def __init__(self, pub):
global self_motor
self_motor = self
self.psm = PiStorms()
self.speed = 0
self.pub = pub
self.pendulum_state = None
self.time = 0.0
self.led_flag = True
def __init__(self):
global self_motor
self_motor = self
self.psm = PiStorms()
self.angle = 0
self.isReady = False
self.pub = mqtt.Client(client_id="motor_pub", transport="TCP")
self.pub.connect(MQTT_SERVER, 1883, 60)
self.sub = mqtt.Client(client_id="motor_sub", transport="TCP")
self.sub.on_connect = self.on_connect
self.sub.on_message = self.on_message
self.sub.connect(MQTT_SERVER, 1883, 60)
thread = threading.Thread(target=self.__sub, args=(self.sub, ))
thread.daemon = True
thread.start()
#
# History:
# Date Author Comments
# July 7, 2016 Yug Rao Initial Authoring
from picamera.array import PiRGBArray
from picamera import PiCamera
import os,sys,inspect,time#thread
from subprocess import call
import cv2
import imutils
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms
psm = PiStorms()
try:
picam = PiCamera()
except:
m = ["PopHeads", "Camera not enabled.", "Run raspi-config and enable camera"]
psm.screen.askQuestion(m,["OK"])
exit()
exitNow = 0
time.sleep(.2)
# Create the haar cascade
haar_path=currentdir+"/haarcascade_frontalface_default.xml"
faceCascade = cv2.CascadeClassifier(haar_path)
#psm.screen.fillRect(95, 145, 110, 160)
#psm.screen.fillRect(100, 150, 100, 150, fill=(0,0,0))
while not exitNow:
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# July 2015 Henry Initial Authoring from SensorShield import SensorShield
import os,sys,inspect,time
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintAt(2, "PiStorms ")
psm.screen.termPrintAt(3, "GO button test:")
exit = False
print "Running Button Test"
print "press anywhere in PiStorms Screen to exit"
psm.screen.termPrintAt(8, "Touch Display to Exit")
psm.screen.termPrintln(" ")
while(not exit):
pass
psm.screen.termPrintAt(5, "GO Button is = " +str(psm.isKeyPressed()))
psm.screen.termPrintAt(6, "Press Count = " +str(psm.getKeyPressCount()))
if (psm.screen.checkButton(0,0,320,320)):
mindsensors_i2c.__init__(self, color_address >> 1)
def get_colornum(self):
try:
return (self.readIntegerBE(self.Color_COMMAND))
except:
print("Error: Could not read color")
return ""
HC = HiTechnicColorV2()
# END CLASSES #
# CONSTANTS #
PSM = PiStorms()
SCREEN = PSM.screen
M1 = PSM.BAM1
M2 = PSM.BAM2
AM = (M1, M2)
M3 = PSM.BBM1
M4 = PSM.BBM2
BM = (M3, M4)
ML = AM + BM
S1 = PSM.BAS1
S2 = PSM.BAS2
#!python
"""
DiffDrive robot example
"""
from PiStorms import PiStorms
import bot
import requests
import time
psm = PiStorms()
desc = bot.DiffDescription(
psm.BAM1,
psm.BBM1,
axel_radius=20.47875/100/2,
wheel_radius=3.6/100/2,
reverse_forward=True
)
driver = bot.DiffDriver(desc)
#locator = bot.DiffLocator(desc)
locator = bot.RemoteLocator()
path_follower = bot.PathFollower(driver, locator)
def path_changed_handler(path, voxels):
path_follower.path = path
path_finder = bot.RemotePathFinder(path_changed_handler)
from PiStorms import PiStorms
from HiTechnicColorV2 import HiTechnicColorV2
from time import sleep
from threading import Thread, Event
from pid import PIDController
import math
print "running program"
FOLLOW_SPEED = 15
SEARCH_SPEED = 70
WHEEL_DIAMETER = 2.25 # in
ROBOT_WIDTH = 6.5 # in
psm = PiStorms()
hc = HiTechnicColorV2()
psm.BBS2.activateCustomSensorI2C()
angle_pid = PIDController(-25, 25, 590.0, 0.12, 0.0, 0.0)
exit = False
victims = 0
'''
def turnDegs(degrees):
theta = int(abs(2.0 * ROBOT_WIDTH * degrees / WHEEL_DIAMETER))
print theta
if degrees > 0:
psm.BBM2.runDegs(theta, SEARCH_SPEED, True, False)
else:
psm.BBM1.runDegs(theta, SEARCH_SPEED, True, False)
sleep(2)
'''
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04/18/17 Seth Tenembaum Initial development.
#
# This program introduces the process of continually updating a graph.
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("Please wait a moment")
psm.screen.termPrintln("as matplotlib loads...")
psm.screen.termPrintAt(3, "Press GO to quit.")
import matplotlib
matplotlib.use("AGG")
import matplotlib.pyplot as plt
import numpy as np
import tempfile
plt.figure(figsize=(4, 3), dpi=80)
plt.xlabel('time')
plt.ylabel('Voltage (V)')
plt.title('Battery Voltage')
plt.grid(True)
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04/18/16 Deepak Initial development.
#
from PiStorms import PiStorms
print "running program"
psm = PiStorms()
m = ["EV3ColorSensor-Demo", "Connect EV3 Color sensor to BAS1",
"and Press OK to continue.",
"Then move colored objects in front",
"of Color sensor"]
psm.screen.askQuestion(m,["OK"])
doExit = False
old_colorValue = True
colorValue = True
ambientMode = False
#main loop
while(not doExit):
#save the previous value
from PiStorms import PiStorms
from time import sleep
import sys
psm = PiStorms() # PiStorms object
exit = False # break loop
while (not exit):
if (psm.isPressed() == True): #exit
psm.BBM1.brakeSync()
psm.led(1,0,0,0)
psm.screen.clearScreen()
psm.screen.termPrintln("")
psm.screen.termPrintln("Exiting to menu")
sleep(0.5)
exit = True
from PiStorms import PiStorms
from time import sleep
import sys
psm = PiStorms() # PiStorms object
exit = False # break loop
while (not exit):
light = psm.BBS1.lightSensorNXT(True)
# 520
error = 540 - light #if within 40 on edge, if negative on line, if positive in white
# psm.BBM1.setSpeedSync(30)
# if (abs(error) < 20): #on edge
# psm.BBM1.setSpeedSync(30)
# psm.led(1,0,255,0) #green
if (error < 0): #on line, turn to right, left wheel accelerate
psm.BBM1.setSpeed(25)
psm.BBM2.setSpeed(-50)
psm.led(1,0,0,255)#blue
elif (error > 0): #on white, turn to left, right wheel accelerate
psm.BBM2.setSpeed(25)
psm.BBM1.setSpeed(-50)
psm.led(1,255,0,0)#Red
sleep(0.1)
if (psm.isKeyPressed()): #exit
psm.BBM1.brakeSync()
psm.led(1,0,0,0)
psm.screen.clearScreen()
psm.screen.termPrintln("")
psm.screen.termPrintln("Exiting to menu")
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04/18/17 Seth Tenembaum Initial development.
#
# This program demonstrates how to create a live-updating graph, but only displaying
# the latest n values on screen. It also explicitly sets the y-axis range.
# Don't hold the button too long, or you'll turn off the PiStorms!
# Tap the touchscreen to exit.
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("Please wait a moment")
psm.screen.termPrintln("as matplotlib loads...")
psm.screen.termPrintAt(3, "Tap and hold the screen to quit.")
import matplotlib
matplotlib.use("AGG")
import matplotlib.pyplot as plt
import numpy as np
import tempfile
plt.figure(figsize=(4,3), dpi=80)
plt.xlabel('time')
plt.ylabel('GO button state')
plt.title('GO Button')
plt.grid(True)
from PiStorms import PiStorms
from time import sleep
print "running program"
psm = PiStorms()
for x in range(0, 255):
psm.led(1, x, 0, 0)
sleep(0.05)
sleep(1.0)
psm.led(1, 0, 0, 0)
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04/18/17 Seth Tenembaum Initial development.
#
# This program demonstrates using a sensor and displaying multiple lines
# (overlapping data series). Here we plot the three axes of tilt from the
# AbsoluteIMU sensor.
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("Please wait a moment")
psm.screen.termPrintln("as matplotlib loads...")
psm.screen.termPrintAt(3, "Press GO to quit.")
import matplotlib
matplotlib.use("AGG")
import matplotlib.pyplot as plt
import numpy as np
import tempfile
from mindsensors import ABSIMU
import time
plt.figure(figsize=(4,3), dpi=80)
plt.xlabel('time')
plt.ylabel('tilt')
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
import os,sys,inspect,time,thread,random
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
from PiStorms import PiStorms
psm = PiStorms()
color = (255, 255, 255)
while True:
if psm.isKeyPressed():
break
if psm.isF1Pressed():
color = (255, 0, 0)
if psm.isF2Pressed():
color = (255, 255, 0)
if psm.isF3Pressed():
color = (0, 255, 0)
if psm.isF4Pressed():
color = (0, 0, 255)
import socket,fcntl,struct
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms
from PiStormsInput import PiStormsInput
from wireless import Wireless
from wifi import Cell
import re, subprocess
# Globals
config_file = "/etc/wpa_supplicant/wpa_supplicant.conf" # Config file for Wi-Fi
wifi = None
wlan_inteface = "wlan0"
psm = PiStorms()
# Check if a wifi adapter is available
try:
wifi = Wireless()
wlan_interface = wifi.interfaces()[0]
except Exception as e:
psm.screen.fillRect(0, 0, 320, 240, fill = (0,0,0), display = False)
psm.screen.drawAutoText("No Wi-Fi adapter", 35, 20, fill = (255,0,0), size = 25, display = False)
psm.screen.drawAutoText("available!", 35, 50, fill = (255,0,0), size = 25, display = False)
psm.screen.drawButton(35, 160, width = 250, height = 40, text="Continue", display=False)
psm.screen.fillRect(0, 0, 1, 1, fill = (0,0,0), display = True)
while True:
cont = psm.screen.checkButton(35, 160, 250, 40)
if cont: sys.exit(0)
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
# Tic Tac Toe
import random
import os,sys,inspect,time,thread
import socket,fcntl,struct
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms
psm = PiStorms()
psm.led(1,0,0,0)
psm.led(2,0,0,0)
def drawLines():
#210x210, 55px side border, 15px vertical border, 70px squares
psm.screen.fillRect(124,15, 2,210)
psm.screen.fillRect(196,15, 2,210)
psm.screen.fillRect(55,84, 210,2)
psm.screen.fillRect(55,154, 210,2)
def drawBoard(board):
# This function prints out the board that it was passed.
# "board" is a list of 10 strings representing the board (ignore index 0)
from PiStorms import PiStorms
from time import sleep
from HiTechnicColorV2 import HiTechnicColorV2
from datetime import datetime
print "running program"
psm = PiStorms()
hc = HiTechnicColorV2()
psm.BBS1.activateCustomSensorI2C()
blue = 2
red = 9
red2 = 8
counter = 0
last_time = datetime.now()
exit = False
botDiam = 17.5
wheelDiam = 6.5
target=90
translate=target*botDiam/(wheelDiam)
psm.BAM1.resetPos()
initialEncoderValue = psm.BAM1.pos()
while(psm.BAM1.pos()< translate+initialEncoderValue):
psm.BAM1.setSpeed(50)
psm.BAM2.setSpeed(-50)
psm.led(1, 255, 255, 255)
sleep(1)
import time from PiStorms import PiStorms psm = PiStorms() import PID def setSpeed(speed): if speed > 100: speed = 100 elif speed < -100: speed = -100 psm.BAM1.setSpeedSync(-speed) if speed == 0: psm.BAM1.brakeSync() def getDistanceToGoal(): return psm.BAS2.distanceUSEV3() - 400 controller = PID.PIDController(1,0,0.05, getDistanceToGoal, 0.1, 0.5) while not psm.isKeyPressed(): tm = time.time() setSpeed(controller.tick()) sleept = 0.1 - (time.time() - tm) if sleept < 0: sleept = 0 time.sleep(sleept) setSpeed(0)
from PiStorms import PiStorms from time import sleep print "running program" psm = PiStorms() DISTANCE_THRESHOLD = 700 WHITE_THRESHOLD = 400 BLACK_THRESHOLD = 900 WHITE = [12,13,14] ALTERNATOR = -0.1 # Used if I f****d up the motor orientation and -1 is actually how we move forward INV_ALTERNATOR = 0 - ALTERNATOR def distance(): return psm.BBS1.distanceUSEV3() def seeing_other_robot(): return distance() < DISTANCE_THRESHOLD def near_edge(): return psm.BAS2.lightSensorNXT(True) > WHITE_THRESHOLD and psm.BAS2.lightSensorNXT(True) < BLACK_THRESHOLD or psm.BAS1.colorSensorNXT() in WHITE def gtfo(): def turn_180(): psm.BBM1.setSpeed(ALTERNATOR * 100) psm.BBM2.setSpeed(INV_ALTERNATOR * 100) sleep(0.6) psm.BBM1.brake() psm.BBM2.brake() sleep(0.01)
# Date Author Comments
# Jan 2016 Nitin Initial Authoring
from picamera.array import PiRGBArray
from picamera import PiCamera
import os, sys, inspect, time #thread
import cv2
import imutils
import configparser
cfg_file = '/usr/local/mindsensors/conf/msdev.cfg'
currentdir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0, parentdir)
from PiStorms import PiStorms
psm = PiStorms()
config = configparser.RawConfigParser()
config.read(cfg_file)
homefolder = config.get('msdev', 'homefolder')
psm.screen.termPrintln(" ")
# Create the haar cascade
haar_path = currentdir + "/haarcascade_frontalface_default.xml"
faceCascade = cv2.CascadeClassifier(haar_path)
# initialize the camera and grab a reference to the raw camera capture
try:
camera = PiCamera()
# GNU General Public License for more details. # # You should have received a copy of the GNU General Public License # along with this program; if not, write to the Free Software # Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. # #mindsensors.com invests time and resources providing this open source code, #please support mindsensors.com by purchasing products from mindsensors.com! #Learn more product option visit us @ http://www.mindsensors.com/ from PiStorms import PiStorms import MsDevices import time doExit = False psm = PiStorms() buttons = [[255,5,'blob'], [255,45,'movie'], [255,85,'c-mov'], [255,125,'face'], [255,205,'pict'], [5,205,'qrcode'], [70,205,'line'], [135,205,'eye'] ] mode = 1 func = None
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com
"""
--BLOCKLY FILE--
--START BLOCKS--
