A future enhancement will be to create an event loop and be able to control the
car via asynchronous calls.
"""
from auto import db
from cio.rpc_client import acquire_component_interface, dispose_component_interface
import time
STORE = db.default_db(same_thread=True)
CAR_THROTTLE_FORWARD_SAFE_SPEED = STORE.get('CAR_THROTTLE_FORWARD_SAFE_SPEED',
25)
CAR_THROTTLE_REVERSE_SAFE_SPEED = STORE.get('CAR_THROTTLE_REVERSE_SAFE_SPEED',
-25)
MOTORS = acquire_component_interface('CarMotors')
MOTORS.on()
PID_STEERING = acquire_component_interface('PID_steering')
GYRO_ACCUM = acquire_component_interface('Gyroscope_accum')
def forward(duration):
"""
Drive the car forward for `duration` seconds.
This function is synchronous, thus it will not return for
approximately `duration` seconds.
"""
straight(CAR_THROTTLE_FORWARD_SAFE_SPEED, duration, invert_output=False)
def _calibrate_microcontroller():
calibrator = cio_rpc_client.acquire_component_interface('Calibrator')
cio_rpc_client.redirect_stdio(stdout=sys.stdout)
calibrator.calibrate()
cio_rpc_client.restore_stdio()
cio_rpc_client.dispose_component_interface(calibrator)
###############################################################################
#
# Copyright (c) 2017-2018 AutoAuto, LLC
# ALL RIGHTS RESERVED
#
# Use of this library, in source or binary form, is prohibited without written
# approval from AutoAuto, LLC.
#
###############################################################################
"""
This module provides a simple helper to use the buzzer.
"""
from cio.rpc_client import acquire_component_interface
BUZZER = acquire_component_interface('Buzzer')
def buzz(notes):
"""
Play the given `notes` on the device's buzzer.
"""
BUZZER.play(notes)
BUZZER.wait()
def honk():
"""
Make a car horn ("HONK") sound.
"""
buzz('!T95 O4 G#16 R16 G#4')
from auto import logger
log = logger.init('battery_monitor', terminal=True)
log.info("Starting battery monitoring process...")
if STORE.get('BATTERY_MONITOR_DISABLED', False):
log.info("Battery monitor is disabled on this device... exiting.")
sys.exit()
BATTERY_HIGH_MILLIVOLTS = STORE.get('BATTERY_HIGH_MILLIVOLTS', 8400)
BATTERY_LOW_MILLIVOLTS = STORE.get('BATTERY_LOW_MILLIVOLTS', 6500)
log.info("Battery high millivolts: {}".format(BATTERY_HIGH_MILLIVOLTS))
log.info("Battery low millivolts: {}".format(BATTERY_LOW_MILLIVOLTS))
buzz = acquire_component_interface("Buzzer")
batt = acquire_component_interface("BatteryVoltageReader")
def batt_voltage_to_pct(millivolts):
"""
Take in millivolts (an integer) and
return percentage (an integer in [0, 100]).
See: https://github.com/AutoAutoAI/libauto/issues/7
"""
high = BATTERY_HIGH_MILLIVOLTS
low = BATTERY_LOW_MILLIVOLTS
if millivolts > high * 1.05:
return None # Something is wrong... the battery can't be this high.
if millivolts > high: