def left(self):
_grab_read()
try:
gopigo.left()
except:
pass
_release_read()
def left(self):
_ifMutexAcquire(self.use_mutex)
try:
gopigo.left()
except:
pass
finally:
_ifMutexRelease(self.use_mutex)
def left(self):
_ifMutexAcquire(self.use_mutex)
try:
gopigo.left()
except:
pass
finally:
_ifMutexRelease(self.use_mutex)
def left_deg(deg=None):
'''
Turn chassis left by a specified number of degrees.
DPR is the #deg/pulse (Deg:Pulse ratio)
This function sets the encoder to the correct number
of pulses and then invokes left().
'''
if deg is not None:
pulse= int(deg/DPR)
enc_tgt(0,1,pulse)
left()
def dance():
print("Dance!")
for each in range(0, 5):
gopigo.right()
time.sleep(0.25)
gopigo.left()
time.sleep(0.25)
gopigo.bwd()
time.sleep(0.25)
gopigo.stop()
return 'Dance!'
def dance():
print("Dance!")
for each in range(0,5):
gopigo.right()
time.sleep(0.25)
gopigo.left()
time.sleep(0.25)
gopigo.bwd()
time.sleep(0.25)
gopigo.stop()
return 'Dance!'
def bang_bang(linelocation):
if (linelocation) < 300:
go.left()
elif (linelocation) > 300:
go.right()
else:
go.forward()
# This function should use the line location to implement a simple bang-bang controller.
# YOUR CODE HERE
return
def bang_bang_with_hysteresis(linelocation):
higher = 320
lower = 300
if (linelocation) < higher:
go.left()
elif (linelocation) > lower:
go.right()
# This function should use the line location to implement bang-bang controller with hysteresis.
# YOUR CODE HERE
return
def process_command(_command, _time):
data = _command
if not data:
print "received data:", data
if len(data) != 1:
print ("Invalid command")
return "Invalid command"
elif data == 'w':
gopigo.fwd()
# return "Moving forward"
elif data == 'x':
gopigo.stop()
# return "Stopping"
elif data == 's':
gopigo.bwd()
# return "Moving back"
elif data == 'a':
gopigo.left()
# return "Turning left"
elif data == 'd':
gopigo.right()
# return "Turning right"
elif data == 't':
gopigo.increase_speed()
# return "Increase speed"
elif data == 'g':
gopigo.decrease_speed()
# return "Decrease speed"
elif data == 'v':
# print gopigo.volt(), 'V'
return str(gopigo.volt())
elif data == 'l':
gopigo.led_on(0)
gopigo.led_on(1)
time.sleep(1)
gopigo.led_off(0)
gopigo.led_off(1)
return "Flash LED"
else:
print ("Invalid command")
return "Invalid command" # run as a app
if _time:
time.sleep(_time)
gopigo.stop()
def setMotorJoystickPos( self, joystickX, joystickY ):
joystickX, joystickY = self.normaliseJoystickData( joystickX, joystickY )
if debug:
print( "Left joy",joystickX, joystickY)
if joystickX > 0.5:
print( "Right")
gopigo.left(50)
elif joystickX <-0.5:
print ("Left")
gopigo.right50
elif joystickY > 0.5:
print ("Fwd")
gopigo.fwd(80)
elif joystickY < -0.5:
print ("Back")
gopigo.bwd(80)
else:
print ("Stop")
gopigo.fwd(0)
def setMotorJoystickPos(self, joystickX, joystickY):
joystickX, joystickY = self.normaliseJoystickData(joystickX, joystickY)
if debug:
print("Left joy", joystickX, joystickY)
#print self.speed_l*joystickY
#gopigo.set_left_speed(int(self.speed_l*joystickY))
#gopigo.fwd()
if joystickX > .5:
print("Left")
gopigo.left()
elif joystickX < -.5:
print("Right")
gopigo.right()
elif joystickY > .5:
print("Fwd")
gopigo.fwd()
elif joystickY < -.5:
print("Back")
gopigo.bwd()
else:
print("Stop")
gopigo.stop()
def setMotorJoystickPos( self, joystickX, joystickY ):
joystickX, joystickY = self.normaliseJoystickData( joystickX, joystickY )
if debug:
print "Left joy",joystickX, joystickY
#print self.speed_l*joystickY
#gopigo.set_left_speed(int(self.speed_l*joystickY))
#gopigo.fwd()
if joystickX > .5:
print "Left"
gopigo.left()
elif joystickX <-.5:
print "Right"
gopigo.right()
elif joystickY > .5:
print "Fwd"
gopigo.fwd()
elif joystickY < -.5:
print "Back"
gopigo.bwd()
else:
print "Stop"
gopigo.stop()
def left(aTicks):
if checkTicks(aTicks):
gpg.enc_tgt(0, 1, aTicks)
gpg.left()
waitForTarget()
def left_button_OnButtonClick(self, event):
f = gopigo.left()
def left(t):
go.left()
time.sleep(t)
go.stop()
def left():
print("Left!")
gopigo.left()
time.sleep(1)
gopigo.stop()
return render_template('left.html')
import gopigo import time # Assign pin 15 or A1 port to the IR sensor gopigo.ir_recv_pin(15) print "Press any button on the remote to control the GoPiGo" while True: ir_data_back=gopigo.ir_read_signal() if ir_data_back[0]==-1: #IO Error pass elif ir_data_back[0]==0: #Old signal pass else: sig=ir_data_back[1:] #Current signal from IR remote if sig[9]==82 and sig[10]==83: #Assign the button with 82 and 83 in position 9 and 10 in the signal to forward command print "fwd" gopigo.fwd() elif sig[9]==114 and sig[10]==115: print "left" gopigo.left() elif sig[9]==242 and sig[10]==243: print "right" gopigo.right() elif sig[9]==210 and sig[10]==211: print "back" gopigo.bwd() elif sig[9]==43 and sig[10]==42: print "Stop" gopigo.stop() time.sleep(.1)
def left():
_wait_for_read()
_grab_read()
gopigo.left()
_release_read()
def left():
_wait_for_read()
_grab_read()
gopigo.left()
_release_read()
def left():
print("Left!")
gopigo.left()
time.sleep(1)
gopigo.stop()
return 'Left!'
def left():
print("Left!")
gopigo.left()
time.sleep(1)
gopigo.stop()
return 'Left!'
def turn_left():
if msg_en:
print("Turn left")
if gpg_en:
gopigo.set_speed(turn_speed)
gopigo.left()
def left():
I2C_Mutex_Acquire()
gopigo.left()
I2C_Mutex_Release()
def turn_left(): if msg_en: print "Turn left" if gpg_en: gopigo.set_speed(turn_speed) gopigo.left()
def do_command(command=None):
logging.debug(command)
if command in ["forward", "fwd"]:
gopigo.fwd()
elif command == "left":
gopigo.left()
elif command == "left_rot":
gopigo.left_rot()
elif command == "right":
gopigo.right()
elif command == "right_rot":
gopigo.right_rot()
elif command == "stop":
gopigo.stop()
elif command == "leftled_on":
gopigo.led_on(0)
elif command == "leftled_off":
gopigo.led_off(0)
elif command == "rightled_on":
gopigo.led_on(1)
elif command == "rightled_off":
gopigo.led_off(1)
elif command in ["back", "bwd"]:
gopigo.bwd()
elif command == "speed":
logging.debug("speed")
speed = flask.request.args.get("speed")
logging.debug("speed:" + str(speed))
if speed:
logging.debug("in if speed")
gopigo.set_speed(int(speed))
left_speed = flask.request.args.get("left_speed")
logging.debug("left_speed:" + str(left_speed))
if left_speed:
logging.debug("in if left_speed")
gopigo.set_left_speed(int(left_speed))
right_speed = flask.request.args.get("right_speed")
logging.debug("right_speed:" + str(right_speed))
if right_speed:
logging.debug("in if right_speed")
gopigo.set_right_speed(int(right_speed))
speed_result = gopigo.read_motor_speed()
logging.debug(speed_result)
return flask.json.jsonify({"speed": speed_result, "right": speed_result[0], "left": speed_result[1]})
elif command == "get_data":
speed_result = gopigo.read_motor_speed()
enc_right = gopigo.enc_read(0)
enc_left = gopigo.enc_read(1)
volt = gopigo.volt()
timeout = gopigo.read_timeout_status()
return flask.json.jsonify(
{
"speed": speed_result,
"speed_right": speed_result[0],
"speed_left": speed_result[1],
"enc_right": enc_right,
"enc_left": enc_left,
"volt": volt,
"timeout": timeout,
"fw_ver": gopigo.fw_ver(),
}
)
elif command in ["enc_tgt", "step"]:
tgt = flask.request.args.get("tgt")
direction = flask.request.args.get("dir")
if tgt:
gopigo.gopigo.enc_tgt(1, 1, int(tgt))
if dir:
if dir == "bwd":
gopigo.bwd()
else:
gopigo.fwd()
else:
gopigo.fwd()
return ""
import gopigo as gpg import time import time gpg.forward() time.sleep(10) gpg.stop() gpg.right() time.sleep(1) gpg.stop() gpg.forward() time.sleep(10) gpg.stop() gpg.left() time.sleep(5) gpg.stop() gpg.forward() time.sleep(5) gpg.stop()
go.fwd()
go.led_on(0)
go.led_on(1)
time.sleep(1.9)
go.led_off(0)
go.led_off(1)
go.right()
go.led_on(0)
time.sleep(0.2)
go.fwd()
go.led_on(0)
go.led_on(1)
time.sleep(0.8)
go.led_off(0)
go.led_off(1)
go.left()
go.led_on(1)
time.sleep(0.8)
for i in range(4):
go.right()
go.led_on(0)
time.sleep(0.1)
go.fwd()
go.led_on(0)
go.led_on(1)
time.sleep(0.2)
go.led_off(0)
go.led_off(1)
go.stop()
def left_button_OnButtonClick(self,event):
f=gopigo.left()
def process_command(self, command):
parts = command.split("/")
if parts[1] == "poll":
print "poll"
self.us_dist = gopigo.us_dist(usdist_pin)
self.enc_status = gopigo.read_status()[0]
self.volt = gopigo.volt()
self.fw_ver = gopigo.fw_ver()
self.trim = gopigo.trim_read() - 100
if self.enc_status == 0:
self.waitingOn = None
elif parts[1] == "stop":
gopigo.stop()
elif parts[1] == "trim_write":
gopigo.trim_write(int(parts[2]))
self.trim = gopigo.trim_read()
elif parts[1] == "trim_read":
self.trim = gopigo.trim_read() - 100
elif parts[1] == "set_speed":
if parts[2] == "left":
self.left_speed = int(parts[3])
elif parts[2] == "right":
self.right_speed = int(parts[3])
else:
self.right_speed = int(parts[3])
self.left_speed = int(parts[3])
gopigo.set_left_speed(self.left_speed)
gopigo.set_right_speed(self.right_speed)
elif parts[1] == "leds":
val = 0
if parts[3] == "on":
val = 1
elif parts[3] == "off":
val = 0
elif parts[3] == "toggle":
val = -1
if parts[2] == "right" or parts[2] == "both":
if val >= 0:
self.ledr = val
else:
self.ledr = 1 - self.ledr
if parts[2] == "left" or parts[2] == "both":
if val >= 0:
self.ledl = val
else:
self.ledl = 1 - self.ledl
gopigo.digitalWrite(ledr_pin, self.ledr)
gopigo.digitalWrite(ledl_pin, self.ledl)
elif parts[1] == "servo":
gopigo.servo(int(parts[2]))
elif parts[1] == "turn":
self.waitingOn = parts[2]
direction = parts[3]
amount = int(parts[4])
encleft = 0 if direction == "left" else 1
encright = 1 if direction == "left" else 0
gopigo.enable_encoders()
gopigo.enc_tgt(encleft, encright, int(amount / DPR))
if direction == "left":
gopigo.left()
else:
gopigo.right()
elif parts[1] == "move":
self.waitingOn = int(parts[2])
direction = parts[3]
amount = int(parts[4])
gopigo.enable_encoders()
gopigo.enc_tgt(1, 1, amount)
if direction == "backward":
gopigo.bwd()
else:
gopigo.fwd()
elif parts[1] == "beep":
gopigo.analogWrite(buzzer_pin, self.beep_volume)
time.sleep(self.beep_time)
gopigo.analogWrite(buzzer_pin, 0)
elif parts[1] == "reset_all":
self.ledl = 0
self.ledr = 0
gopigo.digitalWrite(ledl_pin, self.ledl)
gopigo.digitalWrite(ledr_pin, self.ledr)
gopigo.analogWrite(buzzer_pin, 0)
# gopigo.servo(90)
gopigo.stop()
#Accept an incoming connection
conn, addr = s.accept()
print '\nConnection address:', addr
while 1:
#Check the data
data = conn.recv(BUFFER_SIZE)
if not data: break
print "received data:", data
if len(data) <> 1:
print ("Invalid command")
conn.send("Invalid command")
elif data=='f':
gopigo.fwd()
conn.send("Moving forward")
elif data=='s':
gopigo.stop()
conn.send("Stopping")
elif data=='b':
gopigo.bwd()
conn.send("Moving back")
elif data=='l':
gopigo.left()
conn.send("Turning left")
elif data=='r':
gopigo.right()
conn.send("Turning right")
else:
print ("Invalid command")
conn.send("Invalid command")
conn.close()
def left(kargs):
r = {'return_value': gopigo.left()}
return r
