/
arduino_slave.py
177 lines (157 loc) · 6.76 KB
/
arduino_slave.py
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import gevent
import gevent.monkey
from gevent.pywsgi import WSGIServer
import backwardsarrow
import forwardsarrow
gevent.monkey.patch_all()
from nanpy import (ArduinoApi, SerialManager, Ultrasonic)
from time import sleep
from pidata import get_all_data
import json
class ArduinoSlave():
"""Arduino slave construction setup"""
Motor1A = 2
Motor1B = 3
Motor2A = 4
Motor2B = 5
TrigPin = 9
EchoPin = 10
ultrasonic = ''
distance = 0
automatic_mode = False
def __init__(self, connection_path):
try:
connection = SerialManager(connection_path)
self.arduino = ArduinoApi(connection=connection)
self.ultrasonic = Ultrasonic(self.EchoPin, self.TrigPin, False, connection=connection)
except:
print("Failed to connect to the arduino")
# Motors set up
self.arduino.pinMode(self.Motor1A, self.arduino.OUTPUT)
self.arduino.pinMode(self.Motor1B, self.arduino.OUTPUT)
self.arduino.pinMode(self.Motor2A, self.arduino.OUTPUT)
self.arduino.pinMode(self.Motor2B, self.arduino.OUTPUT)
# Sensor set up
self.arduino.pinMode(self.TrigPin, self.arduino.OUTPUT)
self.arduino.pinMode(self.EchoPin, self.arduino.INPUT)
def startGetDistance(self):
self.distance = self.ultrasonic.get_distance()
print(self.distance)
# if distance < 5:
# pass
# else:
# pass
return float(self.distance)
# sleep(0.002)
def automatic_control(self):
if (self.startGetDistance() < 5):
self.arduino.digitalWrite(self.Motor1A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor1B, self.arduino.HIGH)
self.arduino.digitalWrite(self.Motor2A, self.arduino.HIGH)
self.arduino.digitalWrite(self.Motor2B, self.arduino.LOW)
sleep(0.5)
else:
self.arduino.digitalWrite(self.Motor1A, self.arduino.HIGH)
self.arduino.digitalWrite(self.Motor1B, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2A, self.arduino.HIGH)
self.arduino.digitalWrite(self.Motor2B, self.arduino.LOW)
return self.startGetDistance()
def dists(self):
count = 0
while True:
# distance test when moving forwards
try:
distance = self.startGetDistance()
yield 'data: ' + str(distance) + '\n\n'
except:
yield 'data: there was an error!\n\n'
count += 1
def kill_motors(self):
self.arduino.digitalWrite(self.Motor1A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor1B, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2B, self.arduino.LOW)
def move_forwards(self, sense):
self.arduino.digitalWrite(self.Motor1A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor1B, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2B, self.arduino.LOW)
forwardsarrow.forwards()
count = 0
while True:
gevent.sleep(0.01)
self.arduino.digitalWrite(self.Motor1A, self.arduino.HIGH)
self.arduino.digitalWrite(self.Motor1B, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2A, self.arduino.HIGH)
self.arduino.digitalWrite(self.Motor2B, self.arduino.LOW)
# distance test when moving forwards
try:
distance = self.startGetDistance()
print('distance retrieved successfully')
raw_data = get_all_data(sense)
raw_data['distance'] = distance
yield 'data: %s\n\n' % json.dumps(raw_data)
except:
yield 'data: there was an error!\n\n'
count += 1
def move_backwards(self, sense):
self.arduino.digitalWrite(self.Motor1A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor1B, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2B, self.arduino.LOW)
backwardsarrow.backwards()
count = 0
while True:
gevent.sleep(0.01)
self.arduino.digitalWrite(self.Motor1A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor1B, self.arduino.HIGH)
self.arduino.digitalWrite(self.Motor2A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2B, self.arduino.HIGH)
try:
distance = self.startGetDistance()
raw_data = get_all_data(sense)
raw_data['distance'] = distance
yield 'data: %s\n\n' % json.dumps(raw_data)
except:
yield 'data: there was an error!\n\n'
count += 1
def move_right(self, sense):
self.arduino.digitalWrite(self.Motor1A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor1B, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2B, self.arduino.LOW)
count = 0
while True:
gevent.sleep(0.01)
self.arduino.digitalWrite(self.Motor1A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor1B, self.arduino.HIGH)
self.arduino.digitalWrite(self.Motor2A, self.arduino.HIGH)
self.arduino.digitalWrite(self.Motor2B, self.arduino.LOW)
try:
distance = self.startGetDistance()
raw_data = get_all_data(sense)
raw_data['distance'] = distance
yield 'data: %s\n\n' % json.dumps(raw_data)
except:
yield 'data: there was an error!\n\n'
count += 1
def move_left(self, sense):
self.arduino.digitalWrite(self.Motor1A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor1B, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2B, self.arduino.LOW)
count = 0
while True:
gevent.sleep(0.01)
self.arduino.digitalWrite(self.Motor1A, self.arduino.HIGH)
self.arduino.digitalWrite(self.Motor1B, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2A, self.arduino.LOW)
self.arduino.digitalWrite(self.Motor2B, self.arduino.HIGH)
try:
raw_data = get_all_data(sense)
distance = self.startGetDistance()
raw_data['distance'] = distance
yield 'data: %s\n\n' % json.dumps(raw_data)
except:
yield 'data: there was an error!\n\n'
count += 1