def run(self):
self.Ultrasonic=Ultrasonic()
self.Pwm=Servo()
credentials = pika.PlainCredentials('newuser1', 'password')
connection = pika.BlockingConnection(pika.ConnectionParameters('192.168.1.12', 5672 ,'/', credentials))
channel = connection.channel()
channel.exchange_declare(exchange='PC2Pi.topic',exchange_type='topic', durable=True, auto_delete=False)
channel.queue_declare(queue='PC2Pi.Processed_Data')
channel.queue_bind(queue='PC2Pi.Processed_Data', exchange='PC2Pi.topic', routing_key='Processed_Data')
Data_Copy = open('Data_PI.csv', 'w')
Data_Copy.write("Date;Movement_Type;\n")
while True:
def Write_into_CSV(body):
x = format(body).split("%")
Data_Copy = open('Data_PI.csv', 'a')
Movement_Type = int(x[1])
Data_Copy.write("%s;"%time.ctime())
Data_Copy.write("%d;"%Movement_Type)
Data_Copy.close()
if(Movement_Type == 5):
PWM.setMotorModel(600,600,600,600)
elif(Movement_Type == 1):
PWM.setMotorModel(-2000,-2000,4000,4000)
elif(Movement_Type == 3):
PWM.setMotorModel(-1200,-1200,2000,2000)
elif(Movement_Type == 7):
PWM.setMotorModel(2000,2000,-1200,-1200)
elif(Movement_Type == 9):
PWM.setMotorModel(4000,4000,-2000,-2000)
elif(Movement_Type == 0):
PWM.setMotorModel(0,0,0,0)
def callback(ch, method, properties, body):
print('Received from PC: {}'.format(body))
Write_into_CSV(body)
channel.basic_consume(queue='PC2Pi.Processed_Data', on_message_callback=callback, auto_ack=True)
print('Waiting for Messages from PC')
channel.start_consuming()
def __init__(self):
self.tcp_flag = False
self.led = Led()
self.adc = ADS7830()
self.servo = Servo()
self.buzzer = Buzzer()
self.control = Control()
self.sonic = Ultrasonic()
self.control.Thread_conditiona.start()
def __init__(self):
self._interrupted = False
self._lock = threading.RLock()
self._cmdThread = None
self.motor = Motor.Motor()
self.sonic = Ultrasonic.Ultrasonic()
self.adc = ADC.Adc()
self.servo = servo.Servo()
self.stop()
self.pointSonic()
def __init__(self, sonicTrig, sonicEcho, servoChannel):
self.trigger = sonicTrig
self.echo = sonicEcho
self.servoChannel = servoChannel
if self._DEBUG:
print self._DEBUG_INFO, "Debug on"
self.servo = Servo.Servo(servoChannel, self.servoStart,
self.servoStart - 1, self.servoStop)
self.ultra = Ultrasonic.Ultrasonic(sonicTrig, sonicEcho)
def run():
pwm_S = Servo()
pwm_S.setServoPwm('0', SERVO_ORIZON)
pwm_S.setServoPwm('1', SERVO_VERTIC)
ultrasonic = Ultrasonic()
cli = Redis('localhost')
while True:
M = ultrasonic.get_distance()
cli.set('ultrasonic_M', M)
time.sleep(0.2)
"""
def __init__(self):
self.PWM = Motor()
self.servo = Servo()
self.led = Led()
self.ultrasonic = Ultrasonic()
self.buzzer = Buzzer()
self.adc = Adc()
self.light = Light()
self.infrared = Line_Tracking()
self.tcp_Flag = True
self.sonic = False
self.Light = False
self.Mode = 'one'
self.endChar = '\n'
self.intervalChar = '#'
time.sleep(1)
PWM.setMotorModel(-1500, -1500, 2000, 2000) #Left
print "The car is turning left"
time.sleep(1)
PWM.setMotorModel(2000, 2000, -1500, -1500) #Right
print "The car is turning right"
time.sleep(1)
PWM.setMotorModel(0, 0, 0, 0) #Stop
print "\nEnd of program"
except KeyboardInterrupt:
PWM.setMotorModel(0, 0, 0, 0)
print "\nEnd of program"
from Ultrasonic import *
ultrasonic = Ultrasonic()
def test_Ultrasonic():
try:
pwm = Servo()
pwm.setServoPwm('0', 90)
while True:
data = ultrasonic.get_distance() #Get the value
print("Obstacle distance is " + str(data) + "CM")
time.sleep(1)
except KeyboardInterrupt:
print "\nEnd of program"
from Line_Tracking import *
def run(self):
self.Ultrasonic = Ultrasonic()
self.Pwm = Servo()
credentials = pika.PlainCredentials('newuser1', 'password')
connection = pika.BlockingConnection(
pika.ConnectionParameters('192.168.1.12', 5672, '/', credentials))
channel = connection.channel()
channel.exchange_declare(exchange='PC2Pi.topic',
exchange_type='topic',
durable=True,
auto_delete=False)
channel.queue_declare(queue='PC2Pi.Processed_Data')
channel.queue_bind(queue='PC2Pi.Processed_Data',
exchange='PC2Pi.topic',
routing_key='Processed_Data')
while True:
self.LMR = 0x00
if GPIO.input(IR01) == True:
self.LMR = (self.LMR | 4)
if GPIO.input(IR02) == True:
self.LMR = (self.LMR | 2)
if GPIO.input(IR03) == True:
self.LMR = (self.LMR | 1)
self.Pwm.setServoPwm('0', 90)
self.Pwm.setServoPwm('1', 90)
distance = self.Ultrasonic.get_distance()
IRSensor1 = (GPIO.input(IR01) == True)
IRSensor2 = (GPIO.input(IR02) == True)
IRSensor3 = (GPIO.input(IR03) == True)
if distance > 10:
if self.LMR == 2:
PWM.setMotorModel(575, 575, 575, 575)
elif self.LMR == 4:
PWM.setMotorModel(-1500, -1500, 2500, 2500)
elif self.LMR == 6:
PWM.setMotorModel(-2000, -2000, 4000, 4000)
elif self.LMR == 1:
PWM.setMotorModel(2500, 2500, -1500, -1500)
elif self.LMR == 3:
PWM.setMotorModel(4000, 4000, -2000, -2000)
elif self.LMR == 7:
pass
else:
PWM.setMotorModel(0, 0, 0, 0)
message1 = time.ctime() + " Distance to Obstacle: "+ str(distance)+ \
"%" + "IR Sensor1: %"+ str(IRSensor1)+"%"+ "IR Sensor2: %"+ str(IRSensor2)+"%" \
+ "IR Sensor3: %"+ str(IRSensor3)+"%"
channel.basic_publish(
exchange='Pi2PC.topic',
routing_key='Cart101.ShoppingMall.DistanceIRSensorVal',
body=message1)
print('Sent_1' + message1)
time.sleep(timeout)
def Run_Cart4(self):
#------------------------------------------Ultrasonic sensor and Servo Motor Class
self.Ultrasonic = Ultrasonic()
self.LED = Led()
self.Buzzer = Buzzer()
self.Junction = 0
#--------------------------------------------------------------------------------------
while True:
self.Movement_Type = 0
Distance = self.Ultrasonic.get_distance()
IR_Left = GPIO.input(IR01)
IR_Mid = GPIO.input(IR02)
IR_Right = GPIO.input(IR03)
if (Distance > 15.0):
if ((IR_Left == 0) and (IR_Mid == 1) and (IR_Right == 0)):
if (self.Moved_Reverse_New != self.Moved_Reverse_Old):
self.Movement_Type = 11 #Move Reverse
else:
self.Movement_Type = 5 #Move Forward
self.Junction = 0 #Clear the Junction Variable
elif ((IR_Left == 1) and (IR_Mid == 0) and (IR_Right == 0)):
self.Movement_Type = 3 #Take Slight Left
elif ((IR_Left == 1) and (IR_Mid == 1) and (IR_Right == 0)):
self.Movement_Type = 3 #Take Slight Left
elif ((IR_Left == 0) and (IR_Mid == 0) and (IR_Right == 1)):
self.Movement_Type = 7 #Take Slight Right
elif ((IR_Left == 0) and (IR_Mid == 1) and (IR_Right == 1)):
self.Movement_Type = 7 #Take Slight Right
elif ((IR_Mid == 1) and (IR_Left == 1) and (IR_Right == 1)):