PHhtbCB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMTk5OS94aHRtbCI+PGJsb2NrIHR5cGU9ImNvbnRyb2xzX3doaWxlVW50aWwiIGlkPSJYLkM0WiU2RXJwKHhhUiVdLUVFUSIgeD0iNTYiIHk9IjY5Ij48ZmllbGQgbmFtZT0iTU9ERSI+VU5USUw8L2ZpZWxkPjx2YWx1ZSBuYW1lPSJCT09MIj48YmxvY2sgdHlwZT0ic3lzdGVtX2tleXByZXNzZWQiIGlkPSI7ZHBEcnkjMVVNLERyQGBTJTs3XSI+PC9ibG9jaz48L3ZhbHVlPjxzdGF0ZW1lbnQgbmFtZT0iRE8iPjxibG9jayB0eXBlPSJtb3RvcnNfc2V0c3BlZWQiIGlkPSJfaz1nc1pHMnJocDVLRmwpZzRGOCI+PGZpZWxkIG5hbWU9Im1vdG9yX3NlbGVjdG9yIj5CQU0xPC9maWVsZD48dmFsdWUgbmFtZT0iU1BFRUQiPjxzaGFkb3cgdHlwZT0ibWF0aF9udW1iZXIiIGlkPSIhNEQodmFxal8jSD8lL2t4IVg2eSI+PGZpZWxkIG5hbWU9Ik5VTSI+NTA8L2ZpZWxkPjwvc2hhZG93PjwvdmFsdWU+PG5leHQ+PGJsb2NrIHR5cGU9InN5c3RlbV9zbGVlcCIgaWQ9Ijc/dF5TKXBLbmx2IyhLN0pDKVRBIj48dmFsdWUgbmFtZT0iVElNRSI+PHNoYWRvdyB0eXBlPSJtYXRoX251bWJlciIgaWQ9IlRGKkl9Y3kyZmpiKjc3a2Z7RHJaIj48ZmllbGQgbmFtZT0iTlVNIj4xPC9maWVsZD48L3NoYWRvdz48L3ZhbHVlPjxuZXh0PjxibG9jayB0eXBlPSJtb3RvcnNfc2V0c3BlZWQiIGlkPSIoMTR8Q11NW2JMeWdwc0VZKkVWdCI+PGZpZWxkIG5hbWU9Im1vdG9yX3NlbGVjdG9yIj5CQU0xPC9maWVsZD48dmFsdWUgbmFtZT0iU1BFRUQiPjxzaGFkb3cgdHlwZT0ibWF0aF9udW1iZXIiIGlkPSJQLnlFLTh7NnV5bzEock5saHNlNSI+PGZpZWxkIG5hbWU9Ik5VTSI+MDwvZmllbGQ+PC9zaGFkb3c+PC92YWx1ZT48bmV4dD48YmxvY2sgdHlwZT0ic3lzdGVtX3NsZWVwIiBpZD0iY2BAP0ZjWHUre2xnbW8rX0p7enciPjx2YWx1ZSBuYW1lPSJUSU1FIj48c2hhZG93IHR5cGU9Im1hdGhfbnVtYmVyIiBpZD0iSC5Ed2UqYVleKUBCbzIlVXpUKVoiPjxmaWVsZCBuYW1lPSJOVU0iPjE8L2ZpZWxkPjwvc2hhZG93PjwvdmFsdWU+PC9ibG9jaz48L25leHQ+PC9ibG9jaz48L25leHQ+PC9ibG9jaz48L25leHQ+PC9ibG9jaz48L3N0YXRlbWVudD48L2Jsb2NrPjwveG1sPg==
184e880526960bd774d2be11aadd04c103d1c18b1cfb9bf66e80c527d4a8051e
--END BLOCKS--
"""
from PiStorms import PiStorms
import time
psm = PiStorms()
while not bool(psm.isKeyPressed()):
psm.BAM1.setSpeed(50)
time.sleep(1)
psm.BAM1.setSpeed(0)
time.sleep(1)
#initial setup code
import os, sys, inspect, time, thread, random
from mindsensors_i2c import mindsensors_i2c
from PiStorms import PiStorms
from mindsensors import ABSIMU
currentdir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0, parentdir)
#starts an instance of PiStorms
imu = ABSIMU()
psm = PiStorms()
#exit variable will be used later to exit the program and return to PiStormsMaster
exit = False
#clears the screen of any unwanted text by displaying a white rectangle
#psm.screen.fillRect(0, 0, 320, 240)
psm.screen.termPrintln("Custom I2C test program")
psm.screen.termPrintln("connect mindsensors.com's ")
psm.screen.termPrintln("AbsImu on port BBS1 ")
psm.led(1, 0, 0, 0)
psm.led(2, 0, 0, 0)
psm.BBS1.activateCustomSensorI2C() #Connect the I2C sensor on the port BBS1
#main loop
# This test program will print IMU data on Terminal
# Compass heading is represented on Red LED on BANKB
import socket, fcntl, struct
currentdir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0, parentdir)
from PiStorms import PiStorms
import datetime, subprocess
# Globals
config_file = "/etc/wpa_supplicant/wpa_supplicant.conf~bk"
config_file_actual = "/etc/wpa_supplicant/wpa_supplicant.conf" # Config file for Wi-Fi
opt = []
entries = []
error = False
psm = PiStorms()
try:
with open(config_file, "r") as f:
dat = f.read()
entries = dat.split("\n\n---------------------------\n")[1::]
lt = ""
for i in entries:
tim = datetime.datetime.fromtimestamp(int(
i.split("\n")[0])).strftime('%Y-%m-%d %H:%M:%S')
if lt != tim:
opt.append([tim, i.split("\n", 1)[1], int(i.split("\n")[0])])
lt = tim
opt = opt[::-1]
except Exception as e:
error = True
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# Oct 2015 Michael Initial Authoring
import os,sys,inspect,time,thread
import socket,fcntl,struct,ms_explorerlib
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms
print "running program"
psm = PiStorms()
psm.screen.termPrintln("Connect I2C device(s) to BAS1")
psm.screen.termPrintln("and click Explore")
psm.screen.drawButton(75, 95, width = 85, height = 40, text="Explore", display=True)
exit = False
lastled = 0
def explore():
time.sleep(3)
psm.screen.termPrintAt(8, " ")
addr = 0x00 # DO NOT change this address!!!
