import sys import atexit import os import profile count=1 speed=0 steer=0 timer=0 deltaL=0 deltaR=0 encoder=Encoder() navigation=Navigation() scanner=Scanner() karte=Karte(encoder) plan=Plan() kreis=0 motor=Motor() grid=Grid(50,50) logic=Logic() manuell=Manuell() json=Json() weggeber=Weggeber() grid.setZielInGrid(35,20) grid.setStartInGrid(1,1) karte.setRoboPosZero(0,0) plan.setGlobalZiel(150,0) def cleaning():
from Encoder import *
import Kompass
from Karte import *
from Plan import *
from Motor import *
from Grid import *
import sys
import atexit
count = 1
speed = 0
steer = 0
encoder = Encoder()
navigation = Navigation()
scanner = Scanner()
karte = Karte(encoder)
plan = Plan()
kreis = 0
motor = Motor()
grid = Grid(50, 50)
grid.setZielInGrid(15, 49)
grid.setStartInGrid(15, 1)
karte.setRoboPosZero(150, 150)
def cleaning():
"""Do cleanup at end, command are visVersa"""
motor.setCommand(0, 0)
#Robo Main
Robo=True
from Scanner import *
from Encoder import *
import Kompass
from Karte import *
from Plan import *
from Motor import *
karte=Karte()
navigation=Navigation()
scanner=Scanner()
plan=Plan(karte,navigation)
encoder=Encoder()
motor=Motor()
ThreadScanAllTime=Thread(target=scanner.runAllTime, args=(1,))
ThreadScanAllTime.daemon=True
ThreadScanAllTime.start()
ThreadEncoder=Thread(target=encoder.runAllTime,args=())
ThreadEncoder.daemon=True
ThreadEncoder.start()
while Robo==True:
obstacles=scanner.getNewDistValues()
karte.updateObstacles(obstacles)
from Karte import * from Motion import * from Weggeber import * from SMBUSBatt import * from Pathplaning import * from Scanner import * from math import * import pickle from Avoid import * from Transmit import * from Planer import * manuell = Manuell() motion = Motion() battery = SMBUSBatt() karte = Karte() weggeber = Weggeber() pathplaning = Pathplaning() scanner = Scanner() avoid = Avoid() transmit = Transmit() pumper = Pumper() planer = Planer(avoid, karte) ThreadEncoder = Thread(target=manuell.runManuell, args=()) ThreadEncoder.daemon = True ThreadEncoder.start() theta_goal = 180 x_goal = 0 y_goal = 70
#Robo Main
Robo = True
from Scanner import *
from Encoder import *
import Kompass
from Karte import *
from Plan import *
from Motor import *
karte = Karte()
navigation = Navigation()
scanner = Scanner()
plan = Plan(karte, navigation)
encoder = Encoder()
motor = Motor()
ThreadScanAllTime = Thread(target=scanner.runAllTime, args=(1, ))
ThreadScanAllTime.daemon = True
ThreadScanAllTime.start()
ThreadEncoder = Thread(target=encoder.runAllTime, args=())
ThreadEncoder.daemon = True
ThreadEncoder.start()
while Robo == True:
obstacles = scanner.getNewDistValues()
karte.updateObstacles(obstacles)
deltaDist = encoder.getDistCounts()
def loop():
global inCmd
print()
inCmd = input('Numpad j/n : ')
Numpad(inCmd)
if os.path.exists("/home/pi/Code/Git/RasPi/Code/Numpad"):
print("# = Diese Liste")
print("* = beenden")
print("A = Taschenrechner")
print("B = Dez-Bin-Hex-Rechner")
print("C = GUI")
print("1 = wuerfeln (16-seitig)")
print("2 = Zeit anzeigen")
print("3 = Display CPU-Temp")
print("4 = 'snake'")
print("5 = 'snake-game'")
print("6 = 'matrix'")
print("7 = matrix2'")
print("8 = random Punkt")
print("9 = 'Bislschirmschoner'")
print("0 = Karte ziehen")
while True:
keypad = Keypad.Keypad(keys, rowsPins, colsPins, ROWS, COLS)
keypad.setDebounceTime(50)
key = keypad.getKey()
try:
if (key == '1'):
wurf.zufall()
elif (key == '2'):
print(time_pr.time_wert())
time_pr.Time()
elif (key == '3'):
temp.cpu_temp()
elif (key == '4'):
snake.snakeL()
elif key == '5':
try:
snake_game.main()
except:
print('Spiel beendet.')
pass
elif (key == '6'):
matrix.matrix()
elif key == '7':
matrix2.matrixx()
elif key == '8':
random_dot.Dot()
elif key == '9':
random_dot2.main()
elif key == '0':
Karte.main()
elif key == 'A':
TR.main()
elif key == 'B':
bin_hex.main()
elif key == 'C':
GUI.main()
break
elif key == '*':
destroy()
break
elif (key == '#'):
print("# = Diese Liste")
print("* = beenden")
print("A = Taschenrechner")
print("B = Dez-Bin-Hex-Rechner")
print("C = GUI")
print("1 = wuerfeln (16-seitig)")
print("2 = Zeit anzeigen")
print("3 = Display CPU-Temp")
print("4 = 'snake'")
print("5 = 'snake-game'")
print("6 = 'matrix'")
print("7 = matrix2'")
print("8 = random Punkt")
print("9 = 'Bislschirmschoner'")
print("0 = Karte ziehen")
except:
print('Ein Fehler ist aufgetreten!')
pass
elif os.path.isfile("home/pi/Code/Git/RasPi/Code/Numpad") == False:
print("'quit' = beenden")
print("'wurf' = wuerfeln (16-seitig)")
print("'time' = Zeit anzeigen")
print("'temp' = Display CPU-Temp")
print("'snake'")
print("'snake-game' ---- WIP -----")
print("'matrix'")
print("'matrix2'")
print("'random' = random Punkt")
print("'random2' = 'Bilschrimschoner'")
print("'TR' = Taschenrechner ----WIP----")
print("'bin_hex' = Dez-Bin-Hex-Rechner ----WIP----")
print("'karte' = Karte ziehen")
try:
while True:
inCmd = input()
if inCmd == "wurf":
wurf.zufall()
elif (inCmd == "time"):
print(time_pr.time_wert())
time_pr.Time()
elif (inCmd == "snake"):
snake.snakeL()
elif (inCmd == "matrix"):
matrix.matrix()
elif (inCmd == 'temp'):
temp.cpu_temp
elif (inCmd == 'matrix2'):
matrix2.matrixx
## elif inCmd == 'snake-game':
## snake_game.main()
elif inCmd == 'random':
random_dot.Dot()
elif inCmd == 'random2':
random_dot2.main()
elif inCmd == 'TR':
TR.main()
elif inCmd == 'gui':
GUI.main()
elif inCmd == 'karte':
Karte.main
elif inCmd == 'rechner':
bin_hex.main()
elif inCmd == 'quit' or 'beenden':
destroy()
break
else:
print('Befehl nicht erkannt')
except:
print('Ein Fehler ist aufgetreten!')
