def setup(): #initialization
motor.setup()
turn.ahead()
findline.setup()
def run():
global direction_command, turn_command, pos_input, catch_input, cir_input, ultrasonicMode, FindLineMode, FindColorMode
move.setup()
findline.setup()
info_threading=threading.Thread(target=info_send_client) #Define a thread for FPV and OpenCV
info_threading.setDaemon(True) #'True' means it is a front thread,it would close when the mainloop() closes
info_threading.start() #Thread starts
ultra_threading=threading.Thread(target=ultra_send_client) #Define a thread for FPV and OpenCV
ultra_threading.setDaemon(True) #'True' means it is a front thread,it would close when the mainloop() closes
ultra_threading.start() #Thread starts
findline_threading=threading.Thread(target=findline_thread) #Define a thread for FPV and OpenCV
findline_threading.setDaemon(True) #'True' means it is a front thread,it would close when the mainloop() closes
findline_threading.start() #Thread starts
#move.stand()
ws_R = 0
ws_G = 0
ws_B = 0
Y_pitch = 0
Y_pitch_MAX = 200
Y_pitch_MIN = -200
while True:
data = ''
data = str(tcpCliSock.recv(BUFSIZ).decode())
if not data:
continue
elif 'forward' == data:
direction_command = 'forward'
move.move(speed_set, direction_command, turn_command, rad)
elif 'backward' == data:
direction_command = 'backward'
move.move(speed_set, direction_command, turn_command, rad)
elif 'DS' in data:
direction_command = 'no'
move.move(speed_set, direction_command, turn_command, rad)
elif 'left' == data:
turn_command = 'left'
move.move(speed_set, direction_command, turn_command, rad)
elif 'right' == data:
turn_command = 'right'
move.move(speed_set, direction_command, turn_command, rad)
elif 'TS' in data:
turn_command = 'no'
move.move(speed_set, direction_command, turn_command, rad)
elif 'out' == data:
if pos_input < 17:
pos_input+=1
servo.hand_pos(pos_input)
elif 'in' == data:
if pos_input > 1:
pos_input-=1
servo.hand_pos(pos_input)
elif 'headup' == data:
servo.camera_ang('lookup',0)
elif 'headdown' == data:
servo.camera_ang('lookdown',0)
elif 'headhome' == data:
servo.initPosAll()
elif 'c_left' == data:
if cir_input < 12:
cir_input+=1
servo.cir_pos(cir_input)
elif 'c_right' == data:
if cir_input > 1:
cir_input-=1
servo.cir_pos(cir_input)
elif 'catch' == data:
if catch_input < 13:
catch_input+=1
servo.catch(catch_input)
elif 'loose' == data:
if catch_input > 1:
catch_input-=1
servo.catch(catch_input)
elif 'wsR' in data:
try:
set_R=data.split()
ws_R = int(set_R[1])
LED.colorWipe(ws_R,ws_G,ws_B)
except:
pass
elif 'wsG' in data:
try:
set_G=data.split()
ws_G = int(set_G[1])
LED.colorWipe(ws_R,ws_G,ws_B)
except:
pass
elif 'wsB' in data:
try:
set_B=data.split()
ws_B = int(set_B[1])
LED.colorWipe(ws_R,ws_G,ws_B)
except:
pass
elif 'FindColor' in data:
fpv.FindColor(1)
FindColorMode = 1
ultrasonicMode = 1
tcpCliSock.send(('FindColor').encode())
elif 'WatchDog' in data:
fpv.WatchDog(1)
tcpCliSock.send(('WatchDog').encode())
elif 'steady' in data:
ultrasonicMode = 1
tcpCliSock.send(('steady').encode())
elif 'FindLine' in data:
FindLineMode = 1
tcpCliSock.send(('FindLine').encode())
elif 'funEnd' in data:
fpv.FindColor(0)
