def __init__(self):
servo.init()
# print LOG...
notice_init = 'ServoAction Initialization Compete!\n"'
notice_init += ' * \'' + chattername + '\'\n'
print(termcolor.colored(NOTICE_INIT, 'green'))
def __init__(self, okaomanager):
global state
state = 0
#global state_flag
state_flag = [False, False, False, False]
self.okaomanager = okaomanager
servo.init()
def main(args):
HOST = '' # Symbolic name, meaning all available interfaces
PORT = 8080 # Arbitrary non-privileged port
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
print 'Socket created'
#Bind socket to local host and port
try:
s.bind((HOST, PORT))
except socket.error as msg:
print 'Bind failed. Error Code : ' + str(msg[0]) + ' Message ' + msg[1]
sys.exit()
print 'Socket bind complete'
#Initialize servo
servo.init()
#now keep talking with the client
while 1:
#Start listening
s.listen(PORT)
print 'Socket now listening.'
#wait to accept a connection - blocking call
conn, addr = s.accept()
print 'Connected with ' + addr[0] + ':' + str(addr[1])
#conn.send("Hello")
data = conn.recv(PORT)
if data == 'q' or data == 'Q':
s.close()
break
elif data == 'swing':
print 'Received: ' + data
filePath = swing()
f = open(filePath, 'rb')
print 'Sending...'
l = f.read(4096)
while (l):
conn.send(l)
l = f.read(4096)
conn.send("END_OF_FILE")
print 'Done sending.'
def partie(wm, moteur_x, moteur_y):
setText("Placez la bille en bas a gauche")
time.sleep(1)
setText("Appuyez sur A pour valider !")
while wm.state['buttons'] != 8:
i = 0
setText("Pret ?")
time.sleep(1)
setText("Pour lancer la partie :")
time.sleep(1)
setText("Appuyez sur le bouton A !")
while wm.state['buttons'] != 8: #on presse le bouton A
i = 0
t0 = time.time()
setText("Partie en cours !")
lumiere = luminosite.getLuminosite()
while wm.state[
'buttons'] != 4 and lumiere > 150: #condition d'arrêt du capteur de luminosité :
x = float(nunchuk.get_x(wm))
y = float(nunchuk.get_y(wm))
servo.coordonne_to_position_moteur_x(moteur_x, x)
servo.coordonne_to_position_moteur_y(moteur_y, y)
#time.sleep(0.1)
lumiere = luminosite.getLuminosite()
if wm.state['buttons'] == 4096:
return end()
servo.stop(moteur_x, moteur_y)
t = time.time() - t0
manipfile.writeScore(t)
setText("Temps" + str(t))
time.sleep(2)
if t < 25:
setText("GAGNE !")
time.sleep(2)
else:
setText("PERDU !")
time.sleep(2)
moteurs = servo.init()
setText("Nouvelle partie ?")
time.sleep(2)
setText("Si oui, appuyez longtemps sur A")
time.sleep(2)
setText("Sinon, appuyez sur +")
time.sleep(2)
if wm.state['buttons'] == 8:
partie(wm, moteur_x, moteur_y)
else:
setText("Fin de partie")
time.sleep(2)
setText("WiiLabyrinthe")
def main():
setText("Appuyez sur les boutons 1 et 2")
time.sleep(1.5)
setText("de votre Wiimote")
wm = connexionWii()
setText("Wiimote connectee !")
wm.rumble = 1
time.sleep(3)
wm.rumble = 0
setText("Arret partie : appuyez sur + ")
wm.rpt_mode = cwiid.RPT_NUNCHUK | cwiid.RPT_BTN
moteurs = servo.init()
moteur_x = moteurs[0]
moteur_y = moteurs[1]
partie(wm, moteur_x, moteur_y)
def init():
global addressX
global addressY
addressX = addressY = 0.0
servo.init()
import os
import datetime
import RPi.GPIO as GPIO
import collection
import time
import servo
import signal
GPIO.setmode(GPIO.BCM)
LED_PIN = 3
GPIO.setup(LED_PIN, GPIO.OUT)
SWITCH_PIN = 2
GPIO.setup(SWITCH_PIN, GPIO.IN)
SERVO_PIN = 4
servo.init(SERVO_PIN)
db_path = "/home/pi/workspace/software/db"
signal.signal(signal.SIGINT, servo.handler)
def save_frame_camera_key(device_num,
dir_path,
basename,
ext='jpg',
delay=1,
window_name='frame'):
cap = cv2.VideoCapture(device_num)
if not cap.isOpened():
def __init__(self, okaomanager):
self.okaomanager = okaomanager
servo.init()
s.send_response(200)
s.send_header("Content-type", "text/html")
s.end_headers()
s.wfile.write("<html><head><title>Title goes here.</title></head>")
s.wfile.write("<body><p>This is a test.</p>")
s.wfile.write("<p>You accessed path: %s</p>" % s.path)
s.wfile.write("</body></html>")
def pic(s):
s.send_response(200)
s.send_header("Content-type", "image/jpeg")
s.end_headers()
s.camera.capture(s.wfile, 'jpeg', use_video_port=True)
def static(s):
if s.path[0] == '/':
s.path = s.path[1:]
path = os.path.realpath(os.path.join(os.getcwd(), s.path))
print path
if not path.startswith(STATIC_ROOT):
s.send_error(403)
SimpleHTTPServer.SimpleHTTPRequestHandler.do_GET(s)
httpd = SocketServer.TCPServer(("", PORT), ServoHandler)
ServoHandler.camera.iso = 800
os.chdir(STATIC_ROOT)
servo.init()
print "serving at port", PORT
httpd.serve_forever()
class Servo:
def __init__(self, pin, range, position):
self.pin = pin
self.range = range
self.position = position
def __str__(self):
return "Pino: " + str(self.pin) + " Range: " + str(self.range) \
+ " Position: " + str(self.position)
# Principal
servoHandler = Servo(15, 300, 0)
print "[Py] Inicializando wiringPi com servo configurado: " + str(servoHandler)
ret = servo.init(servoHandler.pin, servoHandler.range, servoHandler.position)
print "ret = " + str(ret)
servoHandler.position = 10
print "[Py] Atualizando posição do servo para: " + str(servoHandler.position)
ret = servo.update2(servoHandler.pin, servoHandler.range,
servoHandler.position)
print "ret = " + str(ret)
time.sleep(3)
servoHandler.position = 30
print "[Py] Atualizando posição do servo para: " + str(servoHandler.position)
ret = servo.update2(servoHandler.pin, servoHandler.range,
servoHandler.position)
print "ret = " + str(ret)
import datetime
import time
import RPi.GPIO as GPIO
import servo as servoControls
SERVO_PIN = 12
SERVO_PIN = 33
GPIO.setmode(GPIO.BOARD)
servo, servoData = servoControls.init(SERVO_PIN, 50)
def stepTowardTarget(servo, servoData, targetCoordinates, frameH, frameW):
halfFrameW = frameW / 2
targetX, targetY = targetCoordinates
servoStep = servoData['sweepStepPositive']
if halfFrameW - 25 <= targetX <= halfFrameW + 25:
stopped = True
print("Stopped at" + str(datetime.datetime.now()))
time.sleep(0.1)
elif targetX > halfFrameW + 25:
servoControls.rotateTo(servo, servoData,
servoData['angle'] - servoStep)
else:
servoControls.rotateTo(servo, servoData,
servoData['angle'] + servoStep)
servoData['angle'] = servoData['angle'] + servoStep
if servoData['angle'] > 180:
servoData['angle'] = 180
elif servoData['angle'] < 0:
servoData['angle'] = 0
