301c"},"content":{"rendered":"\n

\u3053\u3093\u306b\u3061\u306f\u3002K\u3067\u3059\u3002<\/p>\n\n\n\n

Raspberry Pi 4B\u3067\u306e\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u7de8\u306b\u7d9a\u304d\u307e\u3057\u3066\u3001\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u7de8\u3068\u3044\u3046\u3053\u3068\u3067\u30011\u56de\u3067\u306f\u5185\u5bb9\u304c\u7e8f\u3081\u3089\u308c\u305a\u3001\u89e3\u8aac\u306f\uff12\u56de\u306b\u6e21\u308a\u307e\u3059\u3002<\/p>\n\n\n\n

\u9854\u8a8d\u8b58\u30c7\u30d0\u30a4\u30b9\u3067\u306f\u4e3b\u306b\u3001\uff13\u3064\u306e\u4e3b\u6a5f\u80fd\u306b\u5206\u304b\u308c\u307e\u3059\u3002<\/p>\n\n\n\n

  1. \u9996\u632f\u308a\u6a5f\u80fd(Pan-Tilt Hat\u30e9\u30a4\u30d6\u30e9\u30ea)<\/li>
  2. \u901a\u4fe1\u6a5f\u80fd(Bluetooth\u901a\u4fe1)<\/li>
  3. \u30ab\u30e1\u30e9\uff0b\u753b\u50cf\u89e3\u6790\u6a5f\u80fd<\/li><\/ol>\n\n\n\n

    \u4eca\u56de\u306f\u5468\u8fba\u6a5f\u5668\u306b\u95a2\u3059\u308b\u9996\u632f\u308a\u6a5f\u80fd\u3068\u901a\u4fe1\u6a5f\u80fd\u306b\u3064\u3044\u3066\u89e3\u8aac\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    <\/div>\n\n\n\n

    \u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u65b9\u6cd5\u306b\u3064\u3044\u3066<\/p><\/blockquote><\/figure>\n\n\n\n

    \u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u306b\u3064\u3044\u3066\u306f\u7c21\u5358\u306b\u7d39\u4ecb\u3057\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n\n\n\n

    OS\u306fRaspberry Pi OS\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    \u5404\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u65b9\u6cd5\u306f\u4e0b\u8a18\u3088\u308a\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n

    Arducam IMX298<\/p>\n\n\n\n

    URL\uff1ahttps:\/\/github.com\/ArduCAM\/MIPI_Camera<\/p>\n\n\n\n

    PanTiltHat<\/p>\n\n\n\n

    URL\uff1ahttps:\/\/github.com\/pimoroni\/pantilt-hat<\/p>\n\n\n\n

    <\/div>\n\n\n\n

    \u9996\u632f\u308a\u6a5f\u80fd(Pan-Tilt Hat)<\/p><\/blockquote><\/figure>\n\n\n\n

    \u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u89e3\u8aac\u306b\u5165\u308b\u524d\u306b\u9996\u632f\u308a\u306e\u5927\u307e\u304b\u306a\u4ed5\u69d8\u3092\u8aac\u660e\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    \u3053\u306e\u30d1\u30fc\u30c4\u3067\u306f\u6a2a\u65b9\u5411(Pan)\u3068\u7e26\u65b9\u5411(Tilt)\u306b\u5bfe\u3057\u3066\u4e8c\u3064\u306e\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u3092\u4f7f\u3063\u3066\u5236\u5fa1\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n

    \u6a2a\u65b9\u5411\u306b\u5bfe\u3057\u3066\u5de6\u53f3\uff11\uff18\uff10\u00b0\u3068\u5c11\u3057\u3060\u3051\u904a\u3073\u304c\u3042\u308b\u7a0b\u5ea6\u307e\u3067\u52d5\u304b\u3059\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n

    \u30ab\u30e1\u30e9\u306e\u4e2d\u5fc3\u4f4d\u7f6e\u3092\uff10\u00b0\u3068\u3057\u305f\u5834\u5408\u3001\u6a2a\u632f\u308a\u306e\u5834\u5408 \u2212\uff19\uff10\u00b0\u306f\u5de6\u5411\u304d\u3001\uff19\uff10\u00b0\u306f\u53f3\u5411\u304d\u304c\u6700\u5927\u7a3c\u50cd\u7bc4\u56f2\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n

    \u4e0a\u8a18\u3092\u8e0f\u307e\u3048\u3066\u30ab\u30e1\u30e9\u306e\u4e2d\u5fc3\u4f4d\u7f6e\u3092\u624b\u52d5\u3067\u30ab\u30e1\u30e9\u306e\u53ef\u52d5\u57df\u307e\u3067\u52d5\u304b\u3057\u306a\u304c\u3089\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    \u30d1\u30fc\u30c4\u306b\u4f7f\u7528\u3057\u3066\u3044\u308b\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u306f\u5c0f\u578b\u3067\u975e\u5e38\u306b\u58ca\u308c\u3084\u3059\u3044\u305f\u3081\u3001\u614e\u91cd\u306b\u52d5\u304b\u3057\u3066\u8abf\u6574\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    \u4e2d\u5fc3\u4f4d\u7f6e\u3092\u305a\u3089\u3059\u306b\u306f\u30b5\u30fc\u30dc\u4e0b\u90e8\u306e\u30de\u30a4\u30ca\u30b9\u30cd\u30b8\uff14\u7b87\u6240\u306e\u56fa\u5b9a\u30cd\u30b8\u3092\u5916\u3059\u3068\u5e95\u90e8\u304c\u5916\u308c\u307e\u3059\u3002\u30d5\u30e9\u30c3\u30c8\u30b1\u30fc\u30d6\u30eb\u3092\u5916\u3057\u3066\u304b\u3089\u5e95\u90e8\u30cd\u30b8\u306e\u4e2d\u5fc3\u306b\u3042\u308b\u30cd\u30b8\u3092\u5916\u305b\u3070\u30b5\u30fc\u30dc\u304c\u5916\u308c\u307e\u3059\u3002\u3053\u306e\u4f4d\u7f6e\u3092\u305a\u3089\u3057\u3066\u5d4c\u3081\u8fbc\u3080\u4e8b\u3067\u4e2d\u5fc3\u4f4d\u7f6e\u3092\u5909\u66f4\u51fa\u6765\u307e\u3059\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    \u7e26\u65b9\u5411\u306b\u5bfe\u3057\u3066\u4e0b\u65b9\u5411\u304c\u30d5\u30e9\u30c3\u30c8\u30b1\u30fc\u30d6\u30eb\u304c\u5e72\u6e09\u3059\u308b\u95a2\u4fc2\u4e0a\u3001\u4e0a\u4e0b\u304a\u304a\u3088\u305d\uff11\uff15\uff10\u00b0\u7a0b\u5ea6\u307e\u3067\u52d5\u304b\u3059\u4e8b\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n

    \u540c\u3058\u8981\u9818\u3067\u7e26\u632f\u308a\u306b\u5bfe\u3057\u3066\u3082\u8abf\u6574\u3092\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n

    \u6027\u80fd\u4e0a\u30b5\u30fc\u30dc\u30e2\u30fc\u30bf\u30fc\u306f\u7a3c\u50cd\u7bc4\u56f2\u5916\u307e\u3067\u8a2d\u5b9a\u3059\u308b\u4e8b\u304c\u51fa\u6765\u307e\u3059\u304c\u3001\u6545\u969c\u306e\u539f\u56e0\u306b\u306a\u308a\u307e\u3059\u306e\u3067\u3001\u7a3c\u50cd\u7bc4\u56f2\u5916\u3078\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u306f\u907f\u3051\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n

    \u4e0b\u8a18\u306b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3092\u629c\u7c8b\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n

    import pantilthat\n:\n# \u9996\u632f\u308a\u306e\u89d2\u5ea6\npanvalue = 0\ntiltvalue = -50\n:\npantiltalive = True\n:\ndef pantilt():\n  sleep_time = 0.05\n  change = 5\n\n  while pantiltalive:\n    global panvalue\n    global tiltvalue\n\n    time.sleep(sleep_time)\n\n    # from spp\n    if spp.mode != sppconnection.Mode.AUTO:\n      panvalue = (180 - spp.vx) - 90\n      tiltvalue = (180 - spp.vy) - 90\n\n    if panvalue > 90:\n      panvalue = 90\n    elif panvalue < -90:\n      panvalue = -90\n\n    if tiltvalue > 60:\n      tiltvalue = 60\n    elif tiltvalue < -90:\n      tiltvalue = -90\n\n    diffPan = panvalue - pantilthat.get_pan()\n    if diffPan > 0:\n      if diffPan > change:\n        pantilthat.pan(pantilthat.get_pan() + change)\n      else:\n        pantilthat.pan(panvalue)\n    if diffPan < 0:\n      if diffPan < - change:\n        pantilthat.pan(pantilthat.get_pan() - change)\n      else:\n        pantilthat.pan(panvalue)\n\n    diffTilt = tiltvalue - pantilthat.get_tilt()\n    if diffTilt > 0:\n      if diffTilt > change:\n        pantilthat.tilt(pantilthat.get_tilt() + change)\n      else:\n        pantilthat.tilt(tiltvalue)\n    if diffTilt < 0:\n      if diffTilt < - change:\n        pantilthat.tilt(pantilthat.get_tilt() - change)\n      else:\n        pantilthat.tilt(tiltvalue)\n<\/code><\/pre><\/div>\n\n\n\n
    pantilthat\u306e\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u4f7f\u3046\u3053\u3068\u3067\u3001\u89d2\u5ea6\u306e\u53d6\u5f97\u3068\u8a2d\u5b9a\u3092\u7c21\u5358\u306b\u884c\u3048\u307e\u3059\u3002<\/p>\n\n\n\n
    \u5909\u66f4\u76f4\u5f8c\u3001\u8a2d\u5b9a\u3057\u305f\u89d2\u5ea6\u3078\u52d5\u304d\u307e\u3059\u3002\u3053\u306e\u6642\uff11\u30eb\u30fc\u30d70.05\u79d2\u306e\u5468\u671f\u3067\u3059\u306e\u3067\u3001\uff10\u00b0\u304b\u3089\uff19\uff10\u00b0\u306b\u8a2d\u5b9a\u3057\u305f\u5834\u5408\u3001\u6025\u6fc0\u306b\u9996\u304c\u52d5\u304f\u305f\u3081\u3001\u9006\u65b9\u5411\u3078\u53cd\u52d5\u3059\u308b\u3088\u3046\u306a\u52d5\u4f5c\u304c\u3042\u3063\u305f\u308a\u3001\u6700\u60aa\u306e\u5834\u5408\u30b5\u30fc\u30dc\u5185\u90e8\u306e\u30ae\u30a2\u304c\u58ca\u308c\u3084\u3059\u304f\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
    \u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3067\u306f\uff15\u00b0\u4ee5\u4e0a\u306e\u79fb\u52d5\u91cf\u304c\u3042\u308b\u5834\u5408\u306f\u7d30\u304b\u304f\u52d5\u4f5c\u3059\u308b\u3088\u3046\u306b\u5236\u5fa1\u3057\u3066\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
    <\/div>\n\n\n\n
    Bluetooth\u901a\u4fe1<\/p><\/blockquote><\/figure>\n\n\n\n
    \u7d9a\u3044\u3066Bluetooth\u901a\u4fe1\u3067\u3059\u3002<\/p>\n\n\n\n
    \u65e2\u306b\u524d\u7ae0\u3067\u304a\u8a71\u3057\u3057\u305f\u901a\u308aPython\u3067\u306fBluetooth\u901a\u4fe1\u304c\u975e\u5e38\u306b\u7c21\u5358\u306b\u5b9f\u88c5\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n
    \u307e\u305a\u306fBluetooth\u901a\u4fe1\u306eSPP\u30d7\u30ed\u30d5\u30a1\u30a4\u30eb\u3067\u5b9f\u88c5\u3057\u305f\u30af\u30e9\u30b9\u3092\u629c\u7c8b\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