i2c = ms_explorerlib.Explorer(addr)
found = i2c.ping(0x00)
print ">>00 found: " + str(found)
# Checks for connection on all I2C addresses until connection is found
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04-11-16 Deepak Troubleshooting program
import time
from PiStorms import PiStorms
print ""
print "Running program 5 times, press Ctrl-C to terminate"
print ""
psm = PiStorms()
exit = False
a = 0
while (a < 5):
voltVal = psm.battVoltage()
print "PiStorms voltage: " + str(voltVal)
time.sleep(2)
a = a + 1
#initial setup code
import os,sys,inspect,time,thread, random
from mindsensors_i2c import mindsensors_i2c
from PiStorms import PiStorms
from mindsensors import ABSIMU
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
#starts an instance of PiStorms
imu=ABSIMU()
psm = PiStorms()
#exit variable will be used later to exit the program and return to PiStormsMaster
doExit = False
psm.screen.termPrintln("AbsIMU test")
psm.screen.termPrintln("connect mindsensors.com's ")
psm.screen.termPrintln("AbsImu to BAS1 sensor Port")
psm.led(1, 0,0,0)
psm.led(2, 0,0,0)
psm.BAS1.activateCustomSensorI2C() #Connect the I2C sensor on the port BBS1
time.sleep(.1)
#main loop
# This test program will print IMU data on Terminal
# Compass heading is represented on Red LED on BANKB
# Program will exit when someone touch the screen or Go Button
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04/18/17 Seth Tenembaum Initial development.
#
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("Please wait a moment")
psm.screen.termPrintln("as matplotlib loads...")
psm.screen.termPrintAt(3, "Press GO to quit.")
import matplotlib
matplotlib.use("AGG")
import matplotlib.pyplot as plt
import numpy as np
import tempfile
from mindsensors import ABSIMU
import threading, time
plt.figure(figsize=(4,3), dpi=80)
plt.xlabel('time')
plt.ylabel('acceleration')
import time
from PiStorms import PiStorms
from Projects.Camera import cameraModule
psm = PiStorms()
exit = False
psm.screen.clearScreen()
psm.screen.termPrintln("")
psm.screen.termPrintln("Photo Test x3")
count = 0
while not exit and count < 3:
psm.screen.clearScreen()
psm.screen.termPrintln("Taking Photo " + str(count + 1))
cameraModule.take_photo('/home/pi/PiStormsprograms/images/', 'image01.png')
psm.screen.clearScreen()
psm.screen.fillBmp(30,
0,
240,
240,
path='/home/pi/PiStormsprograms/images/image01.png')
count += 1
time.sleep(5)
if psm.isKeyPressed():
psm.screen.clearScreen()
psm.screen.termPrintln("")
psm.screen.termPrintln("Exiting to menu")
# History:
# Date Author Comments
# March 2016 Roman Bohuk Initial Authoring
# Setup (to be present in all programs)
import os,sys,inspect,time,thread
import socket,fcntl,struct
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms
import socket
# Globals
psm = PiStorms()
# Checks if internet is available
def available():
try:
socket.setdefaulttimeout(5)
socket.socket(socket.AF_INET, socket.SOCK_STREAM).connect(("8.8.8.8", 53))
return True
except Exception as e: pass
return False
psm.screen.fillRect(0, 0, 320, 240, fill = (0,0,0), display = False)
psm.screen.drawAutoText("Testing internet connection", 20, 30, fill = (255,255,255), size = 23, display = False)
psm.screen.fillRect(20, 80, 320, 240, fill = (0,0,0), display = False)
psm.screen.fillBmp(110, 110, 100, 100, path = currentdir+'/'+'load.png', display = False)
psm.screen.fillRect(0, 0, 1, 1, fill = (0,0,0), display = True)
import time
from PiStorms import PiStorms
psm = PiStorms()
import sys
from collections import deque
MESSAGE = "P: {}\nI: {}\nD: {}\nKP: {}\nKI: {}\nKD: {}\nSpeed: {}"
STEP_SEC = 0.1
FOLLOW_DIST = 250
OUTOFRANGE = 450
SPINTIME = 1
SPINTIME_ADD = 0.5
SPINSPEED = 25
print("DOING")
if len(sys.argv) >= 4:
Kp = float(sys.argv[1])
Kd = float(sys.argv[2])
Ki = float(sys.argv[3])
print("PARSED K")
else:
Kp = 1
Kd = 0.05
Ki = 0
if len(sys.argv) >= 5:
SCALAR = float(sys.argv[4])
# Date Author Comments
# March 2016 Roman Bohuk Initial Authoring
# Setup (to be present in all programs)
import os, sys, inspect, time, thread
import socket, fcntl, struct
currentdir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0, parentdir)
from PiStorms import PiStorms
import socket
# Globals
psm = PiStorms()
# Checks if internet is available
def available():
try:
socket.setdefaulttimeout(5)
socket.socket(socket.AF_INET, socket.SOCK_STREAM).connect(
("8.8.8.8", 53))
return True
except Exception as e:
pass
return False
psm.screen.fillRect(0, 0, 320, 240, fill=(0, 0, 0), display=False)
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 06/15/17 Seth Tenembaum Initial development
#
# This program demonstrates using a polar graph
# to show the AbsoluteIMU's compass heading.
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("Please wait a moment")
psm.screen.termPrintln("as matplotlib loads...")
psm.screen.termPrintAt(3, "Press GO to quit.")
import matplotlib
matplotlib.use("AGG")
import matplotlib.pyplot as plt
import numpy as np
import tempfile
from mindsensors import ABSIMU
plt.figure(figsize=(4, 3), dpi=80)
plt.title('AbsoluteIMU Compass Heading')
data = np.empty(0)
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 07/11/16 Yug Rao Initial development.
#
from PiStorms import PiStorms
from LegoDevices import *
import time
psm = PiStorms()
m = ["EV3InfraredSensor-Demo", "Connect EV3 IR sensor",
"to BAS1, and Press OK to continue"]
psm.screen.askQuestion(m,["OK"])
doExit = False
oldValue = True
value = True
count = 0
#
# Instantiate IR object
#
IR = EV3InfraredSensor("BAS1")
psm.screen.termPrintAt(7, "Touch screen to change mode")
psm.screen.termPrintAt(8, "Press Go to stop program")
# 10/18/15 Deepak UI improvements and messenger integration
from PiStorms import PiStorms
from mindsensors_i2c import mindsensors_i2c
import sys, os, time, json
PROGRAM_DIRECTORY = "/home/pi/PiStormsprograms"
json_file = '/var/tmp/ps_data.json'
rotation = 3
if(os.getenv("PSREVERSE","0")=="1"):
rotation = 3
#print os.getcwd()
try:
bootmode = mindsensors_i2c(0xEA>>1)
bootmode.readbyte()
psm = PiStorms("PiStorms",rotation)
psm.screen.termPrintAt(4,"PiStorms in fw upgrade mode")
except:
psm = PiStorms("PiStorms",rotation)
def listPrograms(directory):
files = os.listdir( directory)
#files = os.listdir("./" + directory)
x = 0
while(x<len(files)):
if(not files[x].endswith(".py")) or (not files[x][0].isdigit()):
del files[x]
else:
from PiStorms import PiStorms
from time import sleep
from HiTechnicColorV2 import HiTechnicColorV2
from threading import Thread
from datetime import datetime
import Queue
print "running program"
psm = PiStorms()
#exit variable will be used later to exit the program and return to PiStorms
exit = False
def linefollow():
while(not exit):
light = psm.BAS1.lightSensorNXT(True)
if (light <= 550):
psm.BAM2.brake()
psm.BAM1.setSpeed(-100)
else:
psm.BAM1.setSpeed(50)
psm.BAM2.setSpeed(-100)
if (psm.isKeyPressed()):
psm.BAM1.brake()
psm.BAM2.brake()
exit = True
psm.BAM1.brake()
psm.BAM2.brake()
import socket, fcntl, struct
def get_ip_address(ifname):
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
return socket.inet_ntoa(
fcntl.ioctl(
s.fileno(),
0x8915, # SIOCGIFADDR
struct.pack('256s', ifname[:15]))[20:24])
from PiStorms import PiStorms
print "running psm-info.py"
psm = PiStorms()
print " Version : " + str(psm.GetFirmwareVersion())[:5]
print " Vendor : " + str(psm.GetVendorName())
print " Device : " + str(psm.GetDeviceId())
print " HostName : " + socket.gethostname()
try:
print " eth0 : " + get_ip_address('eth0')
except:
print " eth0 : not present"
try:
print " wlan0 : " + get_ip_address('wlan0')
except:
print " wlan0 : not present"
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# July 2015 Henry Initial Authoring from SensorShield import SensorShield
import os,sys,inspect,time
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("PiStorms ")
psm.screen.termPrintln("GO button test:")
psm.screen.termPrintln(" ")
exit = False
print "Running Button Test"
print "press anywhere in PiStorms Screen to exit"
psm.screen.termPrintln("Touch Display to Exit")
psm.screen.termPrintln(" ")
while(not exit):
pass
psm.screen.termReplaceLastLine("Go Button is = " +str(psm.isKeyPressed()))
if (psm.screen.checkButton(0,0,320,320)):
--BLOCKLY FILE--
--START BLOCKS--
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
e193a87b5d9d2a5cb558efa27c0a1d36f2f2a11d44da1aff62bfbcb2e1712fed
--END BLOCKS--
"""
from PiStorms import PiStorms
import MsDevices
sumosensor = None
old_zone = None
str1 = None
psm = PiStorms()
sumoeyes_BAS1 = MsDevices.SumoEyes(psm.BAS1)
# Attach a NXTSumoEyes to Port BAS1 of PiStorms.
# Start the program from PiStorms on Screen
# Browser and press GO button to terminate.
sumosensor = sumoeyes_BAS1
sumosensor.setRange(sumosensor.LONG_RANGE)
while not bool(psm.isKeyPressed()):
old_zone = str1
str1 = sumosensor.detectObstactleZone(True)
if str1 != old_zone:
psm.screen.clearScreen(True)
psm.screen.drawAutoText(str1, 40, 40, fill = (255, 0, 0), size = 50, display = True)
# History:
# Date Author Comments
# 08/11/15 Andrew Initial Authoring
# 10/14/15 Nitin performance imporvements
#
#Demo Code for the PiStorms and Raspberry Pi
# initial setup code
import os, sys, inspect, time, thread, random
currentdir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
from PiStorms import PiStorms
# starts an instance of PiStorms
psm = PiStorms()
### setup variables ###
# exit is used to eventually exit the main running loop
# score will keep track of the player's current score
# dispScore tracks the displayed score
exit = False
score = 1
dispScore = -1
# turns the leds off from any previous program
psm.led(1, 0, 0, 0)
psm.led(2, 0, 0, 0)
# sets screen to a white background
psm.screen.fillRect(0, 0, 320, 240)
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
return socket.inet_ntoa(
fcntl.ioctl(
s.fileno(),
0x8915, # SIOCGIFADDR
struct.pack('256s', ifname[:15]))[20:24])
currentdir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0, parentdir)
from PiStorms import PiStorms
print "running program"
psm = PiStorms()
psm.screen.termPrintln(" About Me")
psm.screen.termPrintln(" ")
exit = False
lastled = 0
psm.screen.termPrintAt(2, " Version : " + str(psm.GetFirmwareVersion())[:5])
psm.screen.termPrintAt(3, " Vendor : " + str(psm.GetVendorName()))
psm.screen.termPrintAt(4, " Device : " + str(psm.GetDeviceId()))
psm.screen.termPrintAt(6, " HostName : " + socket.gethostname())
while (not exit):
try:
psm.screen.termPrintAt(7, " eth0 : " + get_ip_address('eth0'))
except:
from PiStorms import PiStorms
import time, datetime, math, random, numpy
from pixy import *
from ctypes import *
psm = PiStorms()
SHOULDRUN = True
class Finder(object):
def __init__(self, camera, driver, grabber):
self.camera = camera
self.driver = driver
self.grabber = grabber
self.xCenter = 160
self.targetHeight = 100
def Step(self):
red_block = self.camera.findSpecificBlock(1)
print red_block.signature
if red_block == None:
print "The block does not exist."
else:
if red_block.x > self.xCenter:
driver.leftTurn()
elif red_block.x < self.xCenter:
from PiStorms import PiStorms
from time import sleep
print "running program"
psm=PiStorms()
#exit variable will be used later to exit the program and return to PiStorms
exit=False
black=700
white=400
leftinit=(-50) #motor value when see black
leftrange=(-50) #motor value + init when see black
rightinit=(-25)
rightrange=(75)
average=(black+white)/2
width=(black-white)/2*1.1
while(not exit):
light=psm.BAS1.lightSensorNXT(True)
proportions=(light-average)/width
psm.BAM1.setSpeed(rightinit+proportions*rightrange)
psm.BAM2.setSpeed(leftspeed+proportions*leftrange)
psm.led(1,255,0,255)
sleep(0.1)
if(psm.isKeyPressed()): # if the GO button is pressed
psm.screen.clearScreen()
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# July 2015 Henry Initial Authoring from SensorShield import SensorShield
import os, sys, inspect, time
currentdir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0, parentdir)
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("PiStorms ")
psm.screen.termPrintln("GO button test:")
psm.screen.termPrintln(" ")
exit = False
print "Running Button Test"
print "press anywhere in PiStorms Screen to exit"
psm.screen.termPrintln("Touch Display to Exit")
psm.screen.termPrintln(" ")
while (not exit):
pass
psm.screen.termReplaceLastLine("Go Button is = " + str(psm.isKeyPressed()))
if (psm.screen.checkButton(0, 0, 320, 320)):
from PiStorms import PiStorms
from time import sleep
print "running program"
psm = PiStorms()
#exit variable will be used later to exit the program and return to PiStorms
exit = False
while(not exit):
#put your cool code here
# I will turn a light on
psm.led(1,0,255,0)
sleep(0.25)
if(psm.isKeyPressed() == True): # if the GO button is pressed
psm.screen.clearScreen()
psm.screen.termPrintln("")
psm.screen.termPrintln("Exiting to menu")
psm.led(1,0,0,0)
sleep(0.5)
exit = True
# July 7, 2016 Yug Rao Initial Authoring
from picamera.array import PiRGBArray
from picamera import PiCamera
import os, sys, inspect, time #thread
from subprocess import call
import numpy as np
from PIL import Image
import cv2
import imutils
currentdir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0, parentdir)
from PiStorms import PiStorms
psm = PiStorms()
try:
picam = PiCamera()
except:
m = [
"PopHeads", "Camera not enabled.", "Run raspi-config and enable camera"
]
psm.screen.askQuestion(m, ["OK"])
exit()
exitNow = 0
time.sleep(.2)
haar_path = currentdir + "/haarcascade_frontalface_default.xml"
faceCascade = cv2.CascadeClassifier(haar_path)
#psm.screen.fillRect(95, 145, 110, 160)
#psm.screen.fillRect(100, 150, 100, 150, fill=(0,0,0))
import os,sys,inspect,time,thread
import socket,fcntl,struct
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms
import datetime, subprocess
# Globals
config_file = "/etc/wpa_supplicant/wpa_supplicant.conf~bk"
config_file_actual = "/etc/wpa_supplicant/wpa_supplicant.conf" # Config file for Wi-Fi
opt = []
entries = []
error = False
psm = PiStorms()
try:
with open(config_file, "r") as f:
dat = f.read()
entries = dat.split("\n\n---------------------------\n")[1::]
lt = ""
for i in entries:
tim = datetime.datetime.fromtimestamp(int(i.split("\n")[0])).strftime('%Y-%m-%d %H:%M:%S')
if lt != tim:
opt.append([tim,i.split("\n",1)[1],int(i.split("\n")[0])])
lt = tim
opt = opt[::-1]
except Exception as e:
error = True
with open(config_file, "w+") as f:
#
# History:
# Date Author Comments
# Jan 2016 Nitin Initial Authoring
# Jun 2016 Yug Rao modified to show stream and circle overlay.
from picamera.array import PiRGBArray
from picamera import PiCamera
import os,sys,inspect,time#thread
import cv2
import imutils
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln(" ")
#
# To exit this program, press & hold GO button and touch the screen
#
psm.screen.termPrintAt(1, "To Exit: press & hold GO button")
psm.screen.termPrintAt(2, "and touch the screen.")
time.sleep(2)
# Get user supplied values
#cascPath = sys.argv[1]
def init():
global psm
writeDebug("===Starting on " + datetime.datetime.now().strftime("%D %I:%M %p"))
psm = PiStorms()
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04/15/16 Deepak Initial development.
