def backward():
print("Backward!")
gopigo.bwd() # Send the GoPiGo Backward
time.sleep(1) # for 1 second
gopigo.stop() # and then stop the GoPiGo.
return render_template('backward.html')
def go_backwards(backwards_distance): gopigo.enable_encoders() encoder_steps_required = int(backwards_distance / DISTANCE_PER_ENCODER_STEP) gopigo.set_speed(DEFAULT_ROBOT_SPEED) gopigo.enc_tgt(1, 1, encoder_steps_required) gopigo.bwd() wait_till_encoder_target_reached() RobotPosePrediction.currentRobotPose = RobotPosePrediction.getPredictedRobotPose(currentRobotPose = RobotPosePrediction.currentRobotPose, movementType = RobotPosePrediction.MOVEMENT_TYPE_FORWARD, movementAmount = -1 * encoder_steps_required * DISTANCE_PER_ENCODER_STEP) RobotPosePrediction.currentRobotLocationUncertainty = RobotPosePrediction.getPredictedRobotUncertainty(currentRobotLocationUncertainty = RobotPosePrediction.currentRobotLocationUncertainty, movementType = RobotPosePrediction.MOVEMENT_TYPE_FORWARD, movementAmount = -1 * encoder_steps_required * DISTANCE_PER_ENCODER_STEP, currentRobotPose = RobotPosePrediction.currentRobotPose)
def bwd_cm(dist=None):
'''
Move chassis bwd by a specified number of cm.
This function sets the encoder to the correct number
of pulses and then invokes bwd().
'''
if dist is not None:
pulse = int(cm2pulse(dist))
enc_tgt(1,1,pulse)
bwd()
def dance():
print("Dance!")
for each in range(0,5):
gopigo.right()
time.sleep(0.25)
gopigo.left()
time.sleep(0.25)
gopigo.bwd()
time.sleep(0.25)
gopigo.stop()
return 'Dance!'
def dance():
print("Dance!")
for each in range(0, 5):
gopigo.right()
time.sleep(0.25)
gopigo.left()
time.sleep(0.25)
gopigo.bwd()
time.sleep(0.25)
gopigo.stop()
return 'Dance!'
def get(self):
left = int(self.get_argument("left"))
right = int(self.get_argument("right"))
gopigo.set_left_speed(abs(left))
gopigo.set_right_speed(abs(right))
if (left > 0):
gopigo.fwd()
else:
gopigo.bwd()
def main(self, motor1, motor2):
"""
Takes in 2 ints and rotates accordingly
"""
gopigo.set_left_speed(motor1)
gopigo.set_right_speed(motor2)
if motor1 >= 0 and motor2 >= 0:
gopigo.fwd()
else:
gopigo.bwd()
def move(self, dist, how="F"):
"""this takes care of moving the robot.
how can be
F: which is forward, dist is in cm
L: which is left (right motor on left motor off), dist is in degrees
R: which is right (left motor on right motor off), dist is in degrees
B: which is backward. dist is in cm
TL: rotate in place, to the left (tank steering) dist is in pulses
TR: rotate in place, to the right (tank steering) dist is in pulses
"""
if (dist < 30 and (how == "F" or how == "B")):
#If dist <30 the robot will
#try to move 0 distance which means go for ever. Bad news!
return -1
elif (dist < 8 and (how == "L" or how == "R")):
#also the robot rotates for ever if the angle is less than 8
return -1
else:
#take an initial record
#self.recordEncoders()
#save the current position because we're about to reset it
#self.keyframe = self.timerecord[-1][:-1]
#basically we are recording our position while moving.
#prevtime = int(time.time())
#go forward! this runs in the background pretty much
if (how == "F"):
go.fwd(dist)
elif (how == "L"):
go.turn_left(dist)
elif (how == "R"):
go.turn_right(dist)
elif (how == "B"):
go.bwd(dist)
elif (how == "TR"):
go.enc_tgt(0, 1, dist)
go.right_rot()
elif (how == "TL"):
go.enc_tgt(0, 1, dist)
go.left_rot()
#record while we haven't reached our destination
#while(go.read_enc_status()):
#this resets both encoders so we start counting from zero!
#this next part should only trigger once per recordFreq
#if(time.time()-prevtime>self.recordFreq):
#prevtime = time.time() #make sure to reset the timer...