fpv.WatchDog(0)
ultrasonicMode = 0
FindLineMode = 0
FindColorMode = 0
tcpCliSock.send(('FunEnd').encode())
move.motorStop()
time.sleep(0.3)
move.motorStop()
else:
pass
def run():
global direction_command, turn_command, pos_input, catch_input, cir_input, ultrasonicMode, FindLineMode, FindColorMode
move.setup()
findline.setup()
info_threading = threading.Thread(
target=info_send_client) # Define a thread for FPV and OpenCV
info_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
info_threading.start() # Thread starts
ultra_threading = threading.Thread(
target=ultra_send_client) # Define a thread for FPV and OpenCV
ultra_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
ultra_threading.start() # Thread starts
findline_threading = threading.Thread(
target=findline_thread) # Define a thread for FPV and OpenCV
findline_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
findline_threading.start() # Thread starts
# move.stand()
ws_R = 0
ws_G = 0
ws_B = 0
Y_pitch = 0
Y_pitch_MAX = 200
Y_pitch_MIN = -200
while True:
data = ""
data = str(tcpCliSock.recv(BUFSIZ).decode())
if not data:
continue
elif "forward" == data:
direction_command = "forward"
move.move(speed_set, direction_command, turn_command, rad)
elif "backward" == data:
direction_command = "backward"
move.move(speed_set, direction_command, turn_command, rad)
elif "DS" in data:
direction_command = "no"
move.move(speed_set, direction_command, turn_command, rad)
elif "left" == data:
turn_command = "left"
move.move(speed_set, direction_command, turn_command, rad)
elif "right" == data:
turn_command = "right"
move.move(speed_set, direction_command, turn_command, rad)
elif "TS" in data:
turn_command = "no"
move.move(speed_set, direction_command, turn_command, rad)
elif "out" == data:
if pos_input < 17:
pos_input += 1
servo.hand_pos(pos_input)
elif "in" == data:
if pos_input > 1:
pos_input -= 1
servo.hand_pos(pos_input)
elif "headup" == data:
servo.camera_ang("lookup", 0)
elif "headdown" == data:
servo.camera_ang("lookdown", 0)
elif "headhome" == data:
servo.camera_ang("home", 0)
servo.hand("in")
servo.cir_pos(6)
pos_input = 1
catch_input = 1
cir_input = 6
servo.catch(catch_input)
time.sleep(0.5)
servo.clean_all()
elif "c_left" == data:
if cir_input < 12:
cir_input += 1
servo.cir_pos(cir_input)
elif "c_right" == data:
if cir_input > 1:
cir_input -= 1
servo.cir_pos(cir_input)
elif "catch" == data:
if catch_input < 13:
catch_input += 1
servo.catch(catch_input)
elif "loose" == data:
if catch_input > 1:
catch_input -= 1
servo.catch(catch_input)
elif "wsR" in data:
try:
set_R = data.split()
ws_R = int(set_R[1])
LED.colorWipe(Color(ws_R, ws_G, ws_B))
except:
pass
elif "wsG" in data:
try:
set_G = data.split()
ws_G = int(set_G[1])
LED.colorWipe(Color(ws_R, ws_G, ws_B))
except:
pass
elif "wsB" in data:
try:
set_B = data.split()
ws_B = int(set_B[1])
LED.colorWipe(Color(ws_R, ws_G, ws_B))
except:
pass
elif "FindColor" in data:
FindColorMode = 0
tcpCliSock.send(("FunEnd").encode())
elif "WatchDog" in data:
tcpCliSock.send(("FunEnd").encode())
elif "steady" in data:
ultrasonicMode = 1
tcpCliSock.send(("steady").encode())
