def getMacAddress(self):

# This function accesses a file and gets the mac address

try:

# Opens the file, only read properties

with open("macFile","r+") as macFile:

# Reads and strips mac files data

mc = macFile.readline().rstrip("\n")

# Checks if what is in the file is a mac format

if re.match("[0-9a-f]{2}([-:])[0-9a-f]{2}(\\1[0-9a-f]{2}){4}$", mc.lower()):

# returns the mac or nothing

return mc

else: return ''

except IOError:

print "[...] MAC address File doesn't seem to Exist [...]"

return ''

def mainMenu(self):

# Menu function;

# Menu options

menu = {}

menu['1']=": Keyboard with GUI"

menu['2']=": Wheel"

menu['3']=": Xbox Controller"

menu['4']=": Playstation3 Controller"

menu['p']=": Pre-set Figures"

menu['r']=": Reconnected"

menu['q']=": Quit"

print "[...] Menu [...]\n"

# Sets some menu options

options=menu.keys()

options.sort()

# Goes thought every option and prints it out line by line.

for entry in options: print "\t" + entry, menu[entry]

def __init__(self):

# This __init function is the

# Clears the terminal

os.system(['clear','cls'][os.name == 'nt'])

# Calls the Car Class

carClass = Car()

# Gets Mac Address

macaddr = self.getMacAddress()

print "[...] Connecting to the Car : " + macaddr + " [...]"

# Tests if the car works

if Car().test(macaddr):

print "[...]\033[92m Connection Successful \033[0m[...]"

# If the test function works, setup the proper connection

carClass.connecting(macaddr)

else:

print "[...]\033[91m Connection Failed \033[0m [...]"

# Tests if the car is inrange

if carClass.inRange(macaddr):

print "[...]\033[91m Car is in range \033[0m[...]"

else:

print "[...]\033[91m Car is NOT in range \033[0m[...]"

# Loops until it breaks

while True:

self.mainMenu()

# Waits untill input

selection=raw_input("\nPlease Select: ")

# Clears termin

os.system(['clear','cls'][os.name == 'nt'])

# If the input matches any of the if statements below it will run that function or code.

if selection == '1':

print '[...] Keyboard [...]'

carClass.keyboard()

elif selection == '2':

print '[...] Wheel [...]'

carClass.wheelHandler()

elif selection == '3':

print '[...] Xbox Controller [...]'

carClass.controllerXbox()

elif selection == '4':

print '[...] Playstation3 Controller [...]'

carClass.controllerPs3()

elif selection == 'p':

carClass.subPreMenu()

elif selection == 'r':

if Car().test(self.getMacAddress()):

print "[...]\033[92m Connection Successful \033[0m[...]"

carClass.connecting(self.getMacAddress())

else:

print "[...]\033[91m Connection Failed or Already Connected \033[0m [...]"

elif selection == 'q':

break

else:

print "Unknown Option Selected!"

# Global variables:

x = 1

y = 1

last = 0

speed = 8

maxSpeed = 15

minSpeed = 0

speedTimeStamp = time.time()

wheelClass = wheel.WheelClass()

def moveX(self, st):

# Checks in the variable sent is

if(st >= 0 or st <= 2):

# Sets X axes to the set value

self.x = st

def moveY(self, st):

# Checks in the variable sent is

if(st >= 0 or st <= 2):

# Sets X axes to the set value

self.y = st

def moveXY(self, xBit, yBit, spd, tim):

# Sets: X, Y, speed and time it's doing it for

self.x = xBit

self.y = yBit

self.move(spd)

time.sleep(tim)

def move(self, spd):

# Move/drive function

# Array of number according to the location of

arra = [[5,1,6], [3,0,4], [7,2,8]]

# Creates a char according to the data sent. [ (16 x direction) + speed ]

ch = (16 * arra[self.y][self.x]) + spd

# Error checking to make sure it's not out side of the bounds of the char variable.

if self.last != ch and (ch >= 0 or ch <= 255) :

# Send the var over bluetooth adaptor

self.sock.send(chr(ch))

self.last = ch

def setSpeed(self, spd):

# Sets the speed of the car

# added up a temp var for error checking

tmp = self.speed + spd

# Checks that its not over or under the max/min speed

if(tmp <= self.maxSpeed and tmp >= self.minSpeed):

# Gets current time

currentTime = time.time()

# Checks according of time passed so doesn't change to quickly

if(float(currentTime - self.speedTimeStamp) >= .2):

# Sets the global speed to new speed

self.speed = tmp

# Sets new time

self.speedTimeStamp = currentTime

print "New Speed: " + str(self.speed)

def keyboard(self):

# loop around each key press

self.wheelClass.launchGUI()

# Shows what are the different buttons.

print "\nForward: Up Arrow\nBackwards: Down Arrow\nLeft: Left Arrow\nRight: Right Arrow\n\nSpeed up: +/plus Button\nSpeed Down: -/minus Button\n\nExit: Escape Button\n\nCurrent Speed: "+str(self.speed)

while True:

# Starts pulling keyboard inputs from pygame

pygame.event.pump()

# Sets keyboard inputs to a variable

self.pressed = pygame.key.get_pressed()

# Get events

event = pygame.event.poll()

# if either the up/down button is pressed, set the Y axes to

if self.pressed[K_UP]: self.moveY(0)

elif self.pressed[K_DOWN]: self.moveY(2)

else: self.moveY(1)

# if either the left/right button is pressed, set the X axes to

if self.pressed[K_LEFT]: self.moveX(0)

elif self.pressed[K_RIGHT]: self.moveX(2)

else: self.moveX(1)

