def on_message(self, message):
msg = json.loads(message)
# Arrow key input for motors
if (msg.has_key('Velocity')):
velocities = msg['Velocity']
arduino_com.controlMotors(velocities[0], velocities[1])
# Slider used to adjust throttle for all motors
if (msg.has_key('Thr')):
self.throttle = msg['Thr'] / 256.0
# Tilt used to adjust camera position
if (msg.has_key('Tilt')):
orientation = msg['Tilt']
arduino_com.v_servo_write(orientation[1])
arduino_com.h_servo_write(orientation[0])
if (msg.has_key('Bitrate')):
os.system('/home/pi/rover/start-everything.sh restartcamera ' + str(msg['Bitrate']))
if (msg.has_key('RGB')):
color = msg['RGB']
if color[3] == True:
arduino_com.led_rainbowfy(color[6])
else:
arduino_com.led_color(color[0], color[1], color[2])
if color[4] == "Solid" :
arduino_com.led_solid()
elif color[4] == "Chasers" :
arduino_com.led_chasers(float(color[5]))
elif color[4] == "Rainbow" :
arduino_com.led_rainbow(float(color[5]))
import arduino_com
import time
arduino_com.init();
while(1):
'''print("off")
arduino_com.led_off();
time.sleep(1)
print("solid")
for x in range(0, 255 , 10 ):
arduino_com.led_solid(x, 0, 255 - x)
time.sleep(0.1)
print(x)
print("rainbow")
for x in range(0, 20):
arduino_com.led_rainbow(25 - x)
time.sleep(0.3)
time.sleep(5)'''
print("chasers")
arduino_com.led_chasers(0, 128, 0, -5)
time.sleep(5)
# Program starts here
#-----------------------------------------------------
if __name__ == '__main__':
print('Entered main')
# Start the websocket
application = tornado.web.Application([
(r'/keysocket', KeyPressHandler),
(r'/(.*)', tornado.web.StaticFileHandler, { 'path': os.path.join(os.path.dirname(os.path.realpath(__file__)), 'www'), 'default_filename': 'index.html' })
], debug = True)
# Set up connection to Arduino on the USB port
# arduino_serial = serial.Serial('/dev/ttyACM0', 115200);
# Time in between thread polling
polling_time = 0.3
#conn = websocket_connect('ws://aftersomemath.com:8888/rover', on_message_callback = data_received)
print('Starting port')
application.listen(8080)
print('Started port')
print('Started Arduino Com')
arduino_com.init()
arduino_com.led_chasers(10)
try:
tornado.ioloop.IOLoop.instance().start()
except KeyboardInterrupt:
cleanup()
finally:
cleanup()