elif "FindLine" in data:
FindLineMode = 1
tcpCliSock.send(("FindLine").encode())
elif "funEnd" in data:
ultrasonicMode = 0
FindLineMode = 0
FindColorMode = 0
tcpCliSock.send(("FunEnd").encode())
move.motorStop()
else:
pass
def setup():
'''initialization'''
#??? seperate function seems unecessary
motor.setup()
turn.ahead()
findline.setup()
def run():
global servo_move, speed_set, servo_command, functionMode, init_get, R_set, G_set, B_set, SR_mode
servo.servo_init()
move.setup()
findline.setup()
direction_command = 'no'
turn_command = 'no'
servo_command = 'no'
speed_set = 100
rad = 0.5
info_threading = threading.Thread(
target=info_send_client) #Define a thread for FPV and OpenCV
info_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
info_threading.start() #Thread starts
servo_move = Servo_ctrl()
servo_move.start()
servo_move.pause()
findline.setup()
while True:
data = ''
data = str(tcpCliSock.recv(BUFSIZ).decode())
if not data:
continue
elif 'forward' == data:
direction_command = 'forward'
move.move(speed_set, direction_command)
elif 'backward' == data:
direction_command = 'backward'
move.move(speed_set, direction_command)
elif 'DS' in data:
direction_command = 'no'
move.move(speed_set, direction_command)
elif 'left' == data:
# turn_command = 'left'
servo.turnLeft()
elif 'right' == data:
# turn_command = 'right'
servo.turnRight()
elif 'TS' in data:
# turn_command = 'no'
servo.turnMiddle()
elif 'Switch_1_on' in data:
fpv.Sounds(1)
tcpCliSock.send(('Switch_1_on').encode())
elif 'Switch_1_off' in data:
fpv.Sounds(0)
tcpCliSock.send(('Switch_1_off').encode())
elif 'Switch_2_on' in data:
#switch.switch(2,1)
fpv.Radar(1)
tcpCliSock.send(('Switch_2_on').encode())
elif 'Switch_2_off' in data:
#switch.switch(2,0)
fpv.Radar(0)
tcpCliSock.send(('Switch_2_off').encode())
elif 'Switch_3_on' in data:
switch.switch(3, 1)
tcpCliSock.send(('Switch_3_on').encode())
elif 'Switch_3_off' in data:
switch.switch(3, 0)
tcpCliSock.send(('Switch_3_off').encode())
elif 'Switch_A_on' in data:
tcpCliSock.send(('Switch_A_on').encode())
elif 'Switch_A_off' in data:
tcpCliSock.send(('Switch_A_off').encode())
elif 'Switch_B_on' in data:
tcpCliSock.send(('Switch_B_on').encode())
elif 'Switch_B_off' in data:
tcpCliSock.send(('Switch_B_off').encode())
elif 'Switch_C_on' in data:
fpv.HaarJJ(1)
tcpCliSock.send(('Switch_C_on').encode())
elif 'Switch_C_off' in data:
fpv.HaarJJ(0)
tcpCliSock.send(('Switch_C_off').encode())
elif 'Face_Track_on' in data:
# functionMode = 3
fpv.FaceTrack(1)
tcpCliSock.send(('Face_Track_on').encode())
elif 'Face_Track_off' in data:
# functionMode = 0
fpv.FaceTrack(0)
tcpCliSock.send(('Face_Track_off').encode())
elif 'function_1_on' in data:
servo.ahead()
time.sleep(0.2)
tcpCliSock.send(('function_1_on').encode())
radar_send = servo.radar_scan()
tcpCliSock.sendall(radar_send.encode())
print(radar_send)
time.sleep(0.3)
tcpCliSock.send(('function_1_off').encode())
elif 'function_2_on' in data:
functionMode = 2
fpv.FindColor(1)
tcpCliSock.send(('function_2_on').encode())
elif 'function_2_off' in data:
functionMode = 0
fpv.FindColor(0)
switch.switch(1, 0)
switch.switch(2, 0)
switch.switch(3, 0)