# if either the plus/minus buttons are pressed, increment/decrement the speed

if self.pressed[K_EQUALS]: self.setSpeed(1)

elif self.pressed[K_MINUS]: self.setSpeed(-1)

# Will run the move function, move with set the X/Y vars and move the car accordingly

self.move(self.speed)

# If the escape key is pressed, exit

if self.pressed[K_ESCAPE]: break

if event.type == pygame.MOUSEBUTTONDOWN: #and event.button == LEFT:

self.mouse_click_handler(event.pos)

os.system(['clear','cls'][os.name == 'nt'])

def controllerXbox(self):

# loop around xbox events

while True:

self.speed = 0

# pygame.event.pump()

# if self.pressed[K_ESCAPE]: break

for event in xbox_read.event_stream(deadzone=12000):

# if either the up/down button is pressed, set the Y axes to

if (event.key == 'RT' or event.key == 'LT'):

if event.key == 'RT' and event.value > 1:

self.speed = int(event.value)/17

self.moveY(0)

elif event.key == 'LT' and event.value > 1:

self.speed = int(event.value)/17

self.moveY(2)

else: self.moveY(1)

# if either the left/right button is pressed, set the X axes to

if(event.key == 'dl' or event.key == 'dr'):

if event.key == 'dl' and event.value == 1: self.moveX(0)

elif event.key == 'dr' and event.value == 1: self.moveX(2)

else: self.moveX(1)

# Runs the move function

self.move(self.speed)

#if(event.key == 'guide'): break

os.system(['clear','cls'][os.name == 'nt'])

def controllerPs3(self):

print '[...] Ps3 Controller [...]'

def wheelHandler(self):

while True:

# Starts pulling keyboard inputs from pygame

pygame.event.pump()

# Sets keyboard inputs to a variable

self.pressed = pygame.key.get_pressed()

direction,turning,speed=self.wheelClass.getMov()

self.y = direction

self.x = turning

self.move(speed)

if self.pressed[K_ESCAPE]: break

def connecting(self,bdr_addr):

# Connects the Pi and Car

try:

self.sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM)

self.sock.connect((bdr_addr, 1))

return sock

except: return ''

def test(self,mac):

# Tests the connection between the Pi and Car

try:

testSock = bluetooth.BluetoothSocket(bluetooth.RFCOMM)

testSock.connect((mac, 1))

testSock.close()

time.sleep(.5)

return True

except:

return False

def inRange(self, mac):

# Function, tests if car is in range and connected

devices = bluetooth.discover_devices()

for bdaddr in devices:

if mac == bdaddr:

return True

return False

def subPreMenu(self):

# Clears terminal

os.system(['clear','cls'][os.name == 'nt'])

menu = {}

# Sets sub menu

menu['1']=": Circle"

menu['2']=": Random*"

menu['3']=": Three Point Turn"

menu['4']=": Figure of Eight"

menu['5']=": Cruise"

menu['q']=": Quit"

while True:

print "[...] Pre-defined Figures [...]\n"

# Sorts menu

options=menu.keys()

options.sort()

# Prints menu

for entry in options:

print "\t" + entry, menu[entry]

selection=raw_input("\nPlease Select: ")

os.system(['clear','cls'][os.name == 'nt'])

if selection == '1':

print '[...] Circle [...]'

self.circle()

elif selection == '2':

print '[...] Random [...]'

self.randomMoves()

elif selection == '3':

print '[...] Three Point Turn [...]'

self.threePointTurn()

elif selection == '4':

print '[...] Figure of Eigth [...]'

self.eigth()

elif selection == '5':

print '[...] Cruise [...]'

elif selection == 'q':

break

else:

print "Unknown Option Selected!"

time.sleep(1)

def threePointTurn(self):

self.moveXY(1, 2, 8, .4) # backwards

self.moveXY(2, 2, 8, 1.6) # backwards, right

self.moveXY(0, 0, 8, 1.8) # forward, left

self.moveXY(1, 0, 8, .5) # forward

self.moveXY(1,1,0,0)

def circle(self):

self.moveXY(2, 0, 6, 16) # forward right

self.moveXY(1,1,0,0) # stop

def eigth(self):

self.moveXY(2, 0, 8, 7.2) # forward right

self.moveXY(1, 0, 8, .1) # forward

self.moveXY(0, 0, 8, 7.2) # forward left

self.moveXY(1, 0, 8, .1) # forward

self.moveXY(1,1,0,0) # stop

def randomMoves(self):

# Spazz out for 12 seconds, making random move every 3 seconds

for x in range(1,5): #running 4 times

dirX = random.choice([0,1,2])

dirY = random.choice([0,2]) #not using 1 as it would just turn wheels

speed = random.randint(5,10)

self.moveXY(dirX,dirY,speed,3)

def cruise(self):

#Cruising for 10 seconds

self.moveXY(1,0,9,10)

##### Accelerometer #####

def axelmeter(self, speed):

self.progbar.set_fraction(speed/11.0)

def mouse_click_handler(self, pos):

if pos[0] > 110 and pos[0] < 190:

if pos[1] >110 and pos[1] < 140:

print "Do 8 function"

self.eigth()

if pos[1] >160 and pos[1] < 190:

self.randomMoves()

if pos[0] > 210 and pos[0] < 290:

if pos[1] >110 and pos[1] < 140:

print "Circle"

self.circle()

if pos[1] >160 and pos[1] < 190:

self.threePointTurn()

if pos[0] >10 and pos[0] <90:

if pos[1] >110 and pos[1] < 140:

self.cruise()

if pos[1] >160 and pos[1] < 190: