#!/usr/bin/env python3
import hcsr04
import Serial_Servo_Running as SSR
from time import time, sleep
sonar = hcsr04.Measurement(12, 16)
sample_size = 1
sample_wait = 0.01
count = 5
interval = 0.1
def check_values(values):
# for value in values:
# if value >= 100:
# return False
avg = sum(values) / len(values)
ok_range = lambda x: x >= avg * 0.9 and x <= avg * 1.1
for value in values:
if not ok_range(value):
return False
return avg
#
#实现的功能: 程序通过超声波传感器测量距离.
# 实现一个socket服务器， 所有连接到这个服务器的客户端都会定时接收到该距离
#
import RPi.GPIO as GPIO
import time
import threading
import socketserver
import hcsr04
client_socket = [] #客户端列表
GPIO_TRIG = 3 #超声波trig引脚对应的IO号
GPIO_ECHO = 6 #超声波echo引脚对应的IO号
sonar = hcsr04.Measurement(GPIO_TRIG, GPIO_ECHO) #超声波类
DISTANCE = 0.0 #距离
class LobotServer(socketserver.ThreadingTCPServer):
allow_reuse_address = True
class LobotServerHandler(socketserver.BaseRequestHandler):
global clietn_socket
ip = ""
port = None
def setup(self):
self.ip = self.client_address[0].strip()
self.port = self.client_address[1]
print("connected\tIP:"+self.ip+"\tPort:"+str(self.port))
client_socket.append(self.request)
#实现的功能: 程序通过超声波传感器测量距离.
# 实现一个socket服务器， 所有连接到这个服务器的客户端都会定时接收到该距离
#
import RPi.GPIO as GPIO
import time
import threading
import socketserver
import hcsr04
client_socket = [] #客户端列表
GPIO_TRIG = 3 #超声波trig引脚对应的IO号
GPIO_ECHO1 = 2 #超声波echo引脚对应的IO号
GPIO_ECHO2 = 6
sonar1 = hcsr04.Measurement(GPIO_TRIG, GPIO_ECHO1) #超声波类1
sonar2 = hcsr04.Measurement(GPIO_TRIG, GPIO_ECHO2) #超声波类2
distance = 0.0 #距离
DISTANCE = 0.0
class LobotServer(socketserver.ThreadingTCPServer):
allow_reuse_address = True
class LobotServerHandler(socketserver.BaseRequestHandler):
global clietn_socket
ip = ""
port = None
def setup(self):