def usercont():
back_sensor = 16
left_sensor = 18
rt_sensor = 17
rt_wheel = 0
lft_wheel = 1
forward = 1000
backward = 2000
RPL.servoWrite(0, 0)
RPL.servoWrite(1, 0)
command = raw_input("> ")
if command == "left":
direction = raw_input("> ")
if direction == "forward":
RPL.servoWrite(lft_wheel, forward)
followup = raw_input("> ")
if followup == "stop":
RPL.servoWrite(lft_wheel, 0)
RPL.servoWrite(rt_wheel, 0)
retrn()
elif direction == "backward":
RPL.servoWrite(lft_wheel, backward)
followup = raw_input("> ")
if followup == "stop":
RPL.servoWrite(lft_wheel, 0)
RPL.servoWrite(rt_wheel, 0)
retrn()
elif command == "right":
direction = raw_input("> ")
if direction == "backward":
RPL.servoWrite(rt_wheel, forward)
followup = raw_input("> ")
if followup == "stop":
RPL.servoWrite(lft_wheel, 0)
RPL.servoWrite(rt_wheel, 0)
retrn()
elif direction == "forward":
RPL.servoWrite(rt_wheel, backward)
followup = raw_input("> ")
if followup == "stop":
RPL.servoWrite(lft_wheel, 0)
RPL.servoWrite(rt_wheel, 0)
retrn()
elif command == "both":
direction = raw_input("> ")
if direction == "backward":
RPL.servoWrite(lft_wheel, backward)
RPL.servoWrite(rt_wheel, forward)
followup = raw_input("> ")
if followup == "stop":
RPL.servoWrite(lft_wheel, 0)
RPL.servoWrite(rt_wheel, 0)
retrn()
elif direction == "forward":
RPL.servoWrite(rt_wheel, backward)
RPL.servoWrite(lft_wheel, forward)
followup = raw_input("> ")
if followup == "stop":
RPL.servoWrite(lft_wheel, 0)
RPL.servoWrite(rt_wheel, 0)
retrn()
elif command == "stop":
RPL.servoWrite(lft_wheel, 0)
RPL.servoWrite(rt_wheel, 0)
else:
RPL.servoWrite(lft_wheel, 0)
RPL.servoWrite(rt_wheel, 0)
def drive():
if 1.5 > X and 1.5 > Y:
RPL.servoWrite(0,1000) # drive straight
RPL.servoWrite(1,2000)
if X < 0 and 2 > Y > 0:
RPL.servoWrite(0,200) # turn right
RPL.servoWrite(1,2000)
if 2 > X > 0 and Y < 0:
RPL.servoWrite(0,1000) # turn left
RPL.servoWrite(1,200)
if 2 > X > 1.5 and 2 > Y > 1.5:
RPL.servoWrite(0,0) # stop
RPL.servoWrite(1,0)
if X > 2 or Y > 2:
RPL.servoWrite(0,0) # backwards
RPL.servoWrite(1,0)
import setup
from setup import RPL
import post_to_web as PTW # see post_to_web.py for instructions
import time
import RoboPiLib as RPL
start = time.time()
x = 1
while True:
x = 0
RPL.servoWrite(1, 0)
RPL.servoWrite(2, 0)
x = x + 12
# if sensor reads 1- turn the motor off
# if sensor reads 0- continue
# looking in python the hard way at ex 33 to figure out
#if there is enough information there to make a while loop
#script to make i the sensor must come before
import setup
from setup import RPL
import post_to_web as PTW # see post_to_web.py for instructions
sensor_pin = 16
RPL.pinMode(sensor_pin, RPL.INPUT)
while True:
PTW.state['d1'] = RPL.digitalRead(sensor_pin)
PTW.post()
if RPL.digitalRead(sensor_pin) == 1:
import RoboPiLib as RPL
import setup
RPL.servoWrite(0, 1000)
RPL.servoWrite(1000, 0)
if RPL.digitalRead(sensor_pin) == 0:
