import RoboPiLib as RPL
from setup import RPL
import time
import post_to_web as PTW
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
motorL = 1
motorR = 0
i = 3
e = 6
t_ime = time.time()
while True:
while time.time() < t_ime + i:
RPL.servoWrite(motorR, 1000)
RPL.servoWrite(motorL, 2000)
while time.time() > t_ime + i and time.time() < t_ime + e:
RPL.servoWrite(motorR, 0)
RPL.servoWrite(motorL, 0)
while time.time() > t_ime + e:
i = i + 3
e = e + 3
import setup
import RoboPiLib as RPL
import time
sensor_pin = 16
RPL.pinMode(sensor_pin, RPL.INPUT)
while True:
if RPL.digitalRead(sensor_pin) == 1:
import RoboPiLib as RPL
import setup
RPL.servoWrite(0, 2000)
RPL.servoWrite(1, 500)
if RPL.digitalRead(sensor_pin) == 0:
import RoboPiLib as RPL
import setup
RPL.servoWrite(0, 0)
RPL.servoWrite(1, 0)
def wasddrive(p1,p2,p3,p4,spd1,spd2):
screen.addstr('')
RPL.servoWrite(p1,spd1)
RPL.servoWrite(p2,spd1)
RPL.servoWrite(p3,spd2)
RPL.servoWrite(p4,spd2)
def stop():
motor_controller.stop()
RPL.servoWrite(steering_pin, 1500)
def left(percent):
RPL.servoWrite(steering_pin, -5 * percent + 1500)
import RoboPiLib as RPL
import sys, tty, termios, signal
motorL = 0
motorR = 1
motorR_forward = 2000
motorR_backward = 1000
motorL_forward = 1000
motorL_backward = 2000
try:
RPL.pinMode(motorL,RPL.SERVO)
RPL.servoWrite(motorL,1500)
RPL.pinMode(motorR,RPL.SERVO)
RPL.servoWrite(motorR,1500)
except:
pass
def stopAll():
try:
RPL.servoWrite(motorL,1500)
RPL.servoWrite(motorR,1500)
except:
print "error except"
pass
def forward():
RPL.servoWrite(motorL,motorL_forward)
RPL.servoWrite(motorR,motorR_forward)
def reverse():
def reverse(): RPL.servoWrite(motorL,motorL_backward) RPL.servoWrite(motorR,motorR_backward)
def small_correct():
RPL.servoWrite(7, 1550)
RPL.servoWrite(6, 1420)
print "RIGHT correction"
def large_correct():
RPL.servoWrite(6, 1460)
RPL.servoWrite(7, 1570)
print "LEFT correction"
def start_right():
RPL.servoWrite(7, 1550)
RPL.servoWrite(6, 1420)
print "Turning Right"
def start_left():
RPL.servoWrite(6, 1460)
RPL.servoWrite(7, 1550)
print "Turning Left"
def stop():
RPL.servoWrite(6, 0)
RPL.servoWrite(7, 0)
print "stop"
import RoboPiLib as RPL
import time
import post_to_web as PTW
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
i = 3
def forward():
RPL.servoWrite(6, 1400)
RPL.servoWrite(7, 1600)
print "Forward"
def stop():
RPL.servoWrite(6, 0)
RPL.servoWrite(7, 0)
print "stop"
def start_right():
RPL.servoWrite(7, 1550)
RPL.servoWrite(6, 1420)
print "Turning Right"
def start_left():
RPL.servoWrite(6, 1460)
RPL.servoWrite(7, 1550)
print "Turning Left"
import RoboPiLib as RPL
from setup import RPL
import post_to_web as PTW
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
print "Please type in the speed you want your motors to be at:"
NumberL = int(raw_input("Left Motor > "))
NumberR = int(raw_input("Right Motor > "))
RPL.servoWrite(6, NumberR)
RPL.servoWrite(7, NumberL)
import setup
import RoboPiLib as RPL
#tunes the motres
falala = 2
lala = 0
toodledoo = 100
dingywink = 2000
RPL.servoWrite(lala, dingywink)
RPL.servoWrite(falala, toodledoo)
while True:
while raw_input("> ") == "a":
RPL.servoWrite(lala, toodledoo)
RPL.servoWrite(falala, dingywink)
print "fast"
while raw_input("> ") == "b":
RPL.servoWrite(lala, 600)
RPL.servoWrite(falala, 1500)
print "slow"
while raw_input("> ") == "c":
RPL.servoWrite(lala, 700)
RPL.servoWrite(falala, 1400)
print "slow backwards"
while raw_input("> ") == "d":
RPL.servoWrite(lala, 1000)
RPL.servoWrite(falala, 1000)
print "fast backwards"
while raw_input("> ") == "q":
def forward():
RPL.servoWrite(6, 1400)
RPL.servoWrite(7, 1600)
print "Forward"
now = time.time()
future = now
motorR = 2
motorL = 0
# lsens = 23
# fsens = 16
# motorR forward = 1000
# motorL forward = 2000
# Okay so this is good but I think we need to do a thing to actually make it...
# ...turn into a gap because right now it's just turning away from a wall
RPL.servoWrite(motorR, 100)
RPL.servoWrite(motorL, 2000)
print "going"
while True:
if RPL.digitalRead(23) == 0:
RPL.servoWrite(motorR, 100)
RPL.servoWrite(motorL, 2000)
print "something"
if RPL.digitalRead(23) == 1:
timeb = time.time()
RPL.servoWrite(motorR, 100)
RPL.servoWrite(motorL, 2000)
print "gap"
if RPL.digitalRead(23) == 0:
timea = time.time()
timeg = timea - timeb
def straight():
RPL.servoWrite(3, 1150)
def forward(): RPL.servoWrite(motorL,motorL_forward) RPL.servoWrite(motorR,motorR_forward)
def stop():
RPL.servoWrite(0, 0)
RPL.servoWrite(1, 0)
import RoboPiLib as RPL
import sys, tty, termios, signal, setup, time
from cytron import Cytron
motor_controller = Cytron(max_pwm=20000, percent_power=10, m1_pwm=0, m1_dir=1)
motor = motor_controller.m1
RPL.pinMode(motor_controller.m1["pwm"], RPL.PWM)
RPL.pinMode(motor_controller.m1["dir"], RPL.OUTPUT)
steering_pin = 3
pwm_percent = 50
print("initialized Motor Speed at {}/{} : {}%".format(
(motor_controller.max_freq * pwm_percent) / 100, motor_controller.max_freq,
pwm_percent))
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
def interrupted(signum, frame):
stop()
def stop():
motor_controller.stop()
RPL.servoWrite(steering_pin, 1500)
def right(percent):
RPL.servoWrite(steering_pin, 5 * percent + 1500)
def forward():
RPL.servoWrite(0, 1550)
RPL.servoWrite(1, 1450)
def right(percent):
RPL.servoWrite(steering_pin, 5 * percent + 1500)
def backward():
RPL.servoWrite(0, 1450)
RPL.servoWrite(1, 1550)
import RoboPiLib as RPL
import setup
x = [0, 1]
for off in x:
RPL.servoWrite(off, 1500)
print('pin %s is disabled' % (off))
def left():
RPL.servoWrite(3, 900)
#----SYNkeyRONIZES MOTORS #--STANDARD #JOINT 1 aj1 = int(1000) #JOINT 2 aj2 = int(1000) #JOINT 3 aj3 = int(1000) #ACTUATOR aac = int(1000) #--CONTINUOUS ROTATION RPL.servoWrite(a,crstop) RPL.servoWrite(b,crstop) RPL.servoWrite(c,crstop) RPL.servoWrite(d,crstop) print "synkeyronized" ################################################ ################## FUNCTION #################### ################################################ #STANDARD SERVOS def regulate(pin): if pin > 3000: pin = 3000 if pin < 0: pin = 10
def right():
RPL.servoWrite(3, 1300)
def stopall(): RPL.servoWrite(a,1500) RPL.servoWrite(b,1500) RPL.servoWrite(c,1500) RPL.servoWrite(d,1500) RPL.servoWrite(i,0) RPL.servoWrite(j,0)
def Bforward_right():
RPL.servoWrite(BmotorL, BmotorL_forward)
RPL.servoWrite(BmotorR, 1500)
