def kontrol2(): x = random.randrange(1,3) if (x == 1): print "sagabak" servo(3) kt(2) time.sleep(0.05) dis = distance('cm') print dis if dis < 15: print "solabak" servo(9) kt(3) dis = distance('cm') if dis < 15: print "cik" servo(5.5) kt(1) geri(2.5) kontrol() else: servo(5.5) kt(1) geri(0.5) sol(1.1) else: servo(5.5) kt(1) geri(0.5) sag(1.1) if (x == 2): print "solabak" servo(9) kt(3) time.sleep(0.05) dis = distance('cm') print dis if dis < 15: print"sagabak" servo(3) kt(2) dis = distance('cm') if dis < 15: print "cik" servo(5.5) kt(1) geri(2.5) kontrol() else: servo(5.5) kt(1) geri(0.5) sag(1.1) else: servo(5.5) kt(1) geri(0.5) sol(1.1)
def kontrol(): x = random.randrange(1, 3) if (x == 1): print "sagabak" servo(3) time.sleep(0.05) dis = distance('cm') print dis if dis < 15: print "solabak" servo(9) dis = distance('cm') if dis < 15: print "cik" servo(6) geri(2) else: servo(6) geri(0.5) sol(0.7) else: servo(6) geri(0.5) sag(0.7) if (x == 2): print "solabak" servo(9) time.sleep(0.05) dis = distance('cm') print dis if dis < 15: print "sagabak" servo(3) dis = distance('cm') if dis < 15: print "cik" servo(6) geri(2) else: servo(6) geri(0.5) sag(0.7) else: servo(6) geri(0.5) sol(0.7)
def kontrol(): x = random.randrange(1, 3) if (x == 1): print("sagabak") servo(3) time.sleep(0.05) dis = distance('cm') print(dis) if dis < 15: print("solabak") servo(9) dis = distance('cm') if dis < 15: print("cik") servo(5.5) geri(2, hiz) else: servo(5.5) geri(0.5, hiz) sol(0.7, hiz) else: servo(5.5) geri(0.5, hiz) sag(0.7, hiz) if (x == 2): print("solabak") servo(9) time.sleep(0.05) dis = distance('cm') print(dis) if dis < 15: print("sagabak") servo(3) dis = distance('cm') if dis < 15: print("cik") servo(5.5) geri(2, hiz) else: servo(5.5) geri(0.5, hiz) sag(0.7, hiz) else: servo(5.5) geri(0.5, hiz) sol(0.7, hiz)
def otomatikmod(sf): print "Otomatik moda geciliyor!...cikis icin ctrl+c" while (True): dis = distance('cm') init() if (gpio.input(23) == 0 and gpio.input(24) == 0): ileri(0.1) elif (gpio.input(23) == 1 and gpio.input(24) == 0): sol(0.1) elif (gpio.input(23) == 0 and gpio.input(24) == 1): sag(0.1) else: dur() if (sf == 1): print "kare icin bakiliyor" karealma() elif (sf == 2): print "cisim birakiliyor" servo4(7) print "getirildi, gorev tamam" uyari(1.5) tersdon() otomatikmod(1) else: pass if dis < 15: print "c*k dar",dis if sf == 0: geri(0.5) servo(5.5) kontrol() else: while True: dis = distance('cm') if dis < 20: print "yon degistirilemez" print "engelin kalkmasi icin bekleniyor" time.sleep(0.5) else: print "engel kalkti, devam" break elif dis < 25: print "dar",dis else: print "temiz",dis
def cizgi(rf): for i in range(0, rf): dis = distance('cm') init() if (gpio.input(23) == 0 and gpio.input(24) == 0): ileri(0.1, hiz) elif (gpio.input(23) == 1 and gpio.input(24) == 0): sol(0.1, hiz) elif (gpio.input(23) == 0 and gpio.input(24) == 1): sag(0.1, hiz) else: pass if dis < 15: print("c*k dar", dis) geri(0.5, hiz) servo(5.5) kontrol() elif dis < 25: print("dar", dis) else: print("temiz", dis) dur()
def cizgi(): os.system("sudo pkill -9 -f main.py") while (True): dis = distance('cm') init() if (gpio.input(23) == 0 and gpio.input(24) == 0): ileri(0.1, hiz) elif (gpio.input(23) == 1 and gpio.input(24) == 0): sol(0.1, hiz) elif (gpio.input(23) == 0 and gpio.input(24) == 1): sag(0.1, hiz) else: pass if dis < 15: print("c*k dar", dis) geri(0.5, hiz) servo(5.5) kontrol() elif dis < 25: print("dar", dis) else: print("temiz", dis) dur()
def otomatikmod(): print "Otomatik moda geciliyor!...cikis icin ctrl+c" while (True): dis = distance('cm') init() if (gpio.input(23) == 0 and gpio.input(24) == 0): ileri(0.1) elif (gpio.input(23) == 1 and gpio.input(24) == 0): sol(0.1) elif (gpio.input(23) == 0 and gpio.input(24) == 1): sag(0.1) else: dur() pass if dis < 15: print "c*k dar", dis geri(0.5) servo(6) kontrol() elif dis < 25: print "dar", dis else: print "temiz", dis
print "cik" servo(6) geri(2.5) kontrol() else: servo(6) geri(0.5) sag(1.1) else: servo(6) geri(0.5) sol(1.1) while (True): servo(6) dis = distance('cm') y = raw_input("yon:") time.sleep(0.003) if(y == "w"): print "ileri" ileri(0.7) elif(y == "s"): print "geri" geri(0.7) elif(y == "a"): print "sol" sol(0.7) elif(y == "d"): print "sag" sag(0.7) elif(y == "r"):
def main(): aci2 = aci3 = aci4 = 6 aci = 5.5 while (True): print(" ") dis = distance('cm') print 'Mesafe: ', dis y = raw_input("komut karakteri:") time.sleep(0.03) if (y == "w"): # y = input("hiz(0-100): ") print("ileri") os.system("aplay -vv Turret_deploy.wav &") ileri(300, 3.5) elif (y == "s"): # y = input("hiz(0-100): ") print("geri") os.system("aplay -vv Turret_deploy.wav &") geri(300, 3.5) elif (y == "d"): # y = input("hiz(0-100): ") print("sag") os.system("aplay -vv Turret_deploy.wav &") sag(300, 3.5) elif (y == "a"): # y = input("hiz(0-100): ") print("sol") os.system("aplay -vv Turret_deploy.wav &") sol(300, 3.5) elif (y == "q"): os.system("aplay -vv Turret_turret_deploy_2.wav &") cizgi() elif (y == "c"): print("hoscakal") os.system("aplay -vv Turret_die.wav &") break elif (y == "j"): print("duz bakiliyor aci = 5.5 aci2 =6") os.system("aplay -vv Turret_turret_active_2.wav &") servo(5.5) servo2(6) aci = 5.5 aci2 = 6 elif (y == "n"): aci2 = aci2 + 0.5 print 'asagi bakiliyor,aci2 = ', aci2 servo2(aci2) elif (y == "u"): aci2 = aci2 - 0.5 print 'yukari bakiliyor,aci2 = ', aci2 servo2(aci2) elif (y == "h"): aci = aci + 0.5 print 'sola bakiliyor,aci = ', aci servo(aci) elif (y == "k"): aci = aci - 0.5 print 'saga bakiliyor,aci = ', aci servo(aci) elif (y == "r"): aci3 = aci3 + 0.5 print 'kanca yukari,aci = ', aci3 servo3(aci3) elif (y == "f"): aci3 = aci3 - 0.5 print 'kanca asagi,aci = ', aci3 servo3(aci3) elif (y == "z"): aci4 = aci4 + 0.5 print 'tutacak aciliyor,aci = ', aci4 servo4(aci4) elif (y == "x"): aci4 = aci4 - 0.5 print 'tutacak kapatiliyor,aci = ', aci4 servo4(aci4) elif (y == "b"): print("fren yapiliyor") os.system("aplay -vv Turret_retract.wav &") dur() elif (y == "y"): print("evet ifade ediliyor") os.system("aplay -vv Turret_turret_shotat_1.wav &") servo2(6) servo2(5) servo2(6) elif (y == "t"): print("hayir ifade ediliyor") os.system("aplay -vv Turret_turret_search_2.wav &") servo(6) servo(5) servo(7) servo(6) elif (y == "g"): print(" :( ") os.system("aplay -vv Turret_turret_tipped_4.wav &") servo2(6.6) servo(5.5) servo(6.5) servo(5.5) servo(6.5) servo(5.5) servo(6.5) servo2(6) servo(6) elif (y == "o"): # y = input("sesfrekansi: ") print("ses cikariliyor") ses(1, 666) else: print("anlamadim tekrar dene") os.system("aplay -vv Turret_sp_sabotage_factory_good_fail03.wav &") dur() pass
def main(): while (True): dis = distance('cm') y = raw_input("yon:") time.sleep(0.003) if(y == "w"): print "ileri" ileri(0.7) elif(y == "s"): print "geri" geri(0.7) elif(y == "a"): print "sol" sol(0.7) elif(y == "d"): print "sag" sag(0.7) elif(y == "e"): print "serbest dolasma moduna gecildi!...cikis icin ctrl+c" otomatikmod(0) elif(y == "g"): print "nesne getirme moduna gecildi!...cikis icin ctrl+c" otomatikmod(1) elif(y == "q"): print "nesne takip moduna gecildi!...cikis icin ctrl+c" uyari(0.7) # while (True): # daire = dairedurum() # kare = karedurum() # hare = hareket() # time.sleep(0.1) # if hare == 1: # print 'hareket algilandi' # else: # print 'hareket yok' # if daire == 1: # print "daire