def heaterPower(mode):
global heaterPowerIO
log.log(log.ALWAYS, "heaterPower() called with " + mode2str(mode))
if (mode == gv.heatPower):
return NOERROR
if (mode == ON):
if (gv.pumpPower) == OFF:
log.log(log.ERROR, "attempting to turn on heater with pump off!")
lcd.message("ERROR", "Can't turn on heat with Pump off")
return ERROR
else:
heaterPowerIO.on()
time.sleep(1)
gv.heatPower = ON
log.log(log.ALWAYS, "*** Heater power on ***")
gv.systemMode = config.SPA_ON
return NOERROR
elif (mode == OFF):
heaterPowerIO.off()
log.log(log.ALWAYS, "*** Heater power off ***")
gv.heatPower = OFF
gv.systemMode = config.COOLDOWN
return NOERROR
else:
log.log(log.ERROR, "heaterPower was passed invalid value: ", (mode))
return ERROR
def show_lcd(message, line=1) : if line == 1 : lcd.home() lcd.message(message) if line == 2 : lcd.setCursor(1,2) lcd.message(message)
def run():
lcd.clear()
lcd.message("Loading...")
weather_live_req = live_weather_request()
weather_forecast_req = forecast_weather_request()
bus_arrival_req = bus_request()
grequests.map((weather_live_req, weather_forecast_req, bus_arrival_req))
weathers = list()
if weather_live_req.response is not None:
weathers.append(
weather_live_from_json(weather_live_req.response.json()))
else:
weathers.append(None)
if weather_forecast_req.response is not None:
weathers.append(
weather_forecast_from_json(
weather_forecast_req.response.json(),
datetime.datetime.now() + datetime.timedelta(hours=12)))
else:
weathers.append(None)
weather_str = weather_view(weathers)
arrivals = arrivals_from_xml(
ElementTree.fromstring(bus_arrival_req.response.content))
bus_str = bus_arrival_view(arrivals)
lcd_str = bus_str + "\n" + weather_str
lcd.clear()
lcd.message(lcd_str)
def shutdown():
global pumpPowerIO, heaterPowerIO, heaterEnableIO, sparePowerIO, valve1DirIO, valve2DirIO
# turn off everything
log.log(log.ALWAYS, "Shutting Down")
# ensure everything is off
# don't use routines as a safety precaution
pumpPowerIO.off()
heaterPowerIO.off()
heaterEnableIO.off()
valve1DirIO.off()
valve2DirIO.off()
sparePowerIO.off()
try:
lcd.message(" System Off")
lcd.setColor(0, 0, 255)
lcd.closePort()
except:
print(sys.exc_info())
log.log(log.ERROR, "error in lcd during shutdown - ignoring")
log.log(log.ALWAYS, "Shutdown Complete")
print("Equipment Off")
return
def timer(seconds) : try : while seconds > 0 : lcd.lcd_byte(lcd.LCD_LINE_2, lcd.LCD_CMD) lcd.message(str(seconds) + " seconds", style=2) seconds -= 1 time.sleep(1) return 0 except KeyboardInterrupt : leave()
def main():
HOME = os.path.dirname(os.path.realpath(__file__))
f = file(HOME+'/sensors.cfg')
CFG = Config(f)
logging.basicConfig(filename=HOME+'/sensors.log', level=logging.INFO, format='%(asctime)s %(message)s', datefmt='%Y-%m-%d %H:%M')
tz = pytz.timezone(CFG.timezone)
date = datetime.now(tz)
GPIO.setwarnings(False)
m = date.strftime("%Y-%m-%d\n%H:%M:%S")
lcd.init()
lcd.message(m)
if date.hour >= 0 and date.hour <= 5:
lcd.backlight(False)
else:
lcd.backlight(True)
d = [] # read sensor data
for s in CFG.sensors:
if s.id < 0: continue # skip disabled sensors
try:
if s.name == 'DS18B20':
v = w1.readTemp(s.rom_code)
elif s.name == 'DHT22' and s.rom_code == 'H':
v = dht.readHumidity()
elif s.name == 'DHT22' and s.rom_code == 'T':
v = dht.readTemperature()
else:
raise Exception('unknown sensor name')
continue
except Exception as e:
logging.error("| Can't read sensor %d | %s | %s" % (s.id, s.rom_code, str(e)))
continue
try:
db.updateSensor(s.id, v, date)
if(s.type == 'H'):
d.append('%d%%' % v)
else:
d.append(v)
# print "#%d %s, %s: %.1f" % (s.id, s.rom_code, s.label, v)
except Exception as e:
logging.error("| Can't update sensor %d | %s | %s" % (s.id, s.rom_code, str(e)))
continue
m = buildMessage(d, date)
lcd.message(m)
def status(self) :
log('Taking picture')
out = os.system("fswebcam -r " + config.resolution +
'--log syslog -q --jpeg -1' +
" -d " + config.camera +
" " + config.tempDirectory + "/" +
config.pictureName)
log("Camera app returned " + str(out))
lcd.clear()
lcd.message("Status request:")
lcd.lcd_byte(lcd.LCD_LINE_2, lcd.LCD_CMD)
lcd.message("Pin is " + str(state))
def log(string, color='white'):
colorHex = {
'green': '92m',
'yellow': '93m',
'red': '91m'
}
if color not in colorHex:
print('[' + time.strftime("%Y-%m-%d %H:%M:%S") + '] ' + string)
else:
print(u'\033[' + colorHex[color] + time.strftime("%Y-%m-%d %H:%M:%S") + ' ' + string.decode('utf-8') + '\033[0m')
if lcd:
if(string):
lcd.message(string)
def log(string, color = 'white'):
colorHex = {
'green': '92m',
'yellow': '93m',
'red': '91m'
}
if color not in colorHex:
print('[' + time.strftime("%Y-%m-%d %H:%M:%S") + '] '+ string)
else:
print(u'\033['+ colorHex[color] + '[' + time.strftime("%Y-%m-%d %H:%M:%S") + '] ' + string.decode('utf-8') + '\033[0m')
if lcd:
if(string):
lcd.message(string)
def main():
HOME = os.path.dirname(os.path.realpath(__file__))
f = file(HOME+'/sensors.cfg')
CFG = Config(f)
tz = pytz.timezone(CFG.timezone)
date = datetime.now(tz)
GPIO.setwarnings(False)
lcd.init()
lcd.message('Raspberry Pi\n%s' % date.strftime("%Y-%m-%d %H:%M"))
lcd.backlight(True)
def waitUntil(seconds, state=False) : try : while seconds > 0 : lcd.lcd_byte(lcd.LCD_LINE_2, lcd.LCD_CMD) lcd.message(str(seconds) + " seconds", style=2) seconds -= 1 time.sleep(1) pinstate = commands.readInput() if pinstate == state : break return 0 except KeyboardInterrupt : leave()
def spaOff():
lcd.message("Turning Off Spa... ")
log.log(log.ALWAYS, "Turning Spa Off ")
heaterEnable(OFF)
heaterPower(OFF)
timer.setPumpOffEvent(0, 15)
gv.systemMode = config.COOLDOWN
gv.lastSpaOnTime = 0
timer.setTimeRemaining(15)
valveControl(VALVE_POOL_MODE)
log.log(log.ALWAYS, "*** Starting Cooldown ***")
return
def main():
HOME = os.path.dirname(os.path.realpath(__file__))
f = file(HOME+'/sensors.cfg')
CFG = Config(f)
logging.basicConfig(filename=HOME+'/sensors.log', level=logging.INFO, format='%(asctime)s %(message)s', datefmt='%Y-%m-%d %H:%M')
tz = pytz.timezone(CFG.timezone)
date = datetime.now(tz)
m = date.strftime("%Y-%m-%d\n%H:%M:%S")
GPIO.setwarnings(False)
lcd.init()
lcd.backlight(True)
lcd.message(m)
d = [] # read sensor data
for s in CFG.sensors:
if s.id < 0: continue # skip disabled sensors
try:
if s.name == 'DS18B20':
v = w1.readTemp(s.rom_code)
elif s.name == 'DHT22' and s.type == 'H':
v = dht.readHumidity()
elif s.name == 'DHT22' and s.type == 'T':
v = dht.readTemperature()
else:
raise Exception('unknown sensor name')
continue
except Exception as e:
logging.error("| Can't read sensor %d | %s | %s" % (s.id, s.rom_code, str(e)))
continue
try:
print "%s, %s: %.1f" % (s.rom_code, s.label, v)
if(s.type == 'H'):
d.append('%d%%' % v)
else:
d.append(v)
except Exception as e:
print "Can't print sensor %d" % s.id
m = scan.buildMessage(d, date)
lcd.message(m)
def setupComponents():
#initialize buzzer
buzzer.setup()
#intialize lcd
lcd.lcd_init()
time.sleep(1)
lcd.message("WELCOME ", "SMART PARKING")
#set person gate pin as output pin
GPIO.setup(PERSON_GATE, GPIO.OUT)
GPIO.output(PERSON_GATE, False)
# Hook the SIGINT
signal.signal(signal.SIGINT, end_read)
# Welcome message
print("Welcome to the MFRC522 data read example")
print("Press Ctrl-C to stop.")
def pumpPower(mode):
global pumpPowerIO
log.log(log.ALWAYS, "pumpPower() called with " + mode2str(mode))
# already on?
if (mode == gv.pumpPower):
return
if (mode == ON):
pumpPowerIO.on()
log.log(log.ALWAYS, "*** pump on ***")
gv.pumpPower = ON
gv.systemMode = config.PUMP_ON
return NOERROR
elif (mode == OFF):
# todo: only do this if user pushes button
if (gv.heatPower == ON):
log.log(log.WARNING, "Turning off Pump with Heater ON!")
lcd.message("WARNING", "Turning off Pump with Heater ON!")
if (gv.systemMode == config.MANUAL
or gv.systemMode == config.COOLDOWN):
log.log(log.WARNING, "Heater may not have cooled down yet!")
lcd.message("WARNING", "Heater may not have cooled down yet!")
heaterEnable(OFF)
heaterPower(OFF)
pumpPowerIO.off()
log.log(log.ALWAYS, "*** pump off ***")
gv.pumpPower = OFF
gv.systemMode = config.SYS_OFF
return NOERROR
else:
log.log(log.ERROR, "pumpPower was passed invalid value: ", str(mode))
return ERROR
def log(string, color='white'):
color_hex = {
'red': '91m',
'green': '92m',
'yellow': '93m',
'blue': '94m',
'cyan': '96m'
}
if color not in color_hex:
print('[{time}] {string}'.format(
time=time.strftime("%H:%M:%S"),
string=string.decode('utf-8')
))
else:
print(
'[{time}] \033[{color} {string} \033[0m'.format(
time=time.strftime("%H:%M:%S"),
color=color_hex[color],
string=string.decode('utf-8')
)
)
if lcd:
if string:
lcd.message(string)
def ip(self) :
lcd.home()
lcd.message("IP Request")
p = os.popen("ip addr show wlan0 | grep inet").readline().split()[1]
ip = p.split('/')[0]
#ip = self._getIP()
#print ip
log('IP Request from ' + sender)
log('Local IP: ' + ip)
lcd.message('IP_ Request', style=2)
lcd.lcd_byte(lcd.LCD_LINE_2, lcd.LCD_CMD)
lcd.message(ip, style=2)
mailmanager.sendEmail(sender, 'Local IP', ip)
time.sleep(config.displayTime)
def spaOn(hours):
lcd.message("Turning on Spa... ")
log.log(log.ALWAYS, "SpaOn called with hours = " + str(hours))
time.sleep(1)
pumpPower(ON)
lcd.message("Pump On")
time.sleep(1)
heaterPower(ON)
lcd.message("Heater On")
time.sleep(1)
valveControl(VALVE_SPA_MODE)
heaterEnable(ON)
gv.systemMode = config.SPA_ON
timer.setSpaOffEvent(hours)
log.log(log.ALWAYS, "*** Spa on ***")
return
def warn(self, command) : GPIO.output(config.lightsPin, True) lcd.home() lcd.message(command + " in", style = 2) timer(config.warningTime) GPIO.output(config.lightsPin, False)
def main():
#intialize the components of the project
setupComponents()
# This loop keeps checking for chips. If one is near it will get the UID and authenticate
nfc = TwoRfid.Nfc522() #create object to read from 2 different rfid
while continue_reading:
#read RFID of people entry and car entry
gid1, gid2 = nfc.obtem_nfc_rfid()
#handle car gate
if not gid1 == 0:
print("rfid reader of car gate read: ", gid1)
buzzer.beep(1)
name, slot, state = UserDB.AllowAccess(str(gid1), 0)
if (state == 0): #this person has a reservation
lcd.message("WELCOME ", name)
time.sleep(2)
lcd.message("Go To Slot", str(slot))
ServoMotor.OpenGate() #open the gate
#wait till the car pass the gate
if (UltraSonicSensor.IsPassed()):
UserDB.changeState(gid1)
time.sleep(3)
ServoMotor.CloseGate() #close the gate
#make microController open specific slot
openSlot(str(gid1), slot)
lcd.message("WELCOME IN", "SMART PARKING")
elif (state == -2): #this person not has a reservation
lcd.message("Please ", "Reserve First")
time.sleep(5)
lcd.message("WELCOME IN", "SMART PARKING")
#handle person gate
if not gid2 == 0:
print("rfid reader of person gate read: ", gid2)
buzzer.beep(1)
name, slot, state = UserDB.IsReserve(str(gid2), 1)
if state == 1: #this person has a car inside the garage
#open the gate
lcd.message("Here you are", "The Gate is open")
GPIO.output(PERSON_GATE, True)
time.sleep(6)
GPIO.output(PERSON_GATE, False)
else:
lcd.message("Sorry You don't ", "Have car inside")
time.sleep(5)
lcd.message("WELCOME IN", "SMART PARKING")
def checkEvents():
global spaOffTime, pumpOnTime1, pumpOffTime1, pumpOnTime2, pumpOffTime2
global pumpOnTime3, pumpOffTime3, lastPumpOn, nextPumpOffTime
# get local time
now = timeNow()
#log.log("Checking events at " + str(now))
# timer events return non-zero if executed
# ----------- timer set 1 ------------------
if (pumpOnTime1 == now):
log.log(log.ALWAYS, "PumpOnEvent1 fired")
if (gv.pumpPower == OFF):
equipment.pumpPower(ON)
lastPumpOn = pumpOnTime1
nextPumpOffTime = pumpOffTime1
return 1
if (pumpOffTime1 == now):
log.log(log.ALWAYS, "PumpOffEvent1 fired")
# don't turn off if in spa mode
if (gv.systemMode != c.SPA_ON):
equipment.pumpPower(OFF)
nextPumpOffTime = zeroTime
return 2
# ------------timer set 2 -----------------
if (pumpOnTime2 == now):
log.log(log.ALWAYS, "PumpOnEvent2 fired")
if (gv.pumpPower == OFF):
equipment.pumpPower(ON)
lastPumpOnTime = pumpOnTime2
nextPumpOffTime = pumpOffTime2
return 3
if (pumpOffTime2 == now):
log.log(log.ALWAYS, "PumpOffEvent2 fired")
# don't turn off if in spa mode
if (gv.systemMode != c.SPA_ON):
equipment.pumpPower(OFF)
nextPumpOffTime = zeroTime
return 4
# --------- set 3 manual or cooldown mode -------------------
# timer 3 has no on time event
if (pumpOffTime3 == now):
log.log(log.ALWAYS, "PumpOffEvent3 fired")
# if (gv.pumpPower == ON):
equipment.pumpPower(OFF)
lastPumpOn = zeroTime
nextPumpOffTime = zeroTime
# clear event to prevent a retrigger
pumpOffTime3 = zeroTime
return 6
# ----------- spa off event -----------------
if (spaOffTime == now):
log.log(log.ALWAYS, "SpaOffEvent fired")
equipment.heaterEnable(OFF)
equipment.heaterPower(OFF)
# set pump off time & clear event
setPumpOffEvent(0, 15)
log.log(log.ALWAYS, "PumpOffEvent3 set")
spaOffTime = zeroTime
lcd.message("Pump will remain on for 15 minutes for cooldown")
time.sleep(10)
return 5
# if nothing happened, return 0 (future)
return 0
lcd.message(" Made by:", " Jorge Gutierrez")
sleep(3)
lcd.message("", "")
os.system("sudo init 0") #Turn off raspberry
cv2.destroyAllWindows()
#-------------Init code---------------#
try:
lcd.init()
except:
print("Fail display oled sh1106 module")
lcd.logo("raspi")
sleep(2)
lcd.message(" Stewart", " Plataform 6DOF")
sleep(2)
lcd.message(" BALL AND", " PLATE")
sleep(2)
for i in range(3):
lcd.logo(logos[i])
sleep(2)
def main():
try:
while True:
setup(menu)
except KeyboardInterrupt:
print("Closing program")
#except:
def pumpOff():
lcd.message("Turning Off Pump... ")
pumpPower(OFF)
gv.systemMode = config.OFF
timer.clearPumpOffEvent()
return
def pumpOn(hours):
lcd.message("Turning on Pump... ")
pumpPower(ON)
timer.setPumpOffEvent(hours, 0)
gv.systemMode = config.MANUAL
return
def setup(menu_insert):
global menu
global counter
global funtion
global Kp
global Ki
global Kd
global change_set_point
#Values for plotting
xy_label = []
yy_label = []
x_label = []
list_point_x = []
list_point_y = []
#baterry
get_voltaje = battery()
#print(get_voltaje)
while get_voltaje < 180: #Value for low voltage
get_voltaje = battery()
lcd.message(" Low Battery", " Recharge")
#Setup menu in OLED display
if (menu == 0):
lcd.write("Control", "Prepare", "Setup", "OFF", True, counter)
elif (menu == 1): #Control
lcd.write("PID serie", "PID parallel", "GAME", "Back", True, counter)
elif (menu == 2): #Prepare
lcd.write("Pitch, Roll", "Show", "Height", "Back", True, counter)
elif (menu == 3): #Setup
lcd.write("Set PID S", "Set PID P", "Conection PC", "Back ", True,
counter)
elif (menu == 4): #Pitch and roll
lcd.write("Pitch(y)", "Roll(x)", "Pitch & Roll", "Back ", True,
counter)
elif (menu == 5): #show
lcd.write("Show camera", "Plotting", "", "Back", True, counter)
elif (menu == 6): #setup PID serie
lcd.write("Proportional", "Integral", "Derivative", "Back ", True,
counter)
elif (menu == 7): #setup PID parallel
lcd.write("Proportional", "Integral", "Derivative", "Back ", True,
counter)
elif (menu == 8): #show plot (yes/no)
lcd.write("", "", " Yes", " No ", True, counter)
if funtion == 1:
lcd.message(" PID", " Serie")
if funtion == 2:
lcd.message(" PID", " Paralell")
while funtion == 3: #GAMe
lcd.write(" Put the ball", " on the center", " with joystick", "",
False, counter)
values = camera.position(
show=False) #get position (x,y and ball on plate)
ball_on_plate = values[2]
if ball_on_plate == True:
for i in range(3):
lcd.message(" Ready?", " " + str(3 - i))
sleep(1)
lcd.message(" Go!", "")