tcpCliSock.send(('function_2_off').encode())
elif 'function_3_on' in data:
functionMode = 3
fpv.WatchDog(1)
tcpCliSock.send(('function_3_on').encode())
elif 'function_3_off' in data:
functionMode = 0
fpv.WatchDog(0)
tcpCliSock.send(('function_3_off').encode())
elif 'function_4_on' in data:
functionMode = 4
servo_move.resume()
tcpCliSock.send(('function_4_on').encode())
elif 'function_4_off' in data:
functionMode = 0
servo_move.pause()
move.motorStop()
tcpCliSock.send(('function_4_off').encode())
elif 'function_5_on' in data:
functionMode = 5
servo_move.resume()
tcpCliSock.send(('function_5_on').encode())
elif 'function_5_off' in data:
functionMode = 0
servo_move.pause()
move.motorStop()
tcpCliSock.send(('function_5_off').encode())
elif 'function_6_on' in data:
if MPU_connection:
functionMode = 6
servo_move.resume()
tcpCliSock.send(('function_6_on').encode())
elif 'function_6_off' in data:
functionMode = 0
servo_move.pause()
move.motorStop()
init_get = 0
tcpCliSock.send(('function_6_off').encode())
#elif 'function_1_off' in data:
# tcpCliSock.send(('function_1_off').encode())
elif 'lookleft' == data:
servo_command = 'lookleft'
servo_move.resume()
elif 'lookright' == data:
servo_command = 'lookright'
servo_move.resume()
elif 'up' == data:
servo_command = 'up'
servo_move.resume()
elif 'down' == data:
servo_command = 'down'
servo_move.resume()
elif 'stop' == data:
if not functionMode:
servo_move.pause()
servo_command = 'no'
pass
elif 'home' == data:
servo.ahead()
elif 'CVrun' == data:
if not FPV.CVrun:
FPV.CVrun = 1
tcpCliSock.send(('CVrun_on').encode())
else:
FPV.CVrun = 0
tcpCliSock.send(('CVrun_off').encode())
elif 'wsR' in data:
try:
set_R = data.split()
R_set = int(set_R[1])
led.colorWipe(R_set, G_set, B_set)
except:
pass
elif 'wsG' in data:
try:
set_G = data.split()
G_set = int(set_G[1])
led.colorWipe(R_set, G_set, B_set)
except:
pass
elif 'wsB' in data:
try:
set_B = data.split()
B_set = int(set_B[1])
led.colorWipe(R_set, G_set, B_set)
except:
pass
elif 'pwm0' in data:
try:
set_pwm0 = data.split()
pwm0_set = int(set_pwm0[1])
servo.setPWM(0, pwm0_set)
except:
pass
elif 'pwm1' in data:
try:
set_pwm1 = data.split()
pwm1_set = int(set_pwm1[1])
servo.setPWM(1, pwm1_set)
except:
pass
elif 'pwm2' in data:
try:
set_pwm2 = data.split()
pwm2_set = int(set_pwm2[1])
servo.setPWM(2, pwm2_set)
except:
pass
elif 'Speed' in data:
try:
set_speed = data.split()
speed_set = int(set_speed[1])
except:
pass
elif 'Save' in data:
try:
servo.saveConfig()
except:
pass
elif 'CVFL' in data:
if not FPV.FindLineMode:
FPV.FindLineMode = 1
tcpCliSock.send(('CVFL_on').encode())
else:
move.motorStop()
FPV.FindLineMode = 0
tcpCliSock.send(('CVFL_off').encode())
elif 'Render' in data:
if FPV.frameRender:
FPV.frameRender = 0
else:
FPV.frameRender = 1
elif 'WBswitch' in data:
if FPV.lineColorSet == 255:
FPV.lineColorSet = 0
else:
FPV.lineColorSet = 255
elif 'lip1' in data:
try:
set_lip1 = data.split()
lip1_set = int(set_lip1[1])
FPV.linePos_1 = lip1_set
except:
pass
elif 'lip2' in data:
try:
set_lip2 = data.split()
lip2_set = int(set_lip2[1])
FPV.linePos_2 = lip2_set
except:
pass
elif 'err' in data:
try:
set_err = data.split()
err_set = int(set_err[1])
FPV.findLineError = err_set
except:
pass
elif 'FCSET' in data:
FCSET = data.split()
fpv.colorFindSet(int(FCSET[1]), int(FCSET[2]), int(FCSET[3]))
elif 'setEC' in data: #Z
ECset = data.split()
try:
fpv.setExpCom(int(ECset[1]))
except:
pass
elif 'defEC' in data: #Z
fpv.defaultExpCom()
elif 'police' in data:
if LED.ledfunc != 'police':
tcpCliSock.send(('rainbow_off').encode())
LED.ledfunc = 'police'
ledthread.resume()
tcpCliSock.send(('police_on').encode())
elif LED.ledfunc == 'police':
LED.ledfunc = ''
ledthread.pause()
tcpCliSock.send(('police_off').encode())
elif 'rainbow' in data:
if LED.ledfunc != 'rainbow':
tcpCliSock.send(('police_off').encode())
LED.ledfunc = 'rainbow'
ledthread.resume()
tcpCliSock.send(('rainbow_on').encode())
elif LED.ledfunc == 'rainbow':
LED.ledfunc = ''
ledthread.pause()
tcpCliSock.send(('rainbow_off').encode())
elif 'sr' in data:
if not SR_mode:
if SR_dect:
SR_mode = 1
tcpCliSock.send(('sr_on').encode())
sr.resume()
elif SR_mode:
SR_mode = 0
sr.pause()
move.motorStop()
tcpCliSock.send(('sr_off').encode())
else:
pass
print(data)
def run():
global direction_command, turn_command, pos_input, catch_input, cir_input, ultrasonicMode, FindLineMode, FindColorMode, SportModeOn
move.setup()
findline.setup()
info_threading = threading.Thread(
target=info_send_client) #Define a thread for FPV and OpenCV
info_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
info_threading.start() #Thread starts
ultra_threading = threading.Thread(
target=ultra_send_client) #Define a thread for FPV and OpenCV
ultra_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
ultra_threading.start() #Thread starts
findline_threading = threading.Thread(
target=findline_thread) #Define a thread for FPV and OpenCV
findline_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
findline_threading.start() #Thread starts
#move.stand()
ws_R = 0
ws_G = 0
ws_B = 0
Y_pitch = 0
Y_pitch_MAX = 200
Y_pitch_MIN = -200
while True:
data = ''
data = str(tcpCliSock.recv(BUFSIZ).decode())
if not data:
continue
elif 'SportModeOn' == data:
SportModeOn = 1
tcpCliSock.send(('SportModeOn').encode())
elif 'SportModeOff' == data:
SportModeOn = 0
tcpCliSock.send(('SportModeOff').encode())
elif 'forward' == data:
direction_command = 'forward'
if SportModeOn:
move.move(speed_set, direction_command, turn_command, rad)
else:
move.move(SpeedBase, direction_command, turn_command, rad)
elif 'backward' == data:
direction_command = 'backward'
if SportModeOn:
move.move(speed_set, direction_command, turn_command, rad)
else:
move.move(SpeedBase, direction_command, turn_command, rad)
elif 'DS' in data:
direction_command = 'no'
if SportModeOn:
move.move(speed_set, direction_command, turn_command, rad)
else:
move.move(SpeedBase, direction_command, turn_command, rad)
elif 'left' == data:
turn_command = 'left'
if SportModeOn:
move.move(speed_set, direction_command, turn_command, rad)
else:
move.move(SpeedBase, direction_command, turn_command, rad)
elif 'right' == data:
turn_command = 'right'
if SportModeOn:
move.move(speed_set, direction_command, turn_command, rad)