#tell the recordEncoders function which direction
#we are going
#dir = "forward"
#if(how=="B"):
# dir = "backward"
#self.recordEncoders(dir=dir)
return 1
def process_command(_command, _time):
data = _command
if not data:
print "received data:", data
if len(data) != 1:
print ("Invalid command")
return "Invalid command"
elif data == 'w':
gopigo.fwd()
# return "Moving forward"
elif data == 'x':
gopigo.stop()
# return "Stopping"
elif data == 's':
gopigo.bwd()
# return "Moving back"
elif data == 'a':
gopigo.left()
# return "Turning left"
elif data == 'd':
gopigo.right()
# return "Turning right"
elif data == 't':
gopigo.increase_speed()
# return "Increase speed"
elif data == 'g':
gopigo.decrease_speed()
# return "Decrease speed"
elif data == 'v':
# print gopigo.volt(), 'V'
return str(gopigo.volt())
elif data == 'l':
gopigo.led_on(0)
gopigo.led_on(1)
time.sleep(1)
gopigo.led_off(0)
gopigo.led_off(1)
return "Flash LED"
else:
print ("Invalid command")
return "Invalid command" # run as a app
if _time:
time.sleep(_time)
gopigo.stop()
def turn_around():
if msg_en:
print("Turn around")
if gpg_en:
gopigo.bwd()
curr = absolute_line_pos()
gopigo.enc_tgt(0, 1, 5)
gopigo.stop()
time.sleep(.5)
gopigo.set_speed(80)
gopigo.enc_tgt(1, 1, 35)
gopigo.left_rot()
time.sleep(.7)
gopigo.stop()
time.sleep(1)
curr = absolute_line_pos()
ic.turn += 1
def go_backwards(backwards_distance):
gopigo.enable_encoders()
encoder_steps_required = int(backwards_distance /
DISTANCE_PER_ENCODER_STEP)
gopigo.set_speed(DEFAULT_ROBOT_SPEED)
gopigo.enc_tgt(1, 1, encoder_steps_required)
gopigo.bwd()
wait_till_encoder_target_reached()
RobotPosePrediction.currentRobotPose = RobotPosePrediction.getPredictedRobotPose(
currentRobotPose=RobotPosePrediction.currentRobotPose,
movementType=RobotPosePrediction.MOVEMENT_TYPE_FORWARD,
movementAmount=-1 * encoder_steps_required * DISTANCE_PER_ENCODER_STEP)
RobotPosePrediction.currentRobotLocationUncertainty = RobotPosePrediction.getPredictedRobotUncertainty(
currentRobotLocationUncertainty=RobotPosePrediction.
currentRobotLocationUncertainty,
movementType=RobotPosePrediction.MOVEMENT_TYPE_FORWARD,
movementAmount=-1 * encoder_steps_required * DISTANCE_PER_ENCODER_STEP,
currentRobotPose=RobotPosePrediction.currentRobotPose)
def setMotorJoystickPos( self, joystickX, joystickY ):
joystickX, joystickY = self.normaliseJoystickData( joystickX, joystickY )
if debug:
print( "Left joy",joystickX, joystickY)
if joystickX > 0.5:
print( "Right")
gopigo.left(50)
elif joystickX <-0.5:
print ("Left")
gopigo.right50
elif joystickY > 0.5:
print ("Fwd")
gopigo.fwd(80)
elif joystickY < -0.5:
print ("Back")
gopigo.bwd(80)
else:
print ("Stop")
gopigo.fwd(0)
def setMotorJoystickPos( self, joystickX, joystickY ):
joystickX, joystickY = self.normaliseJoystickData( joystickX, joystickY )
if debug:
print "Left joy",joystickX, joystickY
#print self.speed_l*joystickY
#gopigo.set_left_speed(int(self.speed_l*joystickY))
#gopigo.fwd()
if joystickX > .5:
print "Left"
gopigo.left()
elif joystickX <-.5:
print "Right"
gopigo.right()
elif joystickY > .5:
print "Fwd"
gopigo.fwd()
elif joystickY < -.5:
print "Back"
gopigo.bwd()
else:
print "Stop"
gopigo.stop()
def setMotorJoystickPos(self, joystickX, joystickY):
joystickX, joystickY = self.normaliseJoystickData(joystickX, joystickY)
if debug:
print("Left joy", joystickX, joystickY)
#print self.speed_l*joystickY
#gopigo.set_left_speed(int(self.speed_l*joystickY))
#gopigo.fwd()
if joystickX > .5:
print("Left")
gopigo.left()
elif joystickX < -.5:
print("Right")
gopigo.right()
elif joystickY > .5:
print("Fwd")
gopigo.fwd()
elif joystickY < -.5:
print("Back")
gopigo.bwd()
else:
print("Stop")
gopigo.stop()
def bwd_button_OnButtonClick(self,event):
f=gopigo.bwd()
def bwd_button_OnButtonClick(self, event):
f = gopigo.bwd()
def back(aTicks):
if checkTicks(aTicks):
gpg.enc_tgt(1, 1, aTicks)
gpg.bwd()
waitForTarget()
def backward():
print("Backward!")
