def create_rrb3(mockmode):
# type: (bool) -> rrb3.RRB3
if not mockmode:
logging.info("Initializing RRB3")
import rrb3
return rrb3.RRB3()
else:
logging.info("Using mock RRB3")
import mock_rrb3
return mock_rrb3.MockRRB3()
def __init__(self, config):
threading.Thread.__init__(self)
self.config = config
self.rate = float(self.config.get('rover', 'rate'))
battery_voltage = self.config.get('hw', 'battery_voltage')
motor_voltage = self.config.get('hw', 'motor_voltage')
logging.info('Initializing rrb3...')
self.rr = rrb3.RRB3(battery_voltage, motor_voltage)
self.rr.set_led1(0)
self.rr.set_led1(1)
logger.info('Initialized rrb3')
self.is_running = True
import rrb3 as rrb
import time, random
# Change these for your setup.
BATTERY_VOLTS = 9
MOTOR_VOLTS = 6
# Configure the RRB
rr = rrb.RRB3(9, 6)
tooClose = 20
while True:
rr.set_motors(.7, 1, .7, 1)
distance = rr.get_distance()
print(distance)
if distance < tooClose:
rr.set_motors(0, 1, 0, 1)
rr.forward(.5, .4)
rr.right(2.3, .5)
if rr.get_distance() < tooClose:
rr.left(2.3, .5)
if rr.get_distance() < tooClose:
rr.forward(1, .3)
rr.right(2.3, .5)
rr.forward(4, .75)
import sys
logging.basicConfig(stream=sys.stdout, level=logging.DEBUG)
try:
import thread
except ImportError:
import _thread as thread
# raspberry pi IP Address
# IP_ADDRESS = sys.argv[1]
BATTERY_VOLTS = 9
MOTOR_VOLTS = 6
# Configure the RRB
rr = rrb.RRB3(BATTERY_VOLTS, MOTOR_VOLTS)
rr.set_led1(1)
rr.set_led2(1)
# speed
half_speed = 0.2
back_speed = 0.1
start_flag = False
def command(ws, message):
global start_flag
if ',' in message:
message = message.split(',')[1].replace('"', '').replace(']', '')
#Python 2
import rrb3 as rrb
import time
#import ex_8x8_pixels
rr = rrb.RRB3(6, 3)
def confirm(question):
answer = input(question)
def test_leds():
rr.set_led1(0)
rr.set_led2(0)
confirm("Are LED1 and LED2 both OFF?")
rr.set_led1(1)
rr.set_led2(0)
confirm("Is LED1 ON and LED2 OFF?")
rr.set_led1(1)
rr.set_led2(1)
confirm("Are LED1 and LED2 both ON?")
rr.set_led1(0)
rr.set_led2(0)
confirm("Are LED1 and LED2 both OFF?")
# pixyViewH = 75
# pixyImgV = 400
# pixyImgH = 640
# pixel to visual angle conversion factor (only rough approximation) (pixyViewV/pixyImgV + pixyViewH/pixyImgH) / 2
pix2ang_factor = 0.117
# reference object one is the pink earplug (~12mm wide)
refSize1 = 12
# reference object two is side post (~50mm tall)
refSize2 = 50
# this is the distance estimation of an object
objectDist = 0
# this is some desired distance to keep (mm)
targetDist = 100
# reference distance; some fix distance to compare the object distance with
refDist = 400
rr = rrb3.RRB3(9, 6)
blocks = None
def handle_SIGINT(sig, frame):
"""
Handle CTRL-C quit by setting run flag to false
This will break out of main loop and let you close
pixy gracefully
"""
global run_flag
run_flag = False
class Blocks(ctypes.Structure):
import rrb3 as rrb
#from rrb3 import rrb
from random import randint
rr = rrb.RRB3(12, 12) # Battery voltage 12V, motor 12V
T = 20 # 20 seconds to extend
def test_motors():
rr.set_motors(0, 0, 0, 0)
print("Are Both motors stopped?")
rr.set_motors(1, 0, 1, 0)
print("Are Both motors going forwards?")
rr.set_motors(0.5, 0, 0.5, 0)
print("Are both motors going forwards at half speed?")
rr.set_motors(1, 1, 1, 1)
print("Are both motors going backwards?")
rr.set_motors(0, 0, 0, 0)
print("Are the motors off now?")
test_motors()
extended = False
try: