from gpiozero import DigitalInputDevice rain_sensor = DigitalInputDevice(6) BUCKET_SIZE = 0.2794 count = 0 def bucket_tipped(): global count count = count + 1 print (count * BUCKET_SIZE) rain_sensor.when_activated = bucket_tipped
from gpiozero import DigitalInputDevice
from time import sleep
import math
# Connect windspeed on one side to GND and another to GPIO pin
# No resistor needed... Detection on LOW/FALSE
pinReadSpeed = 26 # GPIO Pin for input
count = 0 # Rotation Counter
radius_cm = 9.0 # Radius of the anemometer
interval = 1.0 # Duration to report on speed
ADJUSTMENT = 2 # Adjustment for weight of cups
CM_IN_A_KM = 100000.0
SECS_IN_AN_HOUR = 3600
wind_speed_sensor = DigitalInputDevice(pinReadSpeed,pull_up=True)
def calculate_speed(time_sec):
global count
circumference_cm = (2 * math.pi) * radius_cm
rotations = count / 2.0
dist_km = (circumference_cm * rotations) / CM_IN_A_KM
km_per_sec = dist_km / time_sec
km_per_hour = km_per_sec * SECS_IN_AN_HOUR
return km_per_hour * ADJUSTMENT
def spin():
global count
count = count + 1
def main():
pi = np.math.pi
i = 0
rightIRSensor = DigitalInputDevice(12)
leftIRSensor = DigitalInputDevice(16)
# IR_tracer 8 L
# 7 R
rightIRTracerSensor = DigitalInputDevice(7)
leftIRTracerSensor = DigitalInputDevice(8)
# DisatanceSensor pin 21 T
# 20 E
distanceSensor = DistanceSensor(21, 20)
# Motors
motor_left = Motor(18, 23)
motor_right = Motor(24, 25)
forwardpin = False
def getDistance():
return distanceSensor.distance
def forward(left=1.0, right=1.0):
motor_left.forward(left)
motor_right.forward(right)
def back(left=1.0, right=1.0):
motor_left.backward(left)
motor_right.backward(right)
def turnRight(x=1.0, y=1.0):
motor_left.forward(x)
motor_right.backward(y)
def turnLeft(back=1.0, forward=1.0):
motor_left.backward(back)
motor_right.forward(forward)
def stop():
motor_left.stop()
motor_right.stop()
def lIRsensor():
return rightIRSensor.value
def rIRsensor():
return leftIRSensor.value
def rIRTracerSensor():
return rightIRTracerSensor.value
def lIRTracerSensor():
return leftIRTracerSensor.value
def saveframe(name, frame):
cv2.imwrite(str(name) + '/png', frame)
def halfRightTurn():
turnRight(1, 0.5)
time.sleep(0.6)
stop()
def hougeline(frame, i=0):
kernel = np.ones((3, 3), np.uint8)
localfram = frame
# frame = cv2.dilate(frame, kernel,iterations=3)
frame = cv2.cvtColor(frame, cv2.COLOR_RGB2GRAY)
# blur = cv.GaussianBlur(frame, (5, 5), 0)
blur = cv2.medianBlur(frame, 5)
canny = cv2.Canny(blur, 150, 150, apertureSize=3)
cv2.imshow('canny', canny)
lines = cv2.HoughLines(canny, 1, pi / 180, 50) # srn=80, stn=200)
if lines is not None:
print("Len of lines:", len(lines))
if lines is not None:
# sumtheta = 0
sumx1 = 0
sumx2 = 0
sumy1 = 0
sumy2 = 0
counter = len(lines)
for line in lines:
# print(line)
rho, theta = line[0]
# print(theta/pi*180)
if line is not None:
a = np.cos(theta)
b = np.sin(theta)
x0 = a * rho
y0 = b * rho
scalar = 1000
x1 = int(x0 + scalar * (-b))
y1 = int(y0 + scalar * (a))
x2 = int(x0 - scalar * (-b))
y2 = int(y0 - scalar * (a))
if abs(y2 - y1) < scalar / 10:
counter -= 1
continue
if abs(x2 - x1) < scalar / 20:
counter -= 1
continue
sumy1 += y1
sumx1 += x1
sumx2 += x2
sumy2 += y2
cv2.line(localfram, (x1, y1), (x2, y2), (0, 0, 255), 2, 4)
try:
dely = (sumy2 - sumy1) / counter
delx = (sumx2 - sumx1) / counter
cv2.line(localfram, (int(sumx1 / counter), int(sumy1 / counter)),
(int(sumx2 / counter), int(sumy2 / counter)), (0, 255, 0), 2, 4)
print('dely=', dely)
print('delx=', delx)
font = cv2.FONT_HERSHEY_PLAIN
cv2.putText(localfram, str(dely), (0, 50), font, 4, (255, 0, 0), 4)
cv2.putText(localfram, str(delx), (0, 100), font, 4, (255, 255, 0), 4)
angel = (np.math.asin(dely / delx) / (pi / 2) * 180)
cv2.putText(localfram, str(angel), (0, 150), font, 4, (0, 255, 255), 4)
i += 1
"""WRITE TO FILE"""
# cv2.imwrite((str(i) + '.png'), localfram)
print(str(i) + '.png')
except OSError as err:
print("OS error: {0}".format(err))
except ValueError:
print("Could not convert data to an integer.")
except:
print("Unexpected error:", sys.exc_info()[0])
# time.sleep(0.1)
cv2.imshow('output', localfram)
return localfram, i
def hougelinep(frame, i=0):
kernel = np.ones((3, 3), np.uint8)
localfram = frame
# frame = cv2.dilate(frame, kernel,iterations=3)
frame = cv2.cvtColor(frame, cv2.COLOR_RGB2GRAY)
# blur = cv.GaussianBlur(frame, (5, 5), 0)
canny = cv2.Canny(frame, 200, 150, apertureSize=3)
cv2.imshow('canny', canny)
lines = cv2.HoughLinesP(canny, 1, pi / 180, 10, minLineLength=5, maxLineGap=5) # srn=80, stn=200)
if lines is not None:
print("Len of lines:", len(lines))
if lines is not None:
sumx1 = 0
sumx2 = 0
sumy1 = 0
sumy2 = 0
counter = len(lines)
for line in lines:
if line is not None:
x1, y1, x2, y2 = line[0]
sumy1 += y1
sumx1 += x1
sumx2 += x2
sumy2 += y2
cv2.line(localfram, (x1, y1), (x2, y2), (0, 0, 255), 2, 4)
try:
cv2.line(localfram, (int(sumx1 / counter), int(sumy1 / counter)),
(int(sumx2 / counter), int(sumy2 / counter)), (0, 255, 0), 2, 4)
i += 1
except OSError as err:
print("OS error: {0}".format(err))
except ValueError:
print("Could not convert data to an integer.")
except:
print("Unexpected error:", sys.exc_info()[0])
# print('delx=', delx)
# print(sumtheta / counter)
# time.sleep(0.5)
# pprint.pprint(lines)
# time.sleep(1)
time.sleep(0.1)
cv2.imshow('output', localfram)
return localfram, i
# The video feed is read in as a VideoCapture object
# cap = cv2.VideoCapture("outcpp.avi")
red_val = 0
green_val = 65
stream = io.BytesIO()
my_file = open('my_image.jpg', 'wb')
cap = cv2.VideoCapture(0)
with picamera.PiCamera() as camera:
camera.resolution = (1920, 1080)
camera.framerate = 32
camera.start_preview()
time.sleep(2)
# camera.capture(my_file)
camera.capture(stream, format='jpeg')
# define range of RED color in HSV
halfRightTurn()
while (True):
# Capture frame-by-frame
data = np.fromstring(stream.getvalue(), dtype=np.uint8)
ret, frame = cap.read(data)
try:
frame2 = frame
frame = cv2.resize(frame, None, fx=0.5, fy=0.5, interpolation=cv2.INTER_CUBIC)
width, height = frame.shape[:2]
frame = frame[int(width / 2):width, 0:height]
except:
continue
hougelinefram, i = hougeline(frame, i)
cv2.imshow('original', frame2)
if cv2.waitKey(10) & 0xFF == ord('q'):
cv2.waitKey(0)
if cv2.waitKey(10) & 0xFF == ord('w'):
print('w')
cv2.waitKey(1)
cv2.destroyAllWindows()
cap.release()
if not PUMP_CALIBRATION:
# get the session information (timeout, ratio, nexratio, etc...) from 'session_configuration.csv' file under python directory
sessioninfo = get_sessioninfo(RatID)
while (len(sessioninfo) == 0):
RatID = input("command ID not found please rescan the id: ")[-8:]
sessioninfo = get_sessioninfo(RatID)
sessioninfo = sessioninfo[0]
mover = PumpMove()
forwardbtn = Button("GPIO5")
backwardbtn = Button("GPIO27")
BACKWARD_LIMIT_BTN = "GPIO23"
BACKWARD_LIMIT = DigitalInputDevice(BACKWARD_LIMIT_BTN)
def forward():
while forwardbtn.value == 1:
mover.move("forward")
def backward():
while BACKWARD_LIMIT.value != 1:
mover.move("backward")
forwardbtn.when_pressed = forward
backwardbtn.when_pressed = backward
#push syringe to wet spout
mover.move("forward")
mover.move("forward")
if __name__ == "__main__":
# Tunables
fps = 10
# Video Reader Initial Setup
cap = cv2.VideoCapture(0) # Create video capture object with 0th camera
frame_size = (int(cap.get(3)), int(cap.get(4)))
# Video Writer Initial Setup
fourcc = cv2.VideoWriter_fourcc(
*'MJPG') # Create VideoWriter format object with smallest file size
# PIR Setup
PIRPinNum = 26
PIR = DigitalInputDevice(PIRPinNum, pull_up=False)
# LED Setup
LEDPinNum = 19
LED = OutputDevice(LEDPinNum)
INACTIVE_THRESHOLD = 10 * fps # frames
inactive_time = 10 * fps # frames
rolling = False
while (cap.isOpened()):
# if there is movement and we're not rolling
if PIR.is_active and not rolling:
inactive_time = 0
rolling = True
def __init__(self, pin):
self._value = 0
self.encoder = DigitalInputDevice(pin)
self.encoder.when_activated = self._increment
self.encoder.when_deactivated = self._increment
def __init__(self, nursery: trio.Nursery):
self._nursery = nursery # type: trio.Nursery
self._operation_mode = None
self._system_state = None
self._sensor_data = {
'temperature': None,
'pressure': None,
'humidity': None,
'slope': None,
'num_satellites': None,
'latitude': None,
'longitude': None,
'altitude': None,
'message': None,
'rssi': None,
'session_state': None,
'session_substate': None,
'battery': None,
'motor_current': None
}
# Traction system ----------------
self._tractor = TractionSystem( # type: TractionSystem
forward_r=MOTOR_R_FORWARD_PIN,
backward_r=MOTOR_R_BACKWARD_PIN,
enable_r=MOTOR_R_ENABLE_PIN,
forward_l=MOTOR_L_FORWARD_PIN,
backward_l=MOTOR_L_BACKWARD_PIN,
enable_l=MOTOR_L_ENABLE_PIN,
enable_global=DRIVER_ENABLE_PIN)
# ADC -----------------------------
alert_ready = DigitalInputDevice(ALERT_READY_PIN, pull_up=True)
bus = smbus.SMBus(DEVICE_BUS)
self._adc = ADS1015(bus,
DEVICE_ADDRESS,
alert_ready,
channel=RADIO_CHANNEL) # type: ADS1015
# Radio System -------------------
self._radio_system = RadioDetection(
self._adc,
self._nursery,
notification_callbacks=[self.radio_listener])
self._radio_system.subscribe(notification_callbacks=[radio_printer
]) # DEBUG ONLY
# SenseHat ------------------------
self._sensors = SenseHatWrapper(nursery, data=self._sensor_data)
# GPS -----------------------------
# Lat/long/alt data is updated automatically, the satellite list is not used for now
self._gps = GPS(GPS_PORT, nursery, data=self._sensor_data)
# Transceiver --------------------
self._transceiver = ReceptorSystem(
RX_INTERRUPTION_PIN,
TX_DEVICE,
nursery,
notification_callbacks=[self.transceiver_listener],
data=self._sensor_data)
# Battery & current measurements -----------
self._battery = BatteryMeasure(nursery,
self._adc,
BATTERY_CHANNEL,
data=self._sensor_data)
self._battery.subscribe(notification_callbacks=[self.battery_listener])
self._current_meas = CurrentMeasure(nursery,
self._adc,
CURRENT_CHANNEL,
data=self._sensor_data)
self._current_meas.subscribe(
notification_callbacks=[self.current_listener])
# Server -------------------------
self._server = Server(SERVER_ADDRESS,
SERVER_PORT,
self._sensor_data,
ROVER_ID,
nursery,
error_callbacks=[self.server_error])
# Command system -----------------
self._commands = CommandSystem(
COMMAND_PORT,
nursery,
notification_callbacks=[self.command_listener])
# --------------- Start in idle mode ------------
self._change_mode(self.MODE_IDLE)
