#nedeni ise bu modulun her kutuphanede çalışması,çok daha gelişmiş bir esneklik sağlaması ve özelliklerinin olması
#wxPyhton bazı hatalar için düzeltmeler içeriyor ve ayrıca wxWidgets'tan çeşitli iyileştirmeler ekliyor
import atexit #Atexit modülü, temizleme işlevlerini kaydetmek için tek bir işlev tanımlar.
#hata tespiti için bir arabirimdir.
atexit.register(
gopigo.stop
) # aktarılacak tüm isteğe bağlı argümanlar, register() için bağımsız değişken olarak aktarılmalıdır.
left_led = 0
right_led = 0
trim_val = gopigo.trim_read() #trim=düzeltmek
#işlevi, yeni satırları, boşlukları (kırılmayan alanlar da dahil) ve sağlanan dizenin başlangıcından
#ve sonundan itibaren sekmeleri kaldırır. Bu boşluk karakterleri dizedeki ortada oluşursa, bunlar korunur.
v = gopigo.volt()
#GoPiGo'ya V'de bağlı olan pil takımının voltajını okuyun
f = gopigo.fw_ver()
#GoPiGo'nun ürün yazılımı sürümünü okuyun.
#0,9'olabilir.
#1.0, en yeni bellenimdir
slider_val = gopigo.trim_read()
#slider, kullanıcının göstergeyi hareket ettirerek değer ayarlayabileceği bir Tkinter nesnesidir.
#trim fonksiyonu barkodlardaki yazılımlar sayesinde tekerleklerden birinin hızını bir miktar arttırabilir veya azaltabilir, böylece çok fazla dönüş yapmaz
class gopigo_control_app(
wx.Frame
): #Çerçeve, boyutu ve konumu kullanıcı tarafından değiştirilebilen (genellikle) bir pencere.
slider = 0
def __init__(self, parent, id, title):
wx.Frame.__init__(self, parent, id, title, size=(475, 600))
def firmware_button_OnButtonClick(self, event):
global f
f = gopigo.fw_ver()
self.firmware_label.SetLabel(str(f))
no_auto_detect = True
import gopigo
try:
import wx
except ImportError:
raise ImportError,"The wxPython module is required to run this program"
import atexit
atexit.register(gopigo.stop)
left_led=0
right_led=0
trim_val=gopigo.trim_read()
v=gopigo.volt()
f=gopigo.fw_ver()
slider_val=gopigo.trim_read()
class gopigo_control_app(wx.Frame):
slider=0
def __init__(self,parent,id,title):
wx.Frame.__init__(self,parent,id,title,size=(475,600))
self.parent = parent
self.initialize()
# Exit
exit_button = wx.Button(self, label="Exit", pos=(240+75,550))
exit_button.Bind(wx.EVT_BUTTON, self.onClose)
# robot = "/home/pi/Desktop/GoBox/Troubleshooting_GUI/dex.png"
# png = wx.Image(robot, wx.BITMAP_TYPE_ANY).ConvertToBitmap()
# wx.StaticBitmap(self, -1, png, (0, 0), (png.GetWidth()-320, png.GetHeight()-20))
def firmware_button_OnButtonClick(self,event):
global f
f=gopigo.fw_ver()
self.firmware_label.SetLabel(str(f))
def do_command(command=None):
logging.debug(command)
if command in ["forward", "fwd"]:
gopigo.fwd()
elif command == "left":
gopigo.left()
elif command == "left_rot":
gopigo.left_rot()
elif command == "right":
gopigo.right()
elif command == "right_rot":
gopigo.right_rot()
elif command == "stop":
gopigo.stop()
elif command == "leftled_on":
gopigo.led_on(0)
elif command == "leftled_off":
gopigo.led_off(0)
elif command == "rightled_on":
gopigo.led_on(1)
elif command == "rightled_off":
gopigo.led_off(1)
elif command in ["back", "bwd"]:
gopigo.bwd()
elif command == "speed":
logging.debug("speed")
speed = flask.request.args.get("speed")
logging.debug("speed:" + str(speed))
if speed:
logging.debug("in if speed")
gopigo.set_speed(int(speed))
left_speed = flask.request.args.get("left_speed")
logging.debug("left_speed:" + str(left_speed))
if left_speed:
logging.debug("in if left_speed")
gopigo.set_left_speed(int(left_speed))
right_speed = flask.request.args.get("right_speed")
logging.debug("right_speed:" + str(right_speed))
if right_speed:
logging.debug("in if right_speed")
gopigo.set_right_speed(int(right_speed))
speed_result = gopigo.read_motor_speed()
logging.debug(speed_result)
return flask.json.jsonify({"speed": speed_result, "right": speed_result[0], "left": speed_result[1]})
elif command == "get_data":
speed_result = gopigo.read_motor_speed()
enc_right = gopigo.enc_read(0)
enc_left = gopigo.enc_read(1)
volt = gopigo.volt()
timeout = gopigo.read_timeout_status()
return flask.json.jsonify(
{
"speed": speed_result,
"speed_right": speed_result[0],
"speed_left": speed_result[1],
"enc_right": enc_right,
"enc_left": enc_left,
"volt": volt,
"timeout": timeout,
"fw_ver": gopigo.fw_ver(),
}
)
elif command in ["enc_tgt", "step"]:
tgt = flask.request.args.get("tgt")
direction = flask.request.args.get("dir")
if tgt:
gopigo.gopigo.enc_tgt(1, 1, int(tgt))
if dir:
if dir == "bwd":
gopigo.bwd()
else:
gopigo.fwd()
else:
gopigo.fwd()
return ""
def process_command(self, command):
parts = command.split("/")
if parts[1] == "poll":
print "poll"
self.us_dist = gopigo.us_dist(usdist_pin)
self.enc_status = gopigo.read_status()[0]
self.volt = gopigo.volt()
self.fw_ver = gopigo.fw_ver()
self.trim = gopigo.trim_read() - 100
if self.enc_status == 0:
self.waitingOn = None
elif parts[1] == "stop":
gopigo.stop()
elif parts[1] == "trim_write":
gopigo.trim_write(int(parts[2]))
self.trim = gopigo.trim_read()
elif parts[1] == "trim_read":
self.trim = gopigo.trim_read() - 100
elif parts[1] == "set_speed":
if parts[2] == "left":
self.left_speed = int(parts[3])
elif parts[2] == "right":
self.right_speed = int(parts[3])
else:
self.right_speed = int(parts[3])
self.left_speed = int(parts[3])
gopigo.set_left_speed(self.left_speed)
gopigo.set_right_speed(self.right_speed)
elif parts[1] == "leds":
val = 0
if parts[3] == "on":
val = 1
elif parts[3] == "off":
val = 0
elif parts[3] == "toggle":
val = -1
if parts[2] == "right" or parts[2] == "both":
if val >= 0:
self.ledr = val
else:
self.ledr = 1 - self.ledr
if parts[2] == "left" or parts[2] == "both":
if val >= 0:
self.ledl = val
else:
self.ledl = 1 - self.ledl
gopigo.digitalWrite(ledr_pin, self.ledr)
gopigo.digitalWrite(ledl_pin, self.ledl)
elif parts[1] == "servo":
gopigo.servo(int(parts[2]))
elif parts[1] == "turn":
self.waitingOn = parts[2]
direction = parts[3]
amount = int(parts[4])
encleft = 0 if direction == "left" else 1
encright = 1 if direction == "left" else 0
gopigo.enable_encoders()
gopigo.enc_tgt(encleft, encright, int(amount / DPR))
if direction == "left":
gopigo.left()
else:
gopigo.right()
elif parts[1] == "move":
self.waitingOn = int(parts[2])
direction = parts[3]
amount = int(parts[4])
gopigo.enable_encoders()
gopigo.enc_tgt(1, 1, amount)
if direction == "backward":
gopigo.bwd()
else:
gopigo.fwd()
elif parts[1] == "beep":
gopigo.analogWrite(buzzer_pin, self.beep_volume)
time.sleep(self.beep_time)
gopigo.analogWrite(buzzer_pin, 0)
elif parts[1] == "reset_all":
self.ledl = 0
self.ledr = 0
gopigo.digitalWrite(ledl_pin, self.ledl)
gopigo.digitalWrite(ledr_pin, self.ledr)
gopigo.analogWrite(buzzer_pin, 0)
# gopigo.servo(90)
gopigo.stop()
#!/usr/bin/env python ################################################## # GoPiGo IR remote control test # # This example is for controlling the GoPiGo with an IR remote similar to the one with AC and TV's # # History # ------------------------------------------------ # Author Date Comments # Karan 1 June 15 Initial Authoring # # These files have been made available online through a Creative Commons Attribution-ShareAlike 3.0 license. # (http://creativecommons.org/licenses/by-sa/3.0/) ################################################## import gopigo import time print gopigo.fw_ver() gopigo.ir_recv_pin(15) print "Press any button on the remote to see the data" while True: ir_data_back=gopigo.ir_read_signal() if ir_data_back[0]==-1: #IO Error pass elif ir_data_back[0]==0: #Old signal pass else: print ir_data_back[1:] #Current signal from IR remote time.sleep(.1)
#!/usr/bin/env python
##################################################
# GoPiGo IR remote control test
#
# This example is for controlling the GoPiGo with an IR remote similar to the one with AC and TV's
#
# History
# ------------------------------------------------
# Author Date Comments
# Karan 1 June 15 Initial Authoring
#
# These files have been made available online through a Creative Commons Attribution-ShareAlike 3.0 license.
# (http://creativecommons.org/licenses/by-sa/3.0/)
##################################################
import gopigo
import time
print gopigo.fw_ver()
gopigo.ir_recv_pin(15)
print "Press any button on the remote to see the data"
while True:
ir_data_back = gopigo.ir_read_signal()
if ir_data_back[0] == -1: #IO Error
pass
elif ir_data_back[0] == 0: #Old signal
pass
else:
print ir_data_back[1:] #Current signal from IR remote
time.sleep(.1)
def fw_ver(kargs):
r = {'return_value': gopigo.fw_ver()}
return r