algilandi" # dt() # else: # print "daire yok" # if kare == 1: # print "kare algilandi" # servo(6) # servo2(6.5) # kt(1) # else: # print "kare yok" elif(y == "c"): print "hoscakal" break elif (y == "j"): print ("duz bakiliyor aci = 5.5 aci2 =6") servo(5.5) servo2(6) aci = 5.5 aci2 = 6 elif (y == "n"): aci2 = aci2 + 0.5 print 'asagi bakiliyor,aci2 = ',aci2 servo2(aci2) elif (y == "u"): aci2 = aci2 - 0.5 print 'yukari bakiliyor,aci2 = ',aci2 servo2(aci2) elif (y == "h"): aci = aci + 0.5 print 'sola bakiliyor,aci = ',aci servo(aci) elif (y == "k"): aci = aci - 0.5 print 'saga bakiliyor,aci = ',aci servo(aci) elif (y == "r"): aci3 = aci3 + 0.5 print 'kanca yukari,aci = ',aci3 servo3(aci3) elif (y == "f"): aci3 = aci3 - 0.5 print 'kanca asagi,aci = ',aci3 servo3(aci3) elif (y == "z"): aci4 = aci4 + 0.5 print 'tutacak aciliyor,aci = ',aci servo4(aci4) elif (y == "x"): aci4 = aci4 - 0.5 print 'tutacak kapatiliyor,aci = ',aci4 servo4(aci4) elif (y == "b"): print ("fren yapiliyor") dur() elif (y == "y"): print ("evet ifade ediliyor") servo2(6) servo2(5) servo2(6) elif (y == "t"): print ("hayir ifade ediliyor") servo(6) servo(5) servo(7) servo(6) elif (y == "v"): print (" :( ") servo2(6.6) servo(5.5) servo(6.5) servo(5.5) servo(6.5) servo(5.5) servo(6.5) servo2(6) servo(6) elif (y == "o"): # y = input("sesfrekansi: ") print ("ses cikariliyor") ses(1,666) else: print ("anlamadim tekrar dene") dur() pass if dis < 15: print "c*k dar",dis geri(0.2) kontrol() elif dis < 25: print "dar",dis else: print "temiz",dis servo(5.5)
def tersdon(): init() servo2(6) x = random.randrange(1,3) if (x == 1): print "sagabak" servo(3) time.sleep(0.05) dis = distance('cm') print dis if dis < 15: print "solabak" servo(9) dis = distance('cm') if dis < 15: print "cik" servo(5.5) geri(1.5) tersdon() else: servo(5.5) sol(1) while True: init() if (gpio.input(24) == 0): sol(0.1) else: break else: servo(5.5) sag(1) while True: init() if (gpio.input(23) == 0): sag(0.1) else: break if (x == 2): print "solabak" servo(9) time.sleep(0.05) dis = distance('cm') print dis if dis < 15: print"sagabak" servo(3) dis = distance('cm') if dis < 15: print "cik" servo(5.5) geri(1.5) tersdon() else: servo(5.5) sag(1) while True: init() if (gpio.input(23) == 0): sag(0.1) else: break else: servo(5.5) sol(1) while True: init() if (gpio.input(24) == 0): sol(0.1) else: break
def main(): aci2 = aci3 = aci4 = 6 aci = 5.5 while (True): dis = distance('cm') print 'mesafe', dis y = raw_input("komut karakteri:") time.sleep(0.03) if (y == "w"): # p = input("hiz(0-10): ") print("ileri") ileri(0.2, 100) elif (y == "s"): # p = input("hiz(0-10): ") print("geri") geri(0.2, 100) elif (y == "d"): # p = input("hiz(0-10): ") print("sag") sag(0.2, 100) elif (y == "a"): # p = input("hiz(0-10): ") print("sol") sol(0.2, 100) elif (y == "q"): cizgi() elif (y == "c"): print("hoscakal") break elif (y == "j"): print("duz bakiliyor aci = 5.5 aci2 =6") servo(5.5) servo2(6) aci = 5.5 aci2 = 6 elif (y == "n"): aci2 = aci2 + 0.5 print 'asagi bakiliyor,aci2 = ', aci2 servo2(aci2) elif (y == "u"): aci2 = aci2 - 0.5 print 'yukari bakiliyor,aci2 = ', aci2 servo2(aci2) elif (y == "h"): aci = aci + 0.5 print 'sola bakiliyor,aci = ', aci servo(aci) elif (y == "k"): aci = aci - 0.5 print 'saga bakiliyor,aci = ', aci servo(aci) elif (y == "3"): print 'kol sola donuyor' stepper(30, 3, 1) elif (y == "4"): print 'kol saga donuyor' stepper(30, 3, 0) elif (y == "r"): aci3 = aci3 + 0.5 print 'kol yukari,aci = ', aci3 servo3(aci3) elif (y == "f"): aci3 = aci3 - 0.5 print 'kol asagi,aci = ', aci3 servo3(aci3) elif (y == "z"): aci4 = aci4 + 0.5 print 'tutacak aciliyor,aci = ', aci4 servo4(aci4) elif (y == "x"): aci4 = aci4 - 0.5 print 'tutacak kapatiliyor,aci = ', aci4 servo4(aci4) elif (y == "b"): print("fren yapiliyor") dur() elif (y == "y"): print("evet ifade ediliyor") servo2(6) servo2(5) servo2(6) elif (y == "t"): print("hayir ifade ediliyor") servo(6) servo(5) servo(7) servo(6) elif (y == "g"): print(" :( ") servo2(6.6) servo(5.5) servo(6.5) servo(5.5) servo(6.5) servo(5.5) servo(6.5) servo2(6) servo(6) elif (y == "o"): # y = input("sesfrekansi: ") print("ses cikariliyor") ses(1, 666) elif (y == "v"): led(100, 0.5, 0) time.sleep(0.1) led(100, 0.5, 1) time.sleep(0.1) led(100, 0.5, 2) else: print("anlamadim tekrar dene") dur() pass
def sesli(y): dis = distance('cm') print('mesafe', dis) aci2 = aci3 = aci4 = 6 aci = 5.5 # if (y == "w"): # y = input("hiz(0-100): ") # print ("ileri") # ileri(0.2,100) # elif (y == "s"): # y = input("hiz(0-100): ") # print ("geri") # geri(0.2,100) # elif (y == "d"): # y = input("hiz(0-100): ") # print ("sag") # sag(0.2,100) # elif (y == "a"): # y = input("hiz(0-100): ") # print ("sol") # sol(0.2,100) # elif (y == "q"): # cizgi() # elif (y == "c"): # print ("hoscakal") # break if (y == 0): print("duz bakiliyor aci = 5.5 aci2 =6") os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &") servo(5.5) servo2(6) aci = 5.5 aci2 = 6 elif (y == 1): print('asagi bakiliyor,aci2 = ', aci2) os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &") aci2 = 7.5 servo2(aci2) elif (y == 2): print('asagi bakiliyor,aci2 = ', aci2) os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &") aci2 = 4.5 servo2(aci2) elif (y == 3): aci = 7 print('sola bakiliyor,aci = ', aci) os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &") servo(aci) elif (y == 4): aci = 4 print('saga bakiliyor,aci = ', aci) os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &") servo(aci) elif (y == 13): print('kol sola donuyor') os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &") stepper(30, 3, 1) elif (y == 14): print('kol saga donuyor') os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &") stepper(30, 3, 0) elif (y == 5): aci3 = 8 print('kol yukari,aci = ', aci3) os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &") servo3(aci3) elif (y == 6): aci3 = 6 print('kol asagi,aci = ', aci3) os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &") servo3(aci3) elif (y == 7): aci4 = 7.5 print('tutacak aciliyor,aci = ', aci4) os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &") servo4(aci4) elif (y == 8): aci4 = 4.5 print('tutacak kapatiliyor,aci = ', aci4) os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &") servo4(aci4) elif (y == 9): print("fren yapiliyor") os.system( "aplay -vv /home/pi/Robotics/PortalTurret/Turret_retract.wav &") dur() elif (y == 10): print("evet ifade ediliyor") os.system( "aplay -vv /home/pi/Robotics/PortalTurret/Turret_turretshotbylaser02.wav &" ) servo2(6) servo2(5) servo2(6) elif (y == 11): print("hayir ifade ediliyor") os.system( "aplay -vv /home/pi/Robotics/PortalTurret/Turret_turretlaunched04.wav &" ) servo(5.5) servo(4.5) servo(6.5) servo(5.5) elif (y == 12): print(" :( ") os.system( "aplay -vv /home/pi/Robotics/PortalTurret/Turret_turretwitnessdeath11.wav &" ) servo2(6.6) servo(5.5) servo(6.5) servo(4.5) servo(6.5) servo(4.5) servo(6.5) servo2(6) servo(5.5) # elif (y == "o"): # y = input("sesfrekansi: ") # print ("ses cikariliyor") # ses(1,666) else: print("anlamadim tekrar dene") os.system( "aplay -vv /home/pi/Robotics/PortalTurret/Turret_alert.wav &") os.system( "aplay -vv /home/pi/Robotics/PortalTurret/Turret_sp_sabotage_factory_good_fail03.wav &" ) os.system( "aplay -vv /home/pi/Robotics/PortalTurret/Turret_turret_tipped_4.wav &" ) dur() pass