def led_on(self, led_id):
_grab_read()
try:
gopigo.led_on(led_id)
except:
pass
_release_read()
def led_on(self,led_id):
_ifMutexAcquire(self.use_mutex)
try:
gopigo.led_on(led_id)
except:
pass
finally:
_ifMutexRelease(self.use_mutex)
def right_led_button_OnButtonClick(self, event):
global right_led
if right_led == 0:
gopigo.led_on(0)
right_led = 1
else:
gopigo.led_off(0)
right_led = 0
def left_led_button_OnButtonClick(self, event):
global left_led
if left_led == 0:
gopigo.led_on(1)
left_led = 1
else:
gopigo.led_off(1)
left_led = 0
def left_led_button_OnButtonClick(self,event):
global left_led
if left_led==0:
gopigo.led_on(1)
left_led=1
else :
gopigo.led_off(1)
left_led=0
def right_led_button_OnButtonClick(self,event):
global right_led
if right_led==0:
gopigo.led_on(0)
right_led=1
else :
gopigo.led_off(0)
right_led=0
def led_on(self,led_id):
_ifMutexAcquire(self.use_mutex)
try:
gopigo.led_on(led_id)
except:
pass
finally:
_ifMutexRelease(self.use_mutex)
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()
import gopigo as go
import time
go.set_speed(130)
go.fwd()
go.led_on(0)
go.led_on(1)
time.sleep(1.9)
go.led_off(0)
go.led_off(1)
go.right()
go.led_on(0)
time.sleep(0.2)
go.fwd()
go.led_on(0)
go.led_on(1)
time.sleep(0.8)
go.led_off(0)
go.led_off(1)
go.left()
go.led_on(1)
time.sleep(0.8)
for i in range(4):
go.right()
go.led_on(0)
time.sleep(0.1)
go.fwd()
go.led_on(0)
go.led_on(1)
conn.send("Turning right")
elif data=='right_rot':
gopigo.right_rot()
conn.send("Turning right")
elif data=='i':
gopigo.increase_speed()
conn.send("Increase speed")
elif data=='d':
gopigo.decrease_speed()
conn.send("Decrease speed")
elif data=='ledOn':
gopigo.led_on()
conn.send("Led ON")
elif data=='ledOff':
gopigo.led_off()
conn.send("Led OFF")
elif data=='set_right_speed':
gopigo.set_right_speed()
conn.send("Set Right Speed")
elif data=='set_left_speed':
gopigo.set_left_speed()
conn.send("Set Left Speed")
else:
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 ""
#!/usr/bin/env python import gopigo gopigo.led_on(sys.argv[1])
conn.send("Stopping")
elif data == 's':
gopigo.bwd()
conn.send("Moving back")
elif data == 'a':
gopigo.left()
conn.send("Turning left")
elif data == 'd':
gopigo.right()
conn.send("Turning right")
elif data == 't':
gopigo.increase_speed()
conn.send("Increase speed")
elif data == 'g':
gopigo.decrease_speed()
conn.send("Decrease speed")
elif data == 'v':
# print gopigo.volt(), 'V'
conn.send(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)
conn.send("Flash LED")
else:
print ("Invalid command")
conn.send("Invalid command")
conn.close()
def led_on(kargs):
r = {'return_value': gopigo.led_on(int(kargs['l_id']))}
return r
