launch_ball = False
paddle_open = False
open_guide = True
opened = True
redraw = False
# Set up pygame.
pygame.init()
DISPLAYSURF = pygame.display.set_mode((1280, 800))
pygame.display.set_caption('Lobsang Skittles Challenge')
clock = pygame.time.Clock()
# Set up Lobsang.
Lobsang.begin(splashscreen=False)
Lobsang.wheels.calibrate_speeds(-0.6)
Lobsang.head.aim(1380, 1550)
#Lobsang.head.laser(True)
# Tell the Duino that the launcher is connected.
Lobsang.launcher.connect()
Lobsang.launcher.open_guide()
Lobsang.launcher.reset_paddle()
# Print the interface info on the oled.
Lobsang.oled.clear_buffer()
Lobsang.oled.write("Skittles", pos=(0, 0), size=16)
Lobsang.oled.write("Control with W, A, S, D keys.")
Lobsang.oled.write("Control paddle with K, O, P keys.")
Lobsang.oled.write("Press ESC to quit.")
Lobsang.oled.refresh()
print "Running obstacle avoidance code." # Import libraries. import Lobsang, time, random, sys # Initialise Lobsang. Lobsang.begin() # Point the head straight forward. Lobsang.head.aim(1430, 1430) # This becomes a map of the distances from the robot's head # each time turn_optimum_distance() is run. Length 7. dist_map = [0, 0, 0, 0, 0, 0, 0] # This becomes a log of the distances from the robot's head # over a number of cycles. If lots of the measurements are # similar but the robot is driving forward, then it has # probably got stuck on something it can't see. Length 10. dist_log = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0] # Number of loops per second- this is only approximate. # Real loops per sec = 1 / LPS + time loop takes to complete. LPS = 10.0 # This is the number of loops before the random direction # checks begin again, but initially represented in seconds. loops_before_recheck = 2 loops_before_recheck *= LPS # To get actual number of loops. # Number of loops done so far. loops_since_last_check = 0
os.system("sudo bash bash/backup.sh")
Lobsang.oled.write("Copied data.")
Lobsang.oled.refresh()
time.sleep(2)
print "Piwars Menu: Finished backing up files. Continuing running menu."
render_menu(menu_position)
pygame.init()
display = pygame.display.set_mode((1280, 800))
elif event.key == K_8:
# Key '8' pressed. Shuts down the robot by running 'sudo halt' then waiting for 10 secs
# (before this time is up the program gets stopped as the system shuts down. The delay
# is so that this program does not exit back to 'autorun.py' as that prompts a login as the Pi shuts down!).
print "Piwars Menu: Will now shut down robot. Halting menu."
pygame.quit()
Lobsang.halt()
time.sleep(10)
elif event.key == K_UP:
# Up key pressed. Scroll the menu options up one line.
if menu_position > 0:
menu_position -= 1
render_menu(menu_position)
elif event.key == K_DOWN:
# Down key pressed. Scroll the menu options down one line.
if menu_position < len(menu_options) - 4: # Use len() to make the menu adaptable. Add and remove menu items and this will still scroll right.
menu_position += 1
render_menu(menu_position)
if event.type == QUIT or (event.type == KEYDOWN and event.key == K_ESCAPE):
#!/usr/bin/env python # # boot.py- checks if the RasPiO Duino, # RasPiCam and OLED are all connected. # Returns a sys.exit() code depending # on what errors occurs. 0 on all ok. # # Created Nov 2015 by Finley Watson import Lobsang import sys Lobsang.begin(0) if not Lobsang.gpio_access: sys.exit(16) import subprocess import os from time import sleep import RPi.GPIO as GPIO number_of_offline_systems = 0 binary_offline_flag = 0 # 0b001 (1) == duino offline, 0b011 (3) == oled and duino offline, 0b100 (4) == camera offline etc oled_offline = False duino_offline = False camera_offline = False Lobsang.duino.enable()
if option_command == "LOAD_ALL_OPTIONS":
menu_options = all_programs_options()
menu_position = 0
cursor_position = 0
render_menu(menu_position, cursor_position)
elif option_command == "LOAD_STANDARD_OPTIONS":
menu_options = standard_menu_options
menu_position = 0
cursor_position = 0
render_menu(menu_position, cursor_position)
elif option_command == "SHUTDOWN":
print "Menu: Shutting down Lobsang..."
pygame.quit()
Lobsang.halt()
time.sleep(10)
elif option_command == "EXIT":
print "Menu: Halting menu."
Lobsang.oled.clear_buffer()
Lobsang.oled.write("Halting menu...")
Lobsang.oled.refresh()
pygame.quit()
Lobsang.quit(False)
sys.exit()
else:
# If the option's command is one for the terminal, run it as one.
print "Menu: Running %s..." %string.lower(option_name)
pygame.quit() # Halt the pygame window because only one pygame window can be open at once, and so you can see any terminal messages printed by script run below.
os.system(option_command)
