#!/usr/bin/env python

import rospy

from flask import Flask, render_template, request

from nanpy import (ArduinoApi, SerialManager)

from time import sleep

#from flask website

from nanpy import Stepper

import time

import RPi.GPIO as GPIO

from std_msgs.msg import String

app = Flask(__name__) #placeholder for current module (app.py)

#instance of flask app

MOTOR_AMOUNT = [0,1,2,3,4]

try: #trying to establish connection to the arduino

connection = SerialManager(device='/dev/ttyACM0') #automatically finds the arduino connected

a = ArduinoApi(connection = connection) #instance of the arduinoapi object

except:

print("Failed to connect to Arduino")

#* 0 = Thumb

#* 1 = Pinky

#* 2 = Ring

#* 3 = Middle

#* 4 = Index

GPIO.setmode(GPIO.BCM)

Motor1A = 16 #DC motor pins

Motor1B = 20

Motor1E = 21

GPIO.setup(Motor1A,GPIO.OUT)

GPIO.setup(Motor1B,GPIO.OUT)

GPIO.setup(Motor1E,GPIO.OUT)

#Set pin numbers

pin_phase = [19, 20, 21, 22, 23]; #Direction pin servo motor

pin_pwm = [3, 4, 5, 6, 9]; #PWM pin servo motor

pin_input = [14, 15, 16, 17, 18]; #Analog input servo sensor

for i in MOTOR_AMOUNT:

a.pinMode(pin_phase[i], a.OUTPUT);

a.pinMode(pin_pwm[i], a.OUTPUT);

a.pinMode(pin_input[i], a.INPUT);

GPIO.setup(Motor1A,GPIO.OUT)

GPIO.setup(Motor1B,GPIO.OUT)

GPIO.setup(Motor1E,GPIO.OUT)

@app.route('/') #default route when user goes to the root url

def index():

return render_template('home.html') #rendering a template called home.html

@app.route('/<deviceName>/<action>')

def do(deviceName, action):

return render_template('home.html')

@app.route('/about')

def about():

return render_template('about.html')

if __name__ == '__main__':

app.run(host = '0.0.0.0',port = 80,debug = True)