#
from PiStorms import PiStorms
print "running program"
psm = PiStorms()
m = [
"Motor-Demo", "Connect motor to Bank A M1.",
"Motor will turn 360 degrees, and stop", "with brake and hold.",
"Click OK to continue"
]
psm.screen.askQuestion(m, ["OK"])
# run motor for 360 degrees, and at the completion,
# brake while stopping and hold position while stopped
psm.BAM1.runDegs(360, 75, True, True)
m = [
"Motor-Demo", "Motor should have turned 360 degrees",
"and stop with brake and hold.", "click EXIT to exit program"
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04/18/17 Seth Tenembaum Initial development.
#
# This program introduces the process of continually updating a graph.
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("Please wait a moment")
psm.screen.termPrintln("as matplotlib loads...")
psm.screen.termPrintAt(3, "Press GO to quit.")
import matplotlib
matplotlib.use("AGG")
import matplotlib.pyplot as plt
import numpy as np
import tempfile
plt.figure(figsize=(4,3), dpi=80)
plt.xlabel('time')
plt.ylabel('Voltage (V)')
plt.title('Battery Voltage')
plt.grid(True)
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04/18/16 Deepak Initial development.
#
from PiStorms import PiStorms
psm = PiStorms()
m = [
"NXTTouchSensor-Demo", "Connect NXT Touch sensor",
"to BAS1, and Press OK to continue"
]
psm.screen.askQuestion(m, ["OK"])
doExit = False
old_touch = True
touch = True
old_touch_count = 0
touch_count = 0
#main loop
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# July 2015 Henry Initial Authoring from SensorShield import SensorShield
import os,sys,inspect,time,thread
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("Battery Voltage")
psm.screen.termPrintln(" ")
psm.BBS1.resetTouchesEV3()
exit = False
lastled = 0
while(not exit):
voltVal = psm.battVoltage()
psm.screen.termReplaceLastLine(str(voltVal) + "V")
if(voltVal >= 8and lastled != 1):
psm.led(1,0,255,0)
psm.led(2,0,255,0)
lastled = 1
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
import os, socket
import ConfigParser
from PiStorms import PiStorms
psm = PiStorms()
config = ConfigParser.RawConfigParser()
config.read("/usr/local/mindsensors/conf/msdev.cfg")
homefolder = config.get("msdev", "homefolder")
try:
with open(os.path.join(homefolder, ".version"), "r") as f:
version_no = f.readline().strip()
except IOError:
version_no = "unknown"
psm.screen.drawDisplay("About Me")
psm.screen.termPrintln("Device: {}".format(psm.GetDeviceId().rstrip("\0")))
psm.screen.termPrintln("Feature: {}".format(
psm.psc.GetDeviceFeatures().rstrip("\0")))
psm.screen.termPrintln("f/w version: {}".format(
from PiStorms import PiStorms
from HiTechnicColorV2 import HiTechnicColorV2
from time import sleep
from threading import Thread, Event
from pid import PIDController
import math
print 'running program'
exit = False
psm = PiStorms()
'''
if not psm.BAS2.presenceUSEV3():
psm.screen.termPrintln('no ultrasonic sensor')
print 'no ultrasonic sensor'
exit = True
'''
EDGE_LIGHT = 650
RAMP_DIST = 45
RUSH_DIST = 40
RAMP_UP = -115 # actually 120, but with some leeway
RAMP_MID = -60 # approximately
RAMP_DOWN = 0 # also, negative is up
SPEED = 45
WHEEL_DIAMETER = 2.25 # in
ROBOT_WIDTH = 4.0 # in
def turnDegs(degrees, left=True):
theta = int(ROBOT_WIDTH * degrees / WHEEL_DIAMETER)
print theta
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04/18/17 Seth Tenembaum Initial development.
#
# This program demonstrates how to create and display a basic, static graph
# on the PiStorms screen.
# It is heavily based on https://matplotlib.org/examples/pylab_examples/simple_plot.html
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("Please wait a moment")
psm.screen.termPrintln("as matplotlib loads...")
psm.screen.termPrintAt(3, "Press GO to quit.")
import matplotlib
matplotlib.use("AGG")
import matplotlib.pyplot as plt
import numpy as np
# setup figure
plt.figure(figsize=(4, 3), dpi=80)
plt.xlabel('time (s)')
plt.ylabel('voltage (mV)')
plt.title('About as simple as it gets, folks')
plt.grid(True)
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
# SETUP PiStorms and joystick
from PiStorms import PiStorms
# initialize PiStorms object
psm = PiStorms()
m = ["Instructions",
"Use the left and right joysticks",
"to move the left and right motors.",
"Press GO to Exit."]
psm.screen.showMessage(m)
import pygame
pygame.init()
joystick = pygame.joystick.Joystick(0)
joystick.init()
# LOOP while GO is not pressed
while not psm.isKeyPressed():
# let Pygame update, check the joystick, etc.
