def moveForward(P):
if P<700:
print("FORWARD")
wpi.serialPuts(serial, "3")
time.sleep(0.1)
return 0
else:
wpi.serialPuts(serial, "D")
time.sleep(0.1)
print("reached", P)
return 1
def lumiere(self, r, v, b):
msg = [0x80]
for c in [r, v, b]:
if c < 0 or c > 255:
return False
else:
msg.append(int(c / 2))
ser = wiringpi2.serialOpen(self.config.get("pin_led"), 115200)
for j in msg:
wiringpi2.serialPuts(ser, struct.pack("I", j))
wiringpi2.serialClose(ser)
def runImage(): #this function follows a user for a set amount of time
#This is ran with the heel command
p_prev = 0
z=0
wpi.serialPuts(serial, "D")
wpi.serialPuts(serial, "D")
time.sleep(0.1)
flag = 0
while z != 2000:
a = 0
b=0
z = z+1
ret, img = cap.read()
wpi.digitalWrite(0,0)
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
faces = face.detectMultiScale(gray, 1.3, 1,minSize=(110,110))
faces = face.detectMultiScale(gray, 1.1, 1)
for (x,y,w,h) in faces:
flag = 1
p = x+y+w+h
cx = x+w//2
a = moveCenter(cx);
b = moveForward((p+p_prev)//2);
cy = y+h//2
cv2.rectangle(img, (x,y), (x+w, y+h), (178,255,34),5) #draws rectange around image, for debugging purposes. Comment out during ops
wpi.digitalWrite(0,1) #turn on LED
if a != 1: #function sets a = 1 when robot is centered
a = moveCenter(cx);
if a ==1: #when a = 1 robot moves forward based on size of p
if b == 0:
b = moveForward((p+p_prev)//2);
p_prev = p
if flag == 0:
wpi.serialPuts(serial, "D")
time.sleep(0.1)
else:
flag = 0
cv2.imshow('Cam',img) #comment out during operation
if cv2.waitKey(1) & 0xFF == ord('q'):
break
wpi.serialPuts(serial, "D") #send default value to UART
time.sleep(0.1)
wpi.digitalWrite(0,0) #turn off LED
cap.release() #destroy windows
cv2.destroyAllWindows()
def moveCenter(x):
if x<250:
print("Left")
wpi.serialPuts(serial, "2") #Sends TX commands
time.sleep(0.1)
return 0
elif x>375:
print("Right")
wpi.serialPuts(serial, "1")
time.sleep(0.1)
return 0
else:
print("MID")
cx=0
wpi.serialPuts(serial, "D")
time.sleep(0.1)
return 1
import wiringpi2 as wiringpi
wiringpi.wiringPiSetup()
serial = wiringpi.serialOpen('/dev/ttyAMA0',115200)
wiringpi.serialPuts(serial,'hello world!')
import wiringpi2
import sys
#this example need change script.bin
#[uart_para6]
#uart_used = 1
#uart_port = 6
#uart_type = 2
#uart_tx = port:PI12<3><1><default><default>
#uart_rx = port:PI13<3><1><default><default>
#PI12: pin46[U14 Next to sata]
#PI13: pin48[U14 Next to sata]
serial = wiringpi2.serialOpen('/dev/ttyS6', 115200)
wiringpi2.serialPuts(serial, "\n")
print serial
wiringpi2.serialPuts(serial, "Putchar:")
wiringpi2.serialPutchar(serial, 0x38) #sent ascii 0x38: 8
#wiringpi2.serialPutchar(serial,0x65)#sent ascii 0x68: A
wiringpi2.serialPuts(serial, "\n")
wiringpi2.serialPuts(serial, "Puts:")
wiringpi2.serialPuts(serial, "hello\n")
wiringpi2.serialPuts(serial, "Printf:")
wiringpi2.serialPrintf(serial, "hello\n")
#####get data from serial
while 1:
if wiringpi2.serialDataAvail(serial):
val = wiringpi2.serialGetchar(serial)
import wiringpi2 as wiringpi
import time
wiringpi.wiringPiSetup()
serial = wiringpi.serialOpen('/dev/ttyS0', 9600)
i = 0
while True:
wiringpi.serialPuts(serial, str(i % 2))
time.sleep(0.1)
i += 1
import wiringpi2
import sys
#this example need change script.bin
#[uart_para6]
#uart_used = 1
#uart_port = 6
#uart_type = 2
#uart_tx = port:PI12<3><1><default><default>
#uart_rx = port:PI13<3><1><default><default>
#PI12: pin46[U14 Next to sata]
#PI13: pin48[U14 Next to sata]
serial = wiringpi2.serialOpen('/dev/ttyS6',115200)
wiringpi2.serialPuts(serial,"\n")
print serial
wiringpi2.serialPuts(serial,"Putchar:")
wiringpi2.serialPutchar(serial,0x38)#sent ascii 0x38: 8
#wiringpi2.serialPutchar(serial,0x65)#sent ascii 0x68: A
wiringpi2.serialPuts(serial,"\n")
wiringpi2.serialPuts(serial,"Puts:")
wiringpi2.serialPuts(serial,"hello\n")
wiringpi2.serialPuts(serial,"Printf:")
wiringpi2.serialPrintf(serial,"hello\n")
#####get data from serial
while 1:
if wiringpi2.serialDataAvail(serial):
#!/user/bin/python
import time
import sys
import OSC
import wiringpi2
serial = wiringpi2.serialOpen('/dev/ttyAMA0', 57600)
if serial < 0:
print("Unable to open serial device: \n")
sys.exit()
if wiringpi2.wiringPiSetup() == -1:
print("Unable to start wiringPi: \n")
sys.exit()
msg = "2" #set data
while True:
wiringpi2.serialPuts(serial, msg)
print(msg)
time.sleep(0.1) #wait 0.1 sec
wiringpi2.serialClose(serial)