else:
move.move(SpeedBase, direction_command, turn_command, rad)
elif 'TS' in data:
turn_command = 'no'
move.move(speed_set, direction_command, turn_command, rad)
elif 'headup' == data:
servo.camera_ang('lookup', 'no')
elif 'headdown' == data:
servo.camera_ang('lookdown', 'no')
elif 'headhome' == data:
servo.camera_ang('home', 'no')
time.sleep(0.2)
servo.clean_all()
elif 'wsR' in data:
try:
set_R = data.split()
ws_R = int(set_R[1])
LED.colorWipe(Color(ws_R, ws_G, ws_B))
except:
pass
elif 'wsG' in data:
try:
set_G = data.split()
ws_G = int(set_G[1])
LED.colorWipe(Color(ws_R, ws_G, ws_B))
except:
pass
elif 'wsB' in data:
try:
set_B = data.split()
ws_B = int(set_B[1])
LED.colorWipe(Color(ws_R, ws_G, ws_B))
except:
pass
elif 'FindColor' in data:
FindColorMode = 0
tcpCliSock.send(('FunEnd').encode())
elif 'WatchDog' in data:
tcpCliSock.send(('FunEnd').encode())
elif 'steady' in data:
ultrasonicMode = 1
tcpCliSock.send(('steady').encode())
elif 'FindLine' in data:
FindLineMode = 1
tcpCliSock.send(('FindLine').encode())
elif 'funEnd' in data:
ultrasonicMode = 0
FindLineMode = 0
FindColorMode = 0
tcpCliSock.send(('FunEnd').encode())
move.motorStop()
else:
pass
def run():
global servo_move, speed_set, servo_command, functionMode, init_get
servo.servo_init()
move.setup()
findline.setup()
direction_command = 'no'
turn_command = 'no'
servo_command = 'no'
speed_set = 100
rad = 0.5
info_threading = threading.Thread(
target=info_send_client) #Define a thread for FPV and OpenCV
info_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
info_threading.start() #Thread starts
servo_move = Servo_ctrl()
servo_move.start()
servo_move.pause()
findline.setup()
while True:
data = ''
data = str(tcpCliSock.recv(BUFSIZ).decode())
if not data:
continue
elif 'forward' == data:
direction_command = 'forward'
move.move(speed_set, direction_command, turn_command, rad)
elif 'backward' == data:
direction_command = 'backward'
move.move(speed_set, direction_command, turn_command, rad)
elif 'DS' in data:
direction_command = 'no'
move.move(speed_set, direction_command, turn_command, rad)
elif 'left' == data:
turn_command = 'left'
move.move(speed_set, direction_command, turn_command, rad)
elif 'right' == data:
turn_command = 'right'
move.move(speed_set, direction_command, turn_command, rad)
elif 'TS' in data:
turn_command = 'no'
move.move(speed_set, direction_command, turn_command, rad)
elif 'Switch_1_on' in data:
switch.switch(1, 1)
tcpCliSock.send(('Switch_1_on').encode())
elif 'Switch_1_off' in data:
switch.switch(1, 0)
tcpCliSock.send(('Switch_1_off').encode())
elif 'Switch_2_on' in data:
switch.switch(2, 1)
tcpCliSock.send(('Switch_2_on').encode())
elif 'Switch_2_off' in data:
switch.switch(2, 0)
tcpCliSock.send(('Switch_2_off').encode())
elif 'Switch_3_on' in data:
switch.switch(3, 1)
tcpCliSock.send(('Switch_3_on').encode())
elif 'Switch_3_off' in data:
switch.switch(3, 0)
tcpCliSock.send(('Switch_3_off').encode())
elif 'function_1_on' in data:
servo.ahead()
time.sleep(0.2)
tcpCliSock.send(('function_1_on').encode())
radar_send = servo.radar_scan()
tcpCliSock.sendall(radar_send.encode())
print(radar_send)
