def reverse():
RPL.servoWrite(motorL, motorL_backward)
RPL.servoWrite(motorR, motorR_backward)
def stop():
RPL.servoWrite(motorL, 0)
RPL.servoWrite(motorR, 0)
while counter == 0:
RPL.analogRead(0)
RPL.analogRead(3)
Fanalog = RPL.analogRead(0)
Banalog = RPL.analogRead(3)
straight = Fanalog - Banalog
if straight > -2 and straight < 8:
reverse()
#if the robot is angled away the wall- turn tiwards
if straight < -2:
RPL.servoWrite(motorL, 1550)
RPL.servoWrite(motorR, motorR_backward)
#if the robot is towards the wall
if straight > 8:
RPL.servoWrite(motorL, motorL_backward)
RPL.servoWrite(motorR, 1450)
def front(input):
RPL.servoWrite(R, convert(input)[0])
RPL.servoWrite(L, convert(input)[1])
def right(input):
RPL.servoWrite(L, convert(input)[1])
def reverse():
RPL.servoWrite(1, 1600)
RPL.servoWrite(2, 1400)
print "stop"
def start_left():
RPL.servoWrite(1, 1460)
RPL.servoWrite(2, 1550)
print "Turning Left"
def leftStop():
RPL.servoWrite(L, 1500)
import RoboPiLib as RPL
import time
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
analogSensor = 10
motorR = 1
motorL = 0
speed = 1400
while True:
reading == RPL.analogReadRaw(analogSensor)
if reading > 400:
speed -= 100
if speed < 0:
speed = 0
else:
speed = speed
RPL.servoWrite(motorR, speed)
RPL.servoWrite(motorL, speed + 1400)
time.sleep(0.1)
else:
RPL.servoWrtie(motorR, 1400)
RPL.servoWrite(motorL, 2900)
def retract():
RPL.servoWrite(foot_down, 0)
RPL.servoWrite(foot_up, 20000)
def Rmin(go):
future = go + 1
while go < future:
RPL.servoWrite(motorL, rgo)
RPL.servoWrite(motorR, rgo)
def Lmin(go):
future = go + 1
while go < future:
RPL.servoWrite(motorL, lgo)
RPL.servoWrite(motorR, lgo)
# next step! add in minimum turning time of ~= 1 second
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
RPL.servoWrite(motorL, lgo)
while True:
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
print ".............."
while RPL.digitalRead(front) == 0 and RPL.digitalRead(right) == 0: # reverse
if RPL.digitalRead(left) == 0:
RPL.servoWrite(motorR, lgo)
RPL.servoWrite(motorL, rgo)
while RPL.digitalRead(front) == 0: # something ahead, turn until nothing
now = time.time()
future = now
motorL = 0
motorR = 2
right = 17
front = 16
left = 19
rgo = 2000
rslow = 1500
lgo = 100
lslow = 600
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
RPL.servoWrite(motorL, lgo)
while True:
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
while RPL.analogRead(analogR) >= 300: # middle range, can go straight
print "we good"
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
while RPL.analogRead(analogR) < 300: # no longer middle
while RPL.digitalRead(19) == 0: # digital also sense, so close
def extend():
RPL.servoWrite(foot_up, 0)
RPL.servoWrite(foot_down, 20000)
def stop():
RPL.servoWrite(motorL, 0)
RPL.servoWrite(motorR, 0)
def reverse():
RPL.servoWrite(motorL, motorL_backward)
RPL.servoWrite(motorR, motorR_backward)
def forward():
RPL.servoWrite(motorL, motorL_forward)
RPL.servoWrite(motorR, motorR_forward)
def leftGo():
RPL.servoWrite(L, 1400)
def Rmin(go):
future = go + 1
while go < future:
RPL.servoWrite(motorL, rgo)
RPL.servoWrite(motorR, rgo)
def rightGo():
RPL.servoWrite(R, 1600)
def Lmin(go):
future = go + 1
while go < future:
RPL.servoWrite(motorL, lgo)
RPL.servoWrite(motorR, lgo)
def rightStop():
RPL.servoWrite(R, 1500)
import RoboPiLib as RPL import setup motorL = 1 motorR = 0 RPL.servoWrite(1, 2000) RPL.servoWrite(0, 2000) time.time(.5)
import post_to_web as PTW
sensor_pin = 16
RPL.pinMode(sensor_pin, RPL.INPUT)
running = True
braking = False
m1Speed = 1400
m2Speed = 1600
while running:
reading = RPL.digitalRead(sensor_pin)
if reading == 0:
braking = True
if braking == True and m1Speed != 1500 and m2Speed != 1500:
print("If statement fired")
m1Speed += 10
m2Speed -= 10
if m1Speed == 1500 and m2Speed == 1500:
m1Speed = 00
m2Speed = 00
running = False
RPL.servoWrite(0, m1Speed)
RPL.servoWrite(1, m2Speed)
PTW.state['d1'] = RPL.digitalRead(sensor_pin)
PTW.state['d2'] = RPL.servoRead(0)
PTW.state['d3'] = RPL.servoRead(1)
PTW.post()
import time
import RoboPiLib as RPL
import setup
pwm_freq = 0
pwm_pin = int(raw_input("PWM Pin: "))
step = int(raw_input("PWM Step: "))
try:
while True:
RPL.servoWrite(pwm_pin, pwm_freq)
print("PWM Frequency at {}".format(pwm_freq))
time.sleep(0.5)
pwm_freq += step
except:
RPL.servoWrite(pwm_pin, 0)
print("Finished at {}".format(pwm_freq))
def start_right():
RPL.servoWrite(2, 1550)
RPL.servoWrite(1, 1420)
print "Turning Right"
import RoboPiLib as RPL import setup RPL.servoWrite(0, 00) RPL.servoWrite(1, 00)
def forward():
RPL.servoWrite(1, 1400)
RPL.servoWrite(2, 1600)
print "Forward"
import RoboPiLib as RPL
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
RPL.servoWrite(1, 1000)
RPL.servoWrite(2, 2000)
"""
ssh [email protected]
"""
def left(input):
RPL.servoWrite(R, convert(input)[0])
def forward():
RPL.servoWrite(6, 1400)
RPL.servoWrite(7, 1600)
print "Forward"
def frontraw(input):
RPL.servoWrite(L, input)
RPL.servoWrite(R, -1 * input + 3000)
import RoboPiLib as RPL
from setup import RPL
import time
import post_to_web as PTW
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
motorL = 1
motorR = 0
t_ime = time.time()
i = 3
e = 6
while True:
while time.time() < t_ime + i:
RPL.servoWrite(motorR, 1000)
RPL.servoWrite(motorL, 2000)
while time.time() > t_ime + i and time.time() < t_ime + e:
RPL.servoWrite(motorR, 0)
RPL.servoWrite(motorL, 0)
while time.time() > t_ime + e:
i = i + 3
e = e + 3