    class SppConnection(threading.Thread):\n  def __init__(self):\n    super(SppConnection, self).__init__()\n    self.alive = True\n    self.mode = Mode.AUTO\n    self.facedetect = True\n    self.lookface = True\n    self.eyedetect = True\n    self.agegenderdetect = True\n    self.vx = 0\n    self.vy = 0\n\n  def run(self):\n    last = time.time()\n    # mode = Mode.AUTO\n    # vx = 0\n    # vy = 0\n    recv = bytes(0)\n    datasize = 13\n\n    while self.alive:\n      self.mode = Mode.AUTO\n      self.facedetect = True\n      self.lookface = True\n      self.eyedetect = True\n      self.agegenderdetect = True\n\n      sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM)\n      sock.bind(("", bluetooth.PORT_ANY))\n      sock.listen(1)\n      sock.settimeout(3)\n\n      # Set Discoverable\n      subprocess.call(['sudo', 'hciconfig', 'hci0', 'piscan'])\n\n      # uuid = 'ef7ce24a-a1eb-45d4-9208-f896b0ae8336'\n      # uuid = "94f39d29-7d6d-437d-973b-fba39e49d4ee"\n      uuid = '00001101-0000-1000-8000-00805F9B34FB'\n      bluetooth.advertise_service(\n        sock, "MyServer", service_id=uuid,\n        service_classes=[uuid, bluetooth.SERIAL_PORT_CLASS],\n        profiles=[bluetooth.SERIAL_PORT_PROFILE],\n      )\n\n      print('accept start')\n      # client_socket, address = sock.accept()\n      try:\n        client_socket, address = sock.accept()\n      except:\n        print('Bluetooth accept exception')\n        continue\n      if client_socket is None:\n        continue\n\n      print('connected')\n\n      while self.alive:\n        try:\n          result = client_socket.recv(13)\n\n          recv = recv + result\n\n          if len(recv) >= datasize:\n            data = recv[0:datasize]\n            # print(recv.hex())\n\n            mode_old = self.mode\n            self.mode = Mode(int.from_bytes(data[0:1], 'big'))\n\n            facedetect_old = self.facedetect\n            self.facedetect = int.from_bytes(data[1:2], 'big')\n\n            lookface_old = self.lookface\n            self.lookface = int.from_bytes(data[2:3], 'big')\n\n            eyedetect_old = self.eyedetect\n            self.eyedetect = int.from_bytes(data[3:4], 'big')\n\n            agegenderdetect_old = self.agegenderdetect\n            self.agegenderdetect = int.from_bytes(data[4:5], 'big')\n\n            vx_old = self.vx\n            self.vx = int.from_bytes(data[5:9], 'big')\n\n            vy_old = self.vy\n            self.vy = int.from_bytes(data[9:13], 'big')\n\n            if self.mode != mode_old or self.facedetect != facedetect_old or self.lookface != lookface_old or self.eyedetect != eyedetect_old or self.agegenderdetect != agegenderdetect_old or self.vx != vx_old or self.vy != vy_old:\n              print('mode={2}, face detect={5}, look face={6}, eye detect={3}, age\/gender detect={4}, x={0}, y={1}'.format(self.vx, self.vy, self.mode, self.eyedetect, self.agegenderdetect, self.facedetect, self.lookface))\n\n            if len(recv) > datasize:\n              recv = recv[datasize:]\n            else:\n              recv = bytes(0)\n        except Exception:\n          break\n<\/code><\/pre><\/div>\n\n\n\n
    \u901a\u4fe1\u5185\u5bb9\u306f\u30e1\u30f3\u30d0\u30fc\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u5024\u3092\u53d6\u5f97\u3059\u308b\u3053\u3068\u3067\u3001\u73fe\u5728\u306e\u5024\u306a\u3069\u3092\u8abf\u67fb\u3059\u308b\u4e8b\u304c\u51fa\u6765\u307e\u3059\u3002<\/p>\n\n\n\n
    import sppconnection\n:\nspp = sppconnection.SppConnection(\n:\ndef main():\n  # \u901a\u4fe1\u30b9\u30ec\u30c3\u30c9\u958b\u59cb\n  spp.start()<\/code><\/pre><\/div>\n\n\n\n
    \u3042\u3068\u306f\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3092\u751f\u6210\u3057\u3066\u8ecc\u9053\u958b\u59cb\u6642\u306bstart\u306e\u30e1\u30bd\u30c3\u30c9\u3092\u547c\u3073\u51fa\u3057\u305f\u3089\u4ee5\u964d\u306f\u901a\u4fe1\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n\n\n\n
    \u6b21\u56de\u306f\u3044\u3088\u3044\u3088\u30ab\u30e1\u30e9\u5468\u308a\u306e\u6a5f\u80fd\u306e\u89e3\u8aac\u3067\u3059\u3002<\/p>\n\n\n\n
    \u3067\u306f\u307e\u305f\uff01<\/p>\n\n\n\n
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