time.sleep(0.3)
tcpCliSock.send(('function_1_off').encode())
elif 'function_2_on' in data:
functionMode = 2
fpv.FindColor(1)
tcpCliSock.send(('function_2_on').encode())
elif 'function_3_on' in data:
functionMode = 3
fpv.WatchDog(1)
tcpCliSock.send(('function_3_on').encode())
elif 'function_4_on' in data:
functionMode = 4
servo_move.resume()
tcpCliSock.send(('function_4_on').encode())
elif 'function_5_on' in data:
functionMode = 5
servo_move.resume()
tcpCliSock.send(('function_5_on').encode())
elif 'function_6_on' in data:
if MPU_connection:
functionMode = 6
servo_move.resume()
tcpCliSock.send(('function_6_on').encode())
#elif 'function_1_off' in data:
# tcpCliSock.send(('function_1_off').encode())
elif 'function_2_off' in data:
functionMode = 0
fpv.FindColor(0)
switch.switch(1, 0)
switch.switch(2, 0)
switch.switch(3, 0)
tcpCliSock.send(('function_2_off').encode())
elif 'function_3_off' in data:
functionMode = 0
fpv.WatchDog(0)
tcpCliSock.send(('function_3_off').encode())
elif 'function_4_off' in data:
functionMode = 0
servo_move.pause()
move.motorStop()
tcpCliSock.send(('function_4_off').encode())
elif 'function_5_off' in data:
functionMode = 0
servo_move.pause()
move.motorStop()
tcpCliSock.send(('function_5_off').encode())
elif 'function_6_off' in data:
functionMode = 0
servo_move.pause()
move.motorStop()
init_get = 0
tcpCliSock.send(('function_6_off').encode())
elif 'lookleft' == data:
servo_command = 'lookleft'
servo_move.resume()
elif 'lookright' == data:
servo_command = 'lookright'
servo_move.resume()
elif 'up' == data:
servo_command = 'up'
servo_move.resume()
elif 'down' == data:
servo_command = 'down'
servo_move.resume()
elif 'lookup' == data:
servo_command = 'lookup'
servo_move.resume()
elif 'lookdown' == data:
servo_command = 'lookdown'
servo_move.resume()
elif 'grab' == data:
servo_command = 'grab'
servo_move.resume()
elif 'loose' == data:
servo_command = 'loose'
servo_move.resume()
elif 'stop' == data:
if not functionMode:
servo_move.pause()
servo_command = 'no'
pass
elif 'home' == data:
servo.ahead()
elif 'wsB' in data:
try:
set_B = data.split()
speed_set = int(set_B[1])
except:
pass
elif 'CVFL' in data:
if not FPV.FindLineMode:
FPV.FindLineMode = 1
tcpCliSock.send(('CVFL_on').encode())
else:
move.motorStop()
FPV.FindLineMode = 0
tcpCliSock.send(('CVFL_off').encode())
elif 'Render' in data:
if FPV.frameRender:
FPV.frameRender = 0
else:
FPV.frameRender = 1
elif 'WBswitch' in data:
if FPV.lineColorSet == 255:
FPV.lineColorSet = 0
else:
FPV.lineColorSet = 255
elif 'lip1' in data:
try:
set_lip1 = data.split()
lip1_set = int(set_lip1[1])
FPV.linePos_1 = lip1_set
except:
pass
elif 'lip2' in data:
try:
set_lip2 = data.split()
lip2_set = int(set_lip2[1])
FPV.linePos_2 = lip2_set
except:
pass
elif 'err' in data:
try:
set_err = data.split()
err_set = int(set_err[1])
FPV.findLineError = err_set
except:
pass
elif 'FCSET' in data:
FCSET = data.split()
fpv.colorFindSet(int(FCSET[1]), int(FCSET[2]), int(FCSET[3]))
elif 'setEC' in data: #Z
ECset = data.split()
try:
fpv.setExpCom(int(ECset[1]))
except:
pass
elif 'defEC' in data: #Z
fpv.defaultExpCom()
else:
pass
print(data)