gopigo.bwd() # Send the GoPiGo Backward
time.sleep(1) # for 1 second
gopigo.stop() # and then stop the GoPiGo.
return 'Backward!'
def back_away(): gopigo.set_speed(gopigo_speed) gopigo.bwd() time.sleep(10) gopigo.stop()
import gopigo import time # Assign pin 15 or A1 port to the IR sensor gopigo.ir_recv_pin(15) print "Press any button on the remote to control the GoPiGo" while True: ir_data_back=gopigo.ir_read_signal() if ir_data_back[0]==-1: #IO Error pass elif ir_data_back[0]==0: #Old signal pass else: sig=ir_data_back[1:] #Current signal from IR remote if sig[9]==82 and sig[10]==83: #Assign the button with 82 and 83 in position 9 and 10 in the signal to forward command print "fwd" gopigo.fwd() elif sig[9]==114 and sig[10]==115: print "left" gopigo.left() elif sig[9]==242 and sig[10]==243: print "right" gopigo.right() elif sig[9]==210 and sig[10]==211: print "back" gopigo.bwd() elif sig[9]==43 and sig[10]==42: print "Stop" gopigo.stop() time.sleep(.1)
def process_command(self, command):
parts = command.split("/")
if parts[1] == "poll":
print "poll"
self.us_dist = gopigo.us_dist(usdist_pin)
self.enc_status = gopigo.read_status()[0]
self.volt = gopigo.volt()
self.fw_ver = gopigo.fw_ver()
self.trim = gopigo.trim_read() - 100
if self.enc_status == 0:
self.waitingOn = None
elif parts[1] == "stop":
gopigo.stop()
elif parts[1] == "trim_write":
gopigo.trim_write(int(parts[2]))
self.trim = gopigo.trim_read()
elif parts[1] == "trim_read":
self.trim = gopigo.trim_read() - 100
elif parts[1] == "set_speed":
if parts[2] == "left":
self.left_speed = int(parts[3])
elif parts[2] == "right":
self.right_speed = int(parts[3])
else:
self.right_speed = int(parts[3])
self.left_speed = int(parts[3])
gopigo.set_left_speed(self.left_speed)
gopigo.set_right_speed(self.right_speed)
elif parts[1] == "leds":
val = 0
if parts[3] == "on":
val = 1
elif parts[3] == "off":
val = 0
elif parts[3] == "toggle":
val = -1
if parts[2] == "right" or parts[2] == "both":
if val >= 0:
self.ledr = val
else:
self.ledr = 1 - self.ledr
if parts[2] == "left" or parts[2] == "both":
if val >= 0:
self.ledl = val
else:
self.ledl = 1 - self.ledl
gopigo.digitalWrite(ledr_pin, self.ledr)
gopigo.digitalWrite(ledl_pin, self.ledl)
elif parts[1] == "servo":
gopigo.servo(int(parts[2]))
elif parts[1] == "turn":
self.waitingOn = parts[2]
direction = parts[3]
amount = int(parts[4])
encleft = 0 if direction == "left" else 1
encright = 1 if direction == "left" else 0
gopigo.enable_encoders()
gopigo.enc_tgt(encleft, encright, int(amount / DPR))
if direction == "left":
gopigo.left()
else:
gopigo.right()
elif parts[1] == "move":
self.waitingOn = int(parts[2])
direction = parts[3]
amount = int(parts[4])
gopigo.enable_encoders()
gopigo.enc_tgt(1, 1, amount)
if direction == "backward":
gopigo.bwd()
else:
gopigo.fwd()
elif parts[1] == "beep":
gopigo.analogWrite(buzzer_pin, self.beep_volume)
time.sleep(self.beep_time)
gopigo.analogWrite(buzzer_pin, 0)
elif parts[1] == "reset_all":
self.ledl = 0
self.ledr = 0
gopigo.digitalWrite(ledl_pin, self.ledl)
gopigo.digitalWrite(ledr_pin, self.ledr)
gopigo.analogWrite(buzzer_pin, 0)
# gopigo.servo(90)
gopigo.stop()
while 1:
dataFromClient, address = server_socket.recvfrom(
256) # Receive data from client
# Data is received as a bit stream, so it needs to be decoded first
dataFromClient = dataFromClient.decode("utf-8").strip(
) # To avoid any errors in comparison when a line ending is appended
print(dataFromClient) # To see what is received
if dataFromClient == 'F':
print("fwd")
go.fwd()
elif dataFromClient == 'B':
print("bwd")
go.bwd()
elif dataFromClient == 'S':
print("stop")
go.stop()
# <-- You should implement the rest of the necessary commands!
finally:
# Close the socket if any error occurs
go.stop(
) # Make sure to always stop the robot if the server stops for any reason
print("exiting")
server_socket.close()
def backward():
print("Backward!")
gopigo.bwd() # Send the GoPiGo Backward
time.sleep(1) # for 1 second
gopigo.stop() # and then stop the GoPiGo.
return 'Backward!'
def bwd(dist):
go.bwd(dist)
def do_command(command=None):
logging.debug(command)
if command in ["forward", "fwd"]:
gopigo.fwd()
elif command == "left":
gopigo.left()
elif command == "left_rot":
gopigo.left_rot()
elif command == "right":
gopigo.right()
elif command == "right_rot":
gopigo.right_rot()
elif command == "stop":
gopigo.stop()
elif command == "leftled_on":
gopigo.led_on(0)
elif command == "leftled_off":
gopigo.led_off(0)
elif command == "rightled_on":
gopigo.led_on(1)
elif command == "rightled_off":
gopigo.led_off(1)
elif command in ["back", "bwd"]:
gopigo.bwd()
elif command == "speed":
logging.debug("speed")
speed = flask.request.args.get("speed")
logging.debug("speed:" + str(speed))
if speed:
logging.debug("in if speed")
gopigo.set_speed(int(speed))
left_speed = flask.request.args.get("left_speed")
logging.debug("left_speed:" + str(left_speed))
if left_speed:
logging.debug("in if left_speed")
gopigo.set_left_speed(int(left_speed))
right_speed = flask.request.args.get("right_speed")
logging.debug("right_speed:" + str(right_speed))
if right_speed:
logging.debug("in if right_speed")
gopigo.set_right_speed(int(right_speed))
speed_result = gopigo.read_motor_speed()
logging.debug(speed_result)
return flask.json.jsonify({"speed": speed_result, "right": speed_result[0], "left": speed_result[1]})
elif command == "get_data":
speed_result = gopigo.read_motor_speed()
enc_right = gopigo.enc_read(0)
enc_left = gopigo.enc_read(1)
volt = gopigo.volt()
timeout = gopigo.read_timeout_status()
return flask.json.jsonify(
{
"speed": speed_result,
"speed_right": speed_result[0],
"speed_left": speed_result[1],
"enc_right": enc_right,
"enc_left": enc_left,
"volt": volt,
"timeout": timeout,
"fw_ver": gopigo.fw_ver(),
}
)
elif command in ["enc_tgt", "step"]:
tgt = flask.request.args.get("tgt")
direction = flask.request.args.get("dir")
if tgt:
gopigo.gopigo.enc_tgt(1, 1, int(tgt))
if dir:
if dir == "bwd":
gopigo.bwd()
else:
gopigo.fwd()
else:
gopigo.fwd()
return ""
def go_back():
if msg_en:
print("Go Back")
if gpg_en:
gopigo.set_speed(turn_speed)
gopigo.bwd()
def bwd(kargs):
r = {'return_value': gopigo.bwd()}
return r
def go_back(): if msg_en: print "Go Back" if gpg_en: gopigo.set_speed(turn_speed) gopigo.bwd()
#Accept an incoming connection
conn, addr = s.accept()
print '\nConnection address:', addr
while 1:
#Check the data
data = conn.recv(BUFFER_SIZE)
if not data: break
print "received data:", data
if len(data) <> 1:
print ("Invalid command")
conn.send("Invalid command")
elif data=='f':
gopigo.fwd()
conn.send("Moving forward")
elif data=='s':
gopigo.stop()
conn.send("Stopping")
elif data=='b':
gopigo.bwd()
conn.send("Moving back")
elif data=='l':
gopigo.left()
conn.send("Turning left")
elif data=='r':
gopigo.right()
conn.send("Turning right")
else:
print ("Invalid command")
conn.send("Invalid command")
conn.close()
def back_away():
gopigo.set_speed(gopigo_speed)
gopigo.bwd()
time.sleep(10)
gopigo.stop()