if (self.Junction == 0):
self.Movement_Type = self.Mov_According_To_Specified_position(
)
self.Junction = 1
else:
pass
else:
self.Movement_Type = 0 #Stop Movement
self.LED.ledIndex(0x20, 255, 125, 0) #Orange
self.LED.ledIndex(0x40, 255, 125, 0) #Orange
time.sleep(1)
self.LED.ledIndex(0x60, 0, 0, 0)
#Actuate the motors to move cart to the specific Coordinate
self.Move_Cart(self.Movement_Type)
if (self.Is_Intermediate_DestinTion_Reached()):
break
from Ultrasonic import * #import Led
ultrasonic=Ultrasonic() #create an object
data=ultrasonic.get_distance() #Get the value
print ("Obstacle distance is "+str(data)+"CM")
from servo import * #import Led
pwm = Servo() #create an object
#Servo rotates from 30 degrees to 150 degrees
for i in range(30, 150, 1) :
pwm.setServoPwm('0', i)
time.sleep(0.01)
#Servo rotates from 150 degrees to 0 degrees
for i in range(150, 30, -1) :
pwm.setServoPwm('0', i)
time.sleep(0.01)
from Motor import * #import Motor
PWM=Motor() #create an object
PWM.setMotorModel(2000,2000,2000,2000) #Forward
time.sleep(3) #waiting 3 second
PWM.setMotorModel(0,0,0,0) #Stop
def dist():
ultrasonic = Ultrasonic() # create an object
data = ultrasonic.get_distance() # Get the value
print("Obstacle distance is " + str(data) + "CM")
return data
def run_ultrasonic(self):
IR01 = 14
IR02 = 15
IR03 = 23
GPIO.setmode(GPIO.BCM)
GPIO.setup(IR01, GPIO.IN)
GPIO.setup(IR02, GPIO.IN)
GPIO.setup(IR03, GPIO.IN)
self.LMR0 = 0x00
if GPIO.input(IR01) == False:
self.LMR0 = (self.LMR0 | 4)
if GPIO.input(IR02) == False:
self.LMR0 = (self.LMR0 | 2)
if GPIO.input(IR03) == False:
self.LMR0 = (self.LMR0 | 1)
if self.LMR0 > 0:
self.LMR0 = 7
ttable = [[1, 0], [2, 4], [3, 5], [1, 1], [0, 0], [0, 0]]
x = 40
ultra = Ultrasonic()
print "Auto drive Start!"
cur_state = 0
while self.automode:
if cur_state == 0:
self.display.show(1, "FORWARD")
self.PWM.slowforward()
ultra.look_forward()
elif cur_state == 1:
self.display.show(1, "LOOKLEFT")
self.PWM.stopMotor()
ultra.look_left()
elif cur_state == 2:
self.display.show(1, "LOOKRITE")
self.PWM.stopMotor()
ultra.look_right()
elif cur_state == 3:
self.display.show(1, "GOBACK")
self.PWM.backup()
elif cur_state == 4:
self.display.show(1, "TURNLEFT")
self.PWM.turnLeft()
time.sleep(0.2)
elif cur_state == 5:
self.display.show(1, "TURNRITE")
self.PWM.turnRight()
time.sleep(0.2)
else:
print "Wrong state?"
cur_state = 0
time.sleep(0.1)
d = ultra.get_distance()
self.LMR = 0x00
if GPIO.input(IR01) == False:
self.LMR = (self.LMR | 4)
if GPIO.input(IR02) == False:
self.LMR = (self.LMR | 2)
if GPIO.input(IR03) == False:
self.LMR = (self.LMR | 1)
if (self.LMR <> self.LMR0):
cur_state = 3
else:
e = 0 if d < x else 1
cur_state = ttable[cur_state][e]
print "Auto drive End!"
import json
import pprint
import sys
import threading
import netifaces as ni
import websocket
import Servo
import Ultrasonic
pp = pprint.PrettyPrinter(indent=4)
servo = Servo.Servo()
ultra = Ultrasonic.Ultrasonic()
try:
import thread
except ImportError:
import _thread as thread
def on_message(ws, message):
pp.pprint(message)
_message = json.loads(message)
event = _message['d']['event']
if event == 'start_servo':
# print(1)
activate_servo()