import RoboPiLib as RPL
import setup
RPL.servoWrite(0, 0)
import setup from setup import RPL import RoboPiLib as RPL sensor_pin = 5 RPL.pinMode(sensor_pin,RPL.INPUT) def analogRead(pin): putPacket(ANREAD, bytearray([5]), 1) buff = getPacket() return int(buff[3][1]) | (int(buff[3][2]) << 8) import RPL RPL.init() import time f_reverse = 1000 neutral = 1500 f_forward = 2000 #anglepersecond = 30 def DT_PWM_Speedrange(): ServoR = int(raw_input(0)) RPL.pinMode(ServoR, RPL.PWM) ServoL = int(raw_input(1)) RPL.pinMode(ServoL, RPL.PWM) # analogRead(1) = side slant left # analogRead(2) = side slant right # analogRead(3) = front left # analogRead(4) = front right # analogRead(5) = side left # analogRead(6) = side right # analogRead(7) = front slant left
import time
import setup
from setup import RPL
z = time.clock()
while True:
y = time.clock() - z
if y % 2 == 0:
RPL.servoWrite(1, 2000)
RPL.servoWrite(0, 1000)
if y % 4 == 0:
RPL.servoWrite(1, 0)
RPL.servoWrite(0, 0)
RPL.servoWrite(0, 0)
RPL.servoWrite(1, 0)
def motorRight():
RPL.servoWrite(1, 2000)
RPL.servoWrite(2, 000)
back_sensor = 16
rt_wheel = 0
lft_wheel = 1
forward = 1000
backward = 2000
condit = 7
x = 0
while condit != 16:
motorForw()
if RPL.readDistance(17) < 1000:
condit = 16
if Distance() > 50000:
motorLeft()
time.sleep(.5)
elif Distance() < 10000:
motorRight()
time.sleep(.5)
else:
x += 1
motorForw()
motorstop()
print x #prints the total number of times a sycle went with a Distance value imbetween 50000 and 10000
import setup
from setup import RPL
import post_to_web as PTW # see post_to_web.py for instructions
import time
import RoboPiLib as RPL
#time.time- start equal to a value- can have it equal to the end of the program- to find the elapsed time- current time.time
#subtracted by the start time.time is divided- how many leftovers there are when that equals 0 the robot would stop
start = time.time()
x = 4
while True:
elaptime = (time.time() - start)
x = 0
elaptime = int(elaptime)
if elaptime % 6 == 0:
RPL.servoWrite(1, 0)
RPL.servoWrite(2, 0)
x = x + 12
if elaptime % 12 == 0:
RPL.servoWrite(1, 500)
RPL.servoWrite(2, 2000)
x = x + 6
import setup
from setup import RPL
import time
start = time.time()
x = 0
while x <= 5:
start = time.time()
z = 7
while z == 7:
current = time.time()
if current - start < 50:
RPL.servoWrite(1, 500)
RPL.servoWrite(0, 2500)
elif current - start > 50 and current - start < 100:
RPL.servoWrite(1, 2500)
RPL.servoWrite(0, 500)
if current - start > 100:
z = 9
x += 1
print "loop %s" % x
import setup
from setup import RPL
rightsensor = 23
rightmotor = 0
leftmotor = 1
while True:
if RPL.readDistance(rightsensor) < 40000:
RPL.servoWrite(rightmotor, 2000)
else:
RPL.servoWrite(rightmotor, 0)
import setup
from setup import RPL
import post_to_web as PTW # see post_to_web.py for instructions
sensor_pin = 16
RPL.pinMode(sensor_pin, RPL.INPUT)
while True:
if RPL.digitalRead(sensor_pin) == 1:
import RoboPiLib as RPL
import setup
RPL.servoWrite(0, 1000)
RPL.servoWrite(1, 2000)
if RPL.digitalRead(sensor_pin) == 0:
import RoboPiLib as RPL
import setup
RPL.servoWrite(0, 1450)
RPL.servoWrite(1, 1550)
x = 0
while x == 0:
import time
import setup
from setup import RPL
import RoboPiLib as RPL
start = time.time()
while True:
elapsed = time.time() - start
y = 1
import setup
from setup import RPL
import post_to_web as PTW # see post_to_web.py for instructions
sensor_pin = 16
RPL.pinmode(sensor_pin, RPL.INPUT)
while true:
PTW.state['d1'] = RPL.digitalRead(sensor_pin)
PTW.post()
if RPL.digitalread(sensor_pin == 1:
import RoboPiLib as RPL
import setup
RPL.servowrite(0,1000)
RPL.servowrite(1,2000)
if RPL.digitalread(sensor_pin) == 0
import RoboPiLib as RPL
import setup
RPL.servowrite(0,1)
RPL.servowrite(0,0)
import setup
from setup import RPL
z = 3
rear = 17
left = 1
right = 0
while z == 3
while RPL.readDist(rear) > 70000:
RPL.servoWrite(0,2500)
RPL.servoWrite(1,1499)
while RPL.readDist(rear) > 40000:
RPL.servoWrite(0,1500)
RPL.servoWrite(1,500)
if RPL.readDist(rear) < 1000:
RPL.servoWrite(0,0)
RPL.servoWrite(1,0)
z = 5
print "Task Complete"
import setup
from setup import RPL
import post_to_web as PTW
import time
left_sensor = 15
rear = 16
rt_wheel = 0
lft_wheel = 1
forward = 1000
backward = 2000
condit = 7
x = 0
while condit != 18:
RPL.servoWrite(1, 2000)
RPL.servoWrite(2, 1000)
if RPL.readDistance(16) < 1000:
RPL.servoWrite(2, 0)
RPL.servoWrite(1, 0)
condit = 18
if x >= 10:
z = 3
RPL.servoWrite(1, 2000)
RPL.servoWrite(2, 0000)
time.sleep(.5)
RPL.servoWrite(1, 2500)
RPL.servoWrite(2, 1499)
time.sleep(.5)
RPL.servoWrite(1, 1500)
RPL.servoWrite(2, 1499)
while z == 3:
if RPL.readDistance(rear) < 1000:
def motorForw():
RPL.servoWrite(1, 2000)
RPL.servoWrite(2, 1000)
import setup
from setup import RPL
import post_to_web as PTW # see post_to_web.py for instructions
import time
import RoboPiLib as RPL
#time.time- start equal to a value- can have it equal to the end of the program- to find the elapsed time- current time.time
#subtracted by the start time.time is divided- how many leftovers there are when that equals 0 the robot would stop
start = time.time()
x = 3
while True:
elaptime = (time.time() - start)
x = 0
elaptime = int(elaptime)
if elaptime % 1 == 0:
RPL.servoWrite(1, 0)
RPL.servoWrite(2, 0)
x = x + 9
if elaptime % 2 == 0:
RPL.servoWrite(2, 1000)
RPL.servoWrite(1, 250)
x = x + 6
def motorstop():
RPL.servoWrite(1, 000)
RPL.servoWrite(2, 000)
def testing(): RPL.servoWrite(0,2000) RPL.servoWrite(1,1000) time.sleep()
def motorLeft():
RPL.servoWrite(1, 000)
RPL.servoWrite(2, 1000)
def DT_PWM_Speedrange(): ServoR = int(raw_input(0)) RPL.pinMode(ServoR, RPL.PWM) ServoL = int(raw_input(1)) RPL.pinMode(ServoL, RPL.PWM)
def motorRight():
RPL.servoWrite(1, 2000)
RPL.servoWrite(2, 000)
import setup
from setup import RPL
