1032 practical linux system administration

1032
Practical Linux System Administration
Final Report
Group 8 - 吳芷恩 <100212067>
1

實作所需材料
4
材料取得來源價格
Raspberry Pi BlueT $－－
Logitech Webcam C310 PChome $699
Servo motor SG90 Ruten $48
Stepper motor 28BYJ-48-5V Ruten $50
ULN2003 Driver Board Ruten $27
Dupont Line Ruten $20
Steel wire Hardware store $5
Mouse toy DAISO $39

★ Web server - LAMP
★ Automatically send ip to Email - Postfix
運用與課程內容中相關的技巧
5

★ Stepper motor
○ software: Pi4J http://pi4j.com/
○ code:https://github.com/Pi4J/pi4j/blob/master/pi4j-
example/src/main/java/StepperMotorGpioExample.java
★ Servo motor
○ software: Python
○ code:https://www.youtube.com/watch?v=ddlDgUymbxc
★ Webcam
○ software: MJPG-streamer http://sourceforge.net/projects/mjpg-
streamer/
★ Webpage
○ software: LAMP
○ code: HTML, PHP, JavaScript AJAX http://php.
net/manual/en/function.shell-exec.php http://www.w3schools.
com/ajax/ajax_example.asp
使用的現有軟體與來源
6

ULN2003
Driver Board
(Stepper motor)
實作過程 - GPIO 配置
7

Servo motor
實作過程 - GPIO 配置 (cont’d)
8

Builds MJPG-streamer
➢ sudo apt-get update
➢ sudo apt-get install subversion libjpeg8-dev imagemagick
➢ sudo svn checkout svn://svn.code.sf.net/p/mjpg-streamer/code
➢ cd code/mjpg-streamer
➢ sudo make clean all
➢ export LD_LIBRARY_PATH=.
➢ ./mjpg_streamer -i "./input_uvc.so" -o "./output_http.so -w ./www"
Auto run MJPG-streamer when pi boots up
➢ sudo vim /etc/rc.local
➢ add codes before exit 0 :
export STREAMER_PATH=/home/pi/code/mjpg-streamer
export LD_LIBRARY_PATH=$ STREAMER_PATH
$STREAMER_PATH/mjpg_streamer -i “input_uvc.so -y = YUYV” -o
“output_http.so -w $STREAMER_PATH/www” &s
實作過程－ MJPG-streamer
10

★ servo90.php
<?php
echo shell_exec("sudo python servo90.py")
?>
實作過程－ Coding
(servo90.php & servo90.py)
11
★ servo90.py
import RPi.GPIO as GPIO
import time
GPIO.setmode(GPIO.BOARD)
GPIO.setup(7,GPIO.OUT)
p = GPIO.PWM(7,50)
p.start(7.5)
count=0
while (count<4):
p.ChangeDutyCycle(2.5)
time.sleep(0.25)
time.sleep(0.25)
count=count+1
p.stop()
GPIO.cleanup()

★ servo180.php
<?php
echo shell_exec("sudo python servo180.py")
?>
(servo180.php & servo180.py)
12
★ servo180.py
import RPi.GPIO as GPIO
import time
GPIO.setmode(GPIO.BOARD)
GPIO.setup(7,GPIO.OUT)
p = GPIO.PWM(7,50)
p.start(7.5)
count=0
while (count<4):
time.sleep(0.5)
time.sleep(0.5)
count=count+1
p.stop()
GPIO.cleanup()

★ step45.php
<?php
echo shell_exec("sudo java -classpath .:classes:
/opt/pi4j/lib/'*' step45")
?>
★ step-45.php
<?php
/opt/pi4j/lib/'*' stepm45")
?>
★ step90.php
<?php
?>
★ step-90.php
<?php
?>
(step45/-45/90/-90/180/-180.php)
13
★ step180.php
<?php
?>
★ step-180.php
<?php
?>

★ step45.java
import com.pi4j.component.motor.impl.GpioStepperMotorComponent;
import com.pi4j.io.gpio.GpioController;
import com.pi4j.io.gpio.GpioFactory;
import com.pi4j.io.gpio.GpioPinDigitalOutput;
import com.pi4j.io.gpio.PinState;
import com.pi4j.io.gpio.RaspiPin;
public class step45 {
public static void main(String[] args) throws InterruptedException {
System.out.println("<--Pi4J--> GPIO Stepper Motor Example ... started.");
// create gpio controller
final GpioController gpio = GpioFactory.getInstance();
// provision gpio pins #00 to #03 as output pins and ensure in LOW state
final GpioPinDigitalOutput[] pins = {
gpio.provisionDigitalOutputPin(RaspiPin.GPIO_00, PinState.LOW),
gpio.provisionDigitalOutputPin(RaspiPin.GPIO_03, PinState.LOW)};
(step45.java)
14

