# Complete project details at https://RandomNerdTutorials.com from dcmotor import DCMotor from machine import Pin, PWM from time import sleep frequency = 15000 pin1 = Pin(12, Pin.OUT) pin2 = Pin(14, Pin.OUT) enable = PWM(Pin(13), frequency) dc_motor = DCMotor(pin1, pin2, enable, 350, 1023) dc_motor.forward(50) sleep(2) dc_motor.stop() sleep(3) dc_motor.backwards(100) sleep(2) dc_motor.forward(5) sleep(5) dc_motor.stop()
class Roomba:
def __init__(self, MotorE, MotorA, MotorB, servo_pin, trigger, echo,green,yellow,red,distance_timer):
GPIO.setwarnings(False)
self.distance_timer = distance_timer
self.dcmotor = DCMotor(MotorE, MotorA, MotorB)
self.servomotor = ServoMotor(servo_pin)
self.distancesensor = DistanceSensor(trigger,echo)
self.green = green
self.yellow = yellow
self.red = red
GPIO.setup(self.green,GPIO.OUT)
GPIO.setup(self.yellow,GPIO.OUT)
GPIO.setup(self.red,GPIO.OUT)
def red_ON(self):
GPIO.output(self.red,GPIO.HIGH)
def red_OFF(self):
GPIO.output(self.red,GPIO.LOW)
def yellow_ON(self):
GPIO.output(self.yellow,GPIO.HIGH)
def yellow_OFF(self):
GPIO.output(self.yellow,GPIO.LOW)
def green_ON(self):
GPIO.output(self.green,GPIO.HIGH)
def green_OFF(self):
GPIO.output(self.green,GPIO.LOW)
def cleanup(self):
GPIO.setup(self.green,GPIO.LOW)
GPIO.setup(self.yellow,GPIO.LOW)
GPIO.setup(self.red,GPIO.LOW)
self.servomotor.cleanup()
self.dcmotor.cleanup()
self.distancesensor.cleanup()
GPIO.cleanup()
def reverse_turn(self,direction = 1):
self.dcmotor.stop()
self.servomotor.turn(direction*50)
time.sleep(0.5)
while True:
print("reverse")
self.dcmotor.change_speed(100)
self.dcmotor.backward()
time.sleep(0.8)
self.dcmotor.stop()
dist = self.distancesensor.get_distance()
if dist > 60:
break
self.servomotor.turn(0)
time.sleep(0.5)
self.dcmotor.change_speed(90)
self.dcmotor.forward()
def random_turn(self):
LAG = 0.4
if (random.random() < 0.5):
direction = +1
else:
direction = -1
print("turning")
self.dcmotor.change_speed(90)
while True:
dist = self.distancesensor.get_distance()
if dist > 100:
time.sleep(LAG)
print("turn complete")
self.servomotor.turn(0)
self.dcmotor.change_speed(80)
print(self.servomotor.angle)
break
elif 80 < dist <= 100:
self.servomotor.turn(direction*10)
elif 60 < dist <= 80:
self.servomotor.turn(direction*30)
elif 40 < dist <= 60:
self.servomotor.turn(direction*50)
elif dist <= 20:
print("stopped while turning")
self.dcmotor.stop()
self.reverse_turn(direction)
break
time.sleep(self.distance_timer)
class RCCar(object):
def __init__(self):
GPIO.setmode(GPIO.BCM)
self.direction = Servo(27, (-45, 45), (72.5, 162.5)) # board pin: 13
self.direction.trim = -1
self.front_motor = DCMotor(20, 6, 13) # board pin: 38, 31, 33
self.rear_motor = DCMotor(21, 19, 26) # board pin: 40, 35, 37
self.speed = 0
self.w_angle = self.direction.angle
self.mov = 'quieto'
"""
self.rear_sensor = BatSensor(17, 27, rango=(10, 80), continuous=0.2) # board pin: 11, 13
self.front_left_sensor = BatSensor(22, 10, rango=(10, 80), continuous=0.2) # board pin: 15, 19
self.front_right_sensor = BatSensor(9, 11, rango=(10, 80), continuous=0.2) # board pin: 21, 23
"""
def stop(self):
self.in_use = False
# dejar el coche frenando
def turn_left(self):
if self.survival_instinct():
return -self.direction.angle
print("Izquierda:", self.direction.angle)
return -self.direction.update(-5)
def turn_right(self):
if self.survival_instinct():
return -self.direction.angle
print("Derecha:", self.direction.angle)
return -self.direction.update(5)
def forward(self):
self.mov = 'adelante'
if self.survival_instinct():
return self.speed
if self.speed != 1:
self.speed = 1
self.front_motor.forward()
self.rear_motor.forward()
print("Acelero hacia delante")
return self.speed
def backward(self):
self.mov = 'atras'
if self.survival_instinct():
return self.speed
if self.speed != -1:
self.speed = -1
self.front_motor.backward()
self.rear_motor.backward()
print("Acelero hacia atras")
return self.speed
def decelerate(self):
if self.mov != 'quieto':
print("Desacelero")
#self.mov = 'quieto'
self.front_motor.release()
self.rear_motor.release()
def survival_instinct(self):
return False
def survival_instinct_not_in_use(self):
""" esta funcion no es ta en uso """
limit = 0.8 * max(self.front_left_sensor._rango)
rear = self.rear_sensor.avg
left = self.front_left_sensor.avg
right = self.front_right_sensor.avg
print("sensores R({}), FL({}), FR({})".format(rear, left, right))
if self.mov == 'atras' and rear < limit:
self.brake()
return True
elif self.mov == 'adelante':
if right < limit and left < limit:
self.brake()
return True
elif right < limit:
self.brake()
return True
elif left < limit:
self.brake()
return True
return False
def straight(self):
if self.survival_instinct():
return -self.direction.angle
self.direction.update(-self.direction.angle)
return -self.direction.angle
def brake(self):
print("Freno")
self.mov = 'quieto'
self.front_motor.brake()
self.rear_motor.brake()
from dcmotor import DCMotor from time import sleep motor = DCMotor(20, 21, pwmPin=16) motor.forward(0.2) sleep(1) motor.backward(0.2) sleep(1) motor.stop()
conn.settimeout(3.0)
print('Received HTTP GET connection request from %s' % str(addr))
request = conn.recv(1024)
conn.settimeout(None)
request = str(request)
print('GET Rquest Content = %s' % request)
car_forward = request.find('/?car_forward')
car_backward = request.find('/?car_backward')
car_left = request.find('/?car_left')
car_right = request.find('/?car_right')
car_stop = request.find('/?car_stop')
cmdIdx = 6
if car_forward == cmdIdx:
print('cmd: car_forward')
ledLight.on()
dcMotorA.forward(forwardSpeed)
dcMotorB.forward(forwardSpeed)
elif car_backward == cmdIdx:
print('cmd: car_backward')
ledLight.on()
dcMotorA.backward(backwardSpeed)
dcMotorB.backward(backwardSpeed)
elif car_left == cmdIdx:
print('cmd: car_left')
ledLight.on()
dcMotorA.backward(backwardSpeed)
dcMotorB.forward(backwardSpeed)
elif car_right == cmdIdx:
print('cmd: car_right ')
ledLight.on()
dcMotorA.forward(backwardSpeed)
def main():
gc.collect()
ledLight = Signal(Pin(2, Pin.OUT), invert=False) # GPIO2 ( D2 )
sleep(0.1)
ledLight.on()
dcMotorA = DCMotor(4, 5) # GPIO4 ( D4 ), GPIO5 ( D5 )
sleep(0.1)
dcMotorA.stop()
servoB = CServo(15) # GPIO15 ( D15 )
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.bind(('', 80))
sock.listen(5)
while True:
try:
if gc.mem_free() < G_GC_THRESHOLD:
gc.collect()
conn, addr = sock.accept()
conn.settimeout(3.0)
print('Received HTTP GET connection request from %s' % str(addr))
request = conn.recv(1024)
conn.settimeout(None)
request = str(request)
print('GET Rquest Content = %s' % request)
car_direction = request.find('/?car_direction')
turn_left = request.find('/?turn_left')
car_forward = request.find('/?car_forward')
turn_right = request.find('/?turn_right')
speed_up = request.find('/?speed_up')
car_stop = request.find('/?car_stop')
slow_down = request.find('/?slow_down')
car_backward = request.find('/?car_backward')
if car_direction == G_CMD_IDX:
endIdx = request.find(' HTTP/')
subReq = request[G_CMD_IDX:endIdx]
startIdx = subReq.find('=') + 1
virtualAngle = int(subReq[startIdx:])
print('cmd: car_direction, virtualAngle =', virtualAngle)
ledLight.on()
servoB.carDirection(virtualAngle)
elif turn_left == G_CMD_IDX:
print('cmd: turn_left')
ledLight.on()
servoB.turnLeft()
elif car_forward == G_CMD_IDX:
print('cmd: car_forward')
ledLight.on()
dcMotorA.forward(G_FORWARD_SPEED)
elif turn_right == G_CMD_IDX:
print('cmd: turn_right')
ledLight.on()
servoB.turnRight()
elif speed_up == G_CMD_IDX:
print('cmd: speed_up')
ledLight.on()
dcMotorA.speedUp()
elif car_stop == G_CMD_IDX:
print('cmd: car_stop')
ledLight.off()
dcMotorA.stop()
elif slow_down == G_CMD_IDX:
print('cmd: slow_down')
ledLight.on()
dcMotorA.slowDown()
elif car_backward == G_CMD_IDX:
print('cmd: car_backward')
ledLight.on()
dcMotorA.backward(G_BACKWARD_SPEED)
resHtml = getWebPage()
conn.send('HTTP/1.1 200 OK\n')
conn.send('Content-Type: text/html\n')
conn.send('Connection: closed.\n\n')
conn.sendall(resHtml)
conn.close()
except OSError as e:
conn.close()
print('Connection closed. OSError =', e)
