def camera_y(angle):
global Current_y
Current_y = angle + home_y # Add offset
clamp(Current_y, Ymin, Ymax)
pwm.setPWM(15, 0, Current_y)
text = "%s" % (Current_y)
return text
def camera_x(angle):
global Current_x
Current_x = angle + home_x # Add offset
clamp(Current_x, Xmin, Xmax)
pwm.setPWM(14, 0, Current_x)
text = "%s" % (Current_x)
return text
def turn(angle):
angle_original = angle
angle *= -1 #Reverse value
angle = clamp(angle, -100, 100)
angle = angle + turn_offset + 450 #Add offset and middle number
pwm.setPWM(0, 0, angle)
text = "%s -> %s" % (angle_original, angle)
return text
def setup():
global pwm, turn_offset, Xmin, Ymin, Xmax, Ymax, home_x, home_y
global forward0, forward1
forward0 = 1
forward1 = 1
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD) # Number GPIOs by its physical location
# Fix the config motor direction reader, please:
try:
for line in open(FILE_CONFIG):
if line[0:8] == "forward0" and line[11:-1] == 'True':
forward0 = 1
else:
forward0 = 0
if line[0:8] == "forward1" and line[11:-1] == 'True':
forward1 = 1
else:
forward1 = 0
print "forward0 = %s, forward1 = %s" % (forward0, forward1)
except:
print "Excepted config motor direction reader"
pass
try:
for line in open(FILE_CONFIG):
if line[0:8] == 'offset =':
turn_offset = int(line[9:-1])
except:
print "Excepted config turning offset reader"
try:
for line in open(FILE_CONFIG):
if line[0:8] == 'offset_x':
offset_x = int(line[11:-1])
#print 'offset_x =', offset_x
if line[0:8] == 'offset_y':
offset_y = int(line[11:-1])
#print 'offset_y =', offset_y
except:
print "Excepted config camera offset reader"
pass
Xmin = MinPulse + offset_x
Xmax = MaxPulse + offset_x
Ymin = MinPulse + offset_y
Ymax = MaxPulse + offset_y
home_x = (Xmax + Xmin) / 2
home_y = Ymin + 80
pwm = servo.init() # Initialize the servo controller.
def setup():
global leftPWM, rightPWM, homePWM, pwm
leftPWM = 375
homePWM = 450
rightPWM = 575
offset =-10
try:
for line in open('config'):
if line[0:8] == 'offset =':
offset = int(line[9:-1])
except:
print 'config error'
leftPWM += offset
homePWM += offset
rightPWM += offset
pwm = servo.init() # Initialize the servo controller.
def setup():
global leftPWM, rightPWM, homePWM, pwm
leftPWM = 400
homePWM = 450
rightPWM = 500
offset =0
try:
for line in open(CONFIG_PATH):
if line[0:8] == 'offset =':
offset = int(line[9:-1])
except:
print('config error')
leftPWM += offset
homePWM += offset
rightPWM += offset
pwm = servo.init() # Initialize the servo controller.
def setup():
global leftPWM, rightPWM, homePWM, pwm
leftPWM = 375
homePWM = 450
rightPWM = 575
offset = -10
try:
for line in open('config'):
if line[0:8] == 'offset =':
offset = int(line[9:-1])
except:
print 'config error'
leftPWM += offset
homePWM += offset
rightPWM += offset
pwm = servo.init() # Initialize the servo controller.
def setup():
global Xmin, Ymin, Xmax, Ymax, home_x, home_y, pwm
offset_x = 0
offset_y = 0
try:
for line in open(FILE_CONFIG):
if line[0:8] == 'offset_x':
offset_x = int(line[11:-1])
#print 'offset_x =', offset_x
if line[0:8] == 'offset_y':
offset_y = int(line[11:-1])
#print 'offset_y =', offset_y
except:
pass
Xmin = MinPulse + offset_x
Xmax = MaxPulse + offset_x
Ymin = MinPulse + offset_y
Ymax = MaxPulse + offset_y
home_x = (Xmax + Xmin) / 2
home_y = Ymin + 80
pwm = servo.init() # Initialize the servo controller.
def setup(): global Xmin, Ymin, Xmax, Ymax, home_x, home_y, pwm offset_x = 0 offset_y = 0 try: for line in open(FILE_CONFIG): if line[0:8] == 'offset_x': offset_x = int(line[11:-1]) #print 'offset_x =', offset_x if line[0:8] == 'offset_y': offset_y = int(line[11:-1]) #print 'offset_y =', offset_y except: pass Xmin = MinPulse + offset_x Xmax = MaxPulse + offset_x Ymin = MinPulse + offset_y Ymax = MaxPulse + offset_y home_x = (Xmax + Xmin)/2 home_y = Ymin + 80 pwm = servo.init() # Initialize the servo controller.
commonDataStruct = {}
dataLock = threading.Lock()
yourThread = threading.Thread()"""
# Background loop imports END
FILE_CONFIG = "/var/www/Raspbrr/config"
Motor0_A = 11 # pin11
Motor0_B = 12 # pin12
Motor1_A = 13 # pin13
Motor1_B = 15 # pin15
EN_M0 = 4 # servo driver IC CH4
EN_M1 = 5 # servo driver IC CH5
p = pwm.init()
MinPulse = 200
MaxPulse = 700
offset_x = 0
offset_y = 0
turn_offset = 0
def setup():
global pwm, turn_offset, Xmin, Ymin, Xmax, Ymax, home_x, home_y
global forward0, forward1
forward0 = 1
forward1 = 1
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD) # Number GPIOs by its physical location
# =========================================================================== Motor0_A = 11 # pin11 Motor0_B = 12 # pin12 Motor1_A = 13 # pin13 Motor1_B = 15 # pin15 # =========================================================================== # Set channel 4 and 5 of the servo driver IC to generate PWM, thus # controlling the speed of the car # =========================================================================== EN_M0 = 4 # servo driver IC CH4 EN_M1 = 5 # servo driver IC CH5 pins = [Motor0_A, Motor0_B, Motor1_A, Motor1_B] p = pwm.init() # =========================================================================== # Adjust the duty cycle of the square waves output from channel 4 and 5 of # the servo driver IC, so as to control the speed of the car. # =========================================================================== def setSpeed(speed): speed *= 40 print 'speed is: ', speed p.setPWM(EN_M0, 0, speed) p.setPWM(EN_M1, 0, speed) def setup(): global forward0, forward1, backward1, backward0 forward0 = 'True' forward1 = 'True'