★ step45.java (cont’d)
// this will ensure that the motor is stopped when the program terminates
gpio.setShutdownOptions(true, PinState.LOW, pins);
// create motor component
GpioStepperMotorComponent motor = new GpioStepperMotorComponent(pins);
// @see http://www.lirtex.com/robotics/stepper-motor-controller-circuit/
// for additional details on stepping techniques
// create byte array to demonstrate a double-step sequencing
// (In this method two coils are turned on simultaneously. This method does not generate
// a smooth movement as the previous method, and it requires double the current, but as
// return it generates double the torque.)
byte[] double_step_sequence = new byte[4];
double_step_sequence[0] = (byte) 0b0011;
// define stepper parameters before attempting to control motor
// anything lower than 2 ms does not work for my sample motor using single step sequence
motor.setStepInterval(1);
motor.setStepSequence(double_step_sequence);
(step45.java <cont’d>)
15

★ step45.java (cont’d)
// There are 32 steps per revolution on my sample motor, and inside is a ~1/64 reduction gear set.
// Gear reduction is actually: (32/9)/(22/11)x(26/9)x(31/10)=63.683950617
// This means is that there are really 32*63.683950617 steps per revolution = 2037.88641975 ~ 2038 steps!
motor.setStepsPerRevolution(2038);
motor.rotate(0.125);
System.out.println(" Motor STOPPED.");
// final stop to ensure no motor activity
motor.stop();
// stop all GPIO activity/threads by shutting down the GPIO controller
// (this method will forcefully shutdown all GPIO monitoring threads and scheduled tasks)
gpio.shutdown();
}
}
(step45.java <cont’d>)
16

change some code...
★ stepm45.java
public class stepm45 {
……………….
motor.rotate(-0.125);
★ step90.java
……………….
motor.rotate(0.25);
★ stepm90.java
public class stepm90 {
……………….
motor.rotate(-0.25);
(stepm45/90/m90/180/m180.java)
17
★ step180.java
……………….
motor.rotate(0.5);
★ stepm180.java
……………….
motor.rotate(0.5);

★ index.php
<html>
<Iframe src="http://192.168.0.106:8080/javascript_simple.html" width="660" height="500"></Iframe>
<p>toy control:
<button type="button" name="button" onclick="servo90()">90 degrees</button>
<button type="button" name="button2" onclick="servo180()">180 degrees</button></p>
<p>Webcam control:
<img src="playmeow.png" align="right" height="100">
<button type="button" name="button3" onclick="step45()">L 45 degrees</button>
<button type="button" name="button4" onclick="stepm45()">R 45 degrees</button></p>
<p><font color="#ffffff">Webcam control: </font>
<p><font color="#ffffff">Webcam control: </font>
<script>
function servo90(){
var xmlhttp=new XMLHttpRequest();
xmlhttp.open("POST","servo90.php",true);
xmlhttp.send();
}
(index.php)
18

★ index.php (cont’d)
function servo180(){
xmlhttp.open("POST","servo180.php",true);
xmlhttp.send();
}
function step45(){
xmlhttp.open("POST","step45.php",true);
xmlhttp.send();
}
function stepm45(){
xmlhttp.open("POST","step-45.php",true);
xmlhttp.send();
}
function step90(){
xmlhttp.send();
}
(index.php <cont’d>)
19
function stepm90(){
xmlhttp.send();
}
function step180(){
xmlhttp.send();
}
function stepm180(){
xmlhttp.send();
}
</script>
</html>

！在網頁上控制伺服馬達＆步進馬達！
➔ 以超連結控制會跳出新視窗 Noooooo~!!!
Helper - RichEGG
RichEGG : 改用AJAX ~
！在沒有Public ip、路由器不是自己的情況下，從外部開啟控制網頁！
➔ DDNS 無法設定 Noooooo~!!!
➔ 以3G行動網卡代替＄_＄不是長遠之計
Helper - BlueT
BlueT : 可以用ssh 或vpn解決，到 ipv6 普及就沒有這個問題了～
➔ ssh reverse tunnel 需要額外一台有Public ip的機器=.=
➔ VPN 綁定裝置以外的裝置會無法使用 T_T
➔ 無解 >_<....
實作過程 - 困難與解決
22

實際產出 - 試玩（改良前）
25

實際產出 - 試玩（改良後）
26

實際產出 - smartphone chrome
31

網頁：
http://www.w3schools.com
https://www.youtube.com/watch?v=ddlDgUymbxc
http://www.codedata.com.tw/java/java-embedded-10-gpio-motor
http://www.ntex.tw/wordpress/545.html
https://sites.google.com/site/raspberypishare0918/
http://www.powenko.com/wordpress/?p=4324
書籍：
Raspberry Pi最佳入門與實戰應用，柯博文，碁峰，2015-01-08
Raspberry Pi超炫專案與完全實戰，柯博文，碁峰，2014-09-26
參考資料
32

1032 practical linux system administration

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