def parseServerData(data):
#####################################
# TCP NETWORK SIGNALS
#####################################
if data:
if data != "env":
conn.send(data) # echo
if data == "close":
CONNECTION_MADE = 0
conn.close()
if data == "shutdown":
conn.send("close")
conn.close()
shutdown()
##################################
# OTHER COMMANDS
##################################
if data == "snap":
os.system("raspistill -o test.jpg")
if data == "env":
STR = 'IP: ' + ip_address + 'Lights are ' + lights + "\n" + 'Temperature:' + str(
int(temp)) + 'C' + "\n" + 'Status: ' + STATUS
conn.send(STR)
if data == "a":
motion.left()
if data == "d":
motion.right()
if data == "w":
motion.forward()
if data == "s":
motion.backward()
if data == "x":
motion.stop()
if data:
if data[0] == 'r':
GPIO.setup(10, GPIO.OUT)
rotate = GPIO.PWM(10, 50)
rotate.start(float(data[1:]))
time.sleep(1)
GPIO.cleanup(10)
if data[0] == 't':
GPIO.setup(9, GPIO.OUT)
tilt = GPIO.PWM(9, 50)
tilt.start(float(data[1:]))
time.sleep(1)
GPIO.cleanup(9)
if data == "cool":
disp.begin()
disp.clear()
disp.display()
image = Image.open('test.jpg').resize((disp.width, disp.height),
Image.ANTIALIAS).convert('1')
disp.image(image)
disp.display()
time.sleep(5)
def approach_nest(ant):
"""Moves the ant ahead if that cell is its nest."""
# check if the cell in front is the ant's nest
for d in ((ant.direction + x) % 8 for x in range(-2, 3)):
if motion.neighbor(ant, d) == ant.world.nest:
motion.turn(ant, (d - ant.direction) % 8)
motion.forward(ant)
return True
def approach_food(ant):
"""Moves the ant ahead if that cell contains food."""
for d in ((ant.direction + x) % 8 for x in range(-1, 2)):
idx = motion.neighbor(ant, d)
cell = ant.world[idx]
if cell.food_quantity > 0 and idx != ant.world.nest:
motion.turn(ant, (d - ant.direction) % 8)
motion.forward(ant)
return True
def move():
#measure time elapsed
time=time.time()-time0
#right check
if distances.box_on_right:
motion.turn('right')
path.append(['right',time])
elif distances.right_open:
motion.turn(right)
path.append(['left',time])
motion.forward()
path.append['forward',time]
#front check
elif distances.front_blocked:
if vision.check_for_box():
motion.stop()
#stores box coordinate in path
box_coordinates.append(len(path)-1)
wait_for_path()
elif distances.check_for_qr():
motion.stop()
qr_coordinates.append(len(path)-1)
number_of_boxes_found=len(box_coordinates)
if number_of_boxes_found<2:
motion.turn('left')
else: wait_for_path()
else:
motion.turn('left')
path.append(['left',time])
#define start-end coordinates
if vision.ground_is_white:
if len(start_coordinates)<2:
start_coordinates.append(len(path)-1)
else:
end_coordinates.append(len(path)-1)
if len(start_coordinates)==2:
path.clear()
follow_path=min_path(path_trim(path,start[0],qr_coordinates[0]),path_trim(start[1],qr_coordinates[0]))
time=0
#call method again
move()
def check_for_qr():
#checks if a qr bock is present whithin 35 cm of stand
if dist(upper) < 35:
#goes to the required range kept 1 cm extra as error due to no brakes.
if dist.upper >= 26:
motion.forward()
check_for_qr()
elif dist.upper <= 24:
motion.backward()
#stops if already in range
else:
motion.stop()
return True
def wait_for_path(): while distances.front_blocked and distances.check_for_qr(): pass motion.forward() path.append(['forward',time])
import distance
import time
import motion as mv
s=0.0
while 1:
s=distance.dis()
if s<=80 and s>50:
speed=int(distance.dis()*0.9)
mv.forward(speed)
elif s<=50 and s>30:
speed=int(distance.dis()*0.5)
mv.forward(speed)
elif s<=30:
mv.forward(0)
break
elif s>80:
mv.forward(100)
time.sleep(0.2)
def forward(): print 'Received forward!' motion.forward(1) return ''
def error(surfacename):
f=1
print("\n\nERROR CALLIBRATION \n\n")
rac=raw_input("start?")
while(f==1):
print("\nGOING 50 forward : \n")
m.forward(50)
x=int(raw_input("How far did it go?\n\n"))
e1=50.0/x
print(e1)
y=raw_input("Continue?(y/n)\n")
print("\nGOING 30 forward : \n")
m.forward(30,e1)
x=int(raw_input("How far did it go?\n\n"))
e1=e1*(30.0/x)
print(e1)
y=raw_input("Continue?(y/n)\n")
print("\nGOING 40 forward : \n")
m.forward(40,e1)
x=int(raw_input("How far did it go?\n\n\n"))
e1=e1*(40.0/x)
print(e1)
y=raw_input("Continue?(y/n)\n")
print("\nGOING 50 forward : \n")
m.forward(50,e1)
x=raw_input("\n\n\n\n\nProceed further?(y/n)\n")
if(x=='y'):
f=0;
f=1
while(f==1):
print("\n\n\n\n\nGOING 90 clockwise : \n")
m.clockwise(90)
x=int(raw_input("How much did it turn?\n\n"))
e2=90.0/x
print(e2)
y=raw_input("Continue?(y/n)\n")
print("\nGOING 180 clockwise : \n")
m.clockwise(180,e2)
x=int(raw_input("How much did it turn?\n\n"))
e2*=(180.0/x)
print(e2)
y=raw_input("Continue?(y/n)\n")
print("\nGOING 270 clockwise : \n")
m.clockwise(270,e2)
x=int(raw_input("How much did it turn?\n\n"))
e2*=(270.0/x)
print(e2)
y=raw_input("Continue?(y/n)\n")
print("\nGOING 360 clockwise : \n\n")
m.clockwise(360,e2)
x=int(raw_input("How much did it turn?\n"))
e2*=(360.0/x)
print(e2)
y=raw_input("Continue?(y/n)\n")
print("\nGOING 60 clockwise : \n")
m.clockwise(60,e2)
x=raw_input("\n\n\n\n\nProceed further?(y/n)\n")
if(x=='y'):
f=0;
f=open(surfacename+".txt","w+")
f.write(str(e1)+','+str(e2)+"\n")
f.close()
print("DATA STORED\n")
x=raw_input("continue?")
if(x):
return((e1,e2))
import distance
import time
import motion as mv
while 1:
#speed=int(distance.dis()*0.9)
mv.forward(-100)
print("testing")
time.sleep(0.1)
# command line version of motion to test setups
import motion
import argparse
parser = argparse.ArgumentParser(description='Operate Hexapod.')
parser.add_argument('action', help='The action to take (e.g. stand, forward, assembly)')
args = parser.parse_args()
if args.action == "stand":
print "standing!"
motion.stand()
elif args.action == "assembly":
print "assembly!"
motion.assembly()
elif args.action == "forward":
print "forward!"
motion.forward(1)
else:
print "You asked for something the hexapod can\'t do"