import post_to_web as PTW # see post_to_web.py for instructions
sensor_pin = 16
RPL.pinMode(sensor_pin,RPL.INPUT)
if RPL.digitalRead(sensor_pin) == 0:
import RoboPiLib as RPL
import setup
RPL.servoWrite(0,0)
RPL.servoWrite(1,0)
x = 0
while x == 0:
import time
import setup
from setup import RPL
import RoboPiLib as RPL
start = time.time()
while True:
elapsed = time.time() - start
y = 1
if int(elapsed) != 0:
y = 2
while int(elapsed) % 2 == 0:
RPL.servoWrite(2,2000)
RPL.servoWrite(1,500)
def Distance():
return RPL.readDistance(16)
from setup import RPL
import post_to_web as PTW # see post_to_web.py for instructions
sensor_pin = 16
RPL.pinMode(sensor_pin, RPL.INPUT)
while True:
PTW.state['d1'] = RPL.digitalRead(sensor_pin)
PTW.post()
import setup
from setup import RPL
import RoboPiLib as RPL
sensor_pin = 5
RPL.pinMode(sensor_pin,RPL.INPUT)
from marvelmind import MarvelmindHedge
from time import sleep
import sys
def main():
hedge = MarvelmindHedge(tty = "/dev/ttyACM0", adr=None, debug=False) # create MarvelmindHedge thread
hedge.start() # start thread
while True:
try:
sleep(1)
# print (hedge.position()) # get last position and print
hedge.print_position()
if (hedge.distancesUpdated):
hedge.print_distances()
except KeyboardInterrupt:
hedge.stop() # stop and close serial port
sys.exit()
def drive():
if 1.5 > X and 1.5 > Y:
RPL.servoWrite(0,1000) # drive straight
RPL.servoWrite(1,2000)
if X < 0 and 2 > Y > 0:
RPL.servoWrite(0,200) # turn right
RPL.servoWrite(1,2000)
import setup
from setup import RPL
import RoboPiLib as RPL
sensor_pin = 5
RPL.pinMode(sensor_pin, RPL.INPUT)
def analogRead(pin):
putPacket(ANREAD, bytearray([5]), 1)
buff = getPacket()
return int(buff[3][1]) | (int(buff[3][2]) << 8)
while True:
if RPL.analogRead(5) > 450 and RPL.analogRead(3) > 450:
RPL.servoWrite(2, 1490)
RPL.servoWrite(1, 300)
print "ok"
if 400 > RPL.analogRead(5) and RPL.analogRead(3) > 250:
RPL.servoWrite(2, 2000)
RPL.servoWrite(1, 1470)
print "yeah"
if RPL.analogRead(5) >= 400 and RPL.analogRead(5) <= 450:
RPL.servoWrite(2, 2000)
RPL.servoWrite(1, 300)
print "gratata"
if RPL.analogRead(3) < 250:
RPL.servoWrite(2, 2000)
RPL.servoWrite(1, 0)
if RPL.digitalRead(17) == 0:
def sensorcont():
back_sensor = 16
left_sensor = 18
rt_sensor = 17
rt_wheel = 0
lft_wheel = 1
forward = 1000
backward = 2000
RPL.servoWrite(0, 0)
command = raw_input("> ")
if command == "forward":
RPL.servoWrite(rt_wheel, backward)
RPL.servoWrite(lft_wheel, forward)
stop = 4
while stop != 1:
cease = raw_input("> ")
if RPL.readDistance(rt_sensor) < 45000:
RPL.servoWrite(lft_wheel, 0)
if RPL.readDistance(rt_sensor) > 70000:
RPL.servoWrite(lft_wheel, 1000)
RPL.servoWrite(rt_wheel, 0)
elif RPL.readDistance(rt_sensor) < 70000 and RPL.readDistance(
rt_sensor) > 45000:
RPL.servoWrite(lft_wheel, 1000)
RPL.servoWrite(rt_wheel, 2000)
elif cease == "stop":
stop = 1
RPl.servoWrite(0, 0)
RPL.servoWrite(1, 0)
