def __init__(self, name, M0b=18, M0f=23, M1b=24, M1f=25, T1=4, E1=17, simulation=False):
#GPIO: 4 17 21 22
#pin : 7 11 13 15
#GPIO: 18 23 24 25
#pin : 12 16 18 22
self.logger = logging.getLogger('myR.rover')
self.name = name
self.version = 1
self.simulation = simulation
self.ip = '192.168.0.10'
self.speed = 100 # [mm/s]
self.speedMax = 1000 # [mm/s]
self.voltage = 6 # [V]
self.mass = 2 # [Kg]
self.Lenght = 180 # [mm]
self.wheelR = 32 # [mm]
self.time360 = 2 # [sec]
self.data = datacollector()
self.camera = camera(self.data)
self.camserver = camserver(self.data)
self.sensor = us_sensor('S1', T1, E1, self.data)
self.motorLeft = DCmotor('MLeft', M0b, M0f, 11, 12)
self.motorRight = DCmotor('MRight', M1b, M1f, 13, 14)
self.rc = rc(self.data)
self.server = server(self.data)
class rover(object):
def __init__(self, name, M0b=18, M0f=23, M1b=24, M1f=25, T1=4, E1=17, simulation=False):
#GPIO: 4 17 21 22
#pin : 7 11 13 15
#GPIO: 18 23 24 25
#pin : 12 16 18 22
self.logger = logging.getLogger('myR.rover')
self.name = name
self.version = 1
self.simulation = simulation
self.ip = '192.168.0.10'
self.speed = 100 # [mm/s]
self.speedMax = 1000 # [mm/s]
self.voltage = 6 # [V]
self.mass = 2 # [Kg]
self.Lenght = 180 # [mm]
self.wheelR = 32 # [mm]
self.time360 = 2 # [sec]
self.data = datacollector()
self.camera = camera(self.data)
self.camserver = camserver(self.data)
self.sensor = us_sensor('S1', T1, E1, self.data)
self.motorLeft = DCmotor('MLeft', M0b, M0f, 11, 12)
self.motorRight = DCmotor('MRight', M1b, M1f, 13, 14)
self.rc = rc(self.data)
self.server = server(self.data)
#self.speaker = speaker(self.data)
#self.display init in start() in order to read the output print from other classes
def start(self):
"start all motors,sensor,rc"
self.camera.start()
self.camserver.start()
self.sensor.start()
self.server.start()
self.rc.start()
#self.speaker.start()
self.display = display(self.data)
self.display.start()
def stop(self):
"stop all motors,sensor,rc"
self.display.stop()
self.rc.stop()
self.camserver.stop()
self.camera.stop()
self.server.stop()
#self.speaker.stop()
try:
self.motorLeft.stop()
self.motorRight.stop()
except:
pass
try:
self.sensor.stop()
except:
pass
print 'bye bye'
def brake(self):
self.data.move = 'brake'
self.motorLeft.setW(0)
self.motorRight.setW(0)
def up(self, time=0):
self.data.move = 'up'
self.motorLeft.setW(self.data.speed)
self.motorRight.setW(self.data.speed)
if time > 0:
sleep(time)
self.brake()
def right(self, time=0):
self.data.move = 'right'
self.motorLeft.setW(self.data.speed)
self.motorRight.setW(0)
if time > 0:
sleep(time)
self.brake()
def left(self, time=0):
self.data.move = 'left'
self.motorLeft.setW(0)
self.motorRight.setW(self.data.speed)
if time > 0:
sleep(time)
self.brake()
def down(self, time=0):
self.data.move ='down'
self.motorLeft.setW(-self.data.speed)
self.motorRight.setW(-self.data.speed)
if time > 0:
sleep(time)
self.brake()
def updatemotors(self):
if self.data.move == 'brake':
self.brake()
elif self.data.move =='up':
self.up()
elif self.data.move =='right':
self.right()
elif self.data.move =='left':
self.left()
elif self.data.move =='down':
self.down()
else:
self.brake()
def discover(self):
self.data.speed = 40 # slow down system
while self.data.cycling and self.data.mode == 'discover':
self.up()
while self.data.distance > 100 and self.data.mode == 'discover':
sleep(0.1)
self.brake()
self.down(0.5)
self.left()
while self.data.distance < 400 and self.data.mode == 'discover':
sleep(0.1)
self.brake()
def search(self):
#2016.03.12 - under development:
#some more tests needed to sync distances , movement time searching areas.
self.data.tracking = True
self.data.speed = 40 # slow down system
res_x = self.data.resolution[0]
while self.data.cycling and self.data.mode == 'search':
if self.data.center[0] >= 0:
#there is at least a target
if self.data.center[0] <= (res_x / 5 * 2) and self.data.distance > 100:
#target is far enought and on the left side
self.left(time=0.1)
#due to delay on camera, a sleep is necessary
sleep(0.2)
elif self.data.center[0] >= (res_x / 5 * 3) and self.data.distance > 100:
self.right(time=0.1)
sleep(0.2)
elif self.data.center[0] >= (res_x / 5 * 2) and self.data.center[0] <= (res_x / 5 * 3) and self.data.distance > 100:
#in the center zone
self.up(time=0.1)
pass
else:
#target reached!
self.brake()
else:
#target not found by vision
self.brake()
self.data.tracking = False
def program(self):
pass
def run(self):
while self.data.cycling and self.data.mode == 'idle':
sleep(0.01)
#workaround: PWM.setup is called here , when camera streaming is already up
if self.data.cycling:
self.motorLeft.start()
self.motorRight.start()
while self.data.cycling:
if self.data.mode == 'idle':
self.brake()
pass
elif self.data.mode == 'jog':
self.updatemotors()
elif self.data.mode == 'discover':
self.discover()
elif self.data.mode == 'search':
self.search()
elif self.data.mode == 'program':
self.program()
sleep(0.01)