while ball_on_plate == True:
position = joystick()
pitch = position[0]
roll = position[1]
values = camera.position(show=False)
x_position = values[0]
y_position = values[1]
ball_on_plate = values[2]
if x_position <= 10 and x_position >= -10 and y_position <= 10 and y_position >= -10:
lcd.message(" Winner!", " :)")
set_plataform([0, pitch, roll], [0, 0, 117])
if ball_on_plate == False:
lcd.message(" Looser!", " :(")
sleep(3)
#main funtions(case)
while funtion == 1 or funtion == 2: #Control PID Paralell and serial
for i in range(time_plot):
global area_x
global area_y
global error_anterior_x
global error_anterior_y
values = camera.position(
show=False) #get position (x,y and ball on plate)
x_position = values[0]
y_position = values[1]
ball_on_plate = values[2]
value_joystick = joystick()
value_change = value_joystick[0]
if value_change >= 6.5:
change_set_point = change_set_point + 1
sleep(0.1)
if change_set_point >= 7: change_set_point = 7
print("Set point :" + position_plataform[change_set_point])
if value_change <= -6.5:
change_set_point = change_set_point - 1
sleep(0.1)
if change_set_point < 0: change_set_point = 0
print("Set point :" + position_plataform[change_set_point])
if (funtion == 1): #Gain PID serie
Kp = 1
Ki = 0
Kd = 0
if (funtion == 2): #Gain PID parallel
Kp = 1.55
Ki = 0.22
Kd = 18
if change_set_point <= 6:
set_point_x = positions_x[change_set_point]
set_point_y = positions_y[change_set_point]
if change_set_point == 7:
if show_plot == False:
if i < (time_plot / 2):
side = "up"
if i >= (time_plot / 2):
side = "down"
i = time_plot - i
set_point_x = (time_plot / 2) - abs(i * 2)
set_point_y = set_circle((time_plot / 2) - abs(i * 2),
side)
else:
print("Turn off plotting, please")
#set_point_x=0
#set_point_y=0
error_x = set_point_x - x_position # x position error
error_y = set_point_y - y_position # y position error
if (integration_time.ticker > 1): #Integrative time
area_x = (error_x / DIV_KI) + area_x
area_y = (error_y / DIV_KI) + area_y
if (area_x > 5): area_x = 5
if (area_y > 5): area_y = 5
if (area_x < -5): area_x = -5
if (area_y < -5): area_y = -5
integration_time.ticker = 0
derivate_x = (error_x - error_anterior_x) / DIV_KD
derivate_y = (error_y - error_anterior_y) / DIV_KD
controller_px = (Kp * error_x / DIV_KP)
controller_ix = (Ki * area_x)
controller_dx = derivate_x * Kd
controller_py = (Kp * error_y / DIV_KP)
controller_iy = (Ki * area_y)
controller_dy = derivate_y * Kd
if (funtion == 1): #PID serie algorithm
pitch = controller_px * (controller_ix + 1) * (controller_dx +
1)
roll = controller_py * (controller_iy + 1) * (controller_dy +
1)
if (funtion == 2): #PID paralell algorithm
pitch = controller_px + controller_ix + controller_dx
roll = controller_py + controller_iy + controller_dy
if (pitch >= 6.5): pitch = 6.5
if (pitch <= -6.5): pitch = -6.5
if (roll >= 6.5): roll = 6.5
if (roll <= -6.5): roll = -6.5
x_platform = pitch
y_platform = -roll
if (ball_on_plate == True): #ball must be on plate
set_plataform([0, -pitch, roll], [x_platform, y_platform, 117])
print("X={}, Y={},".format(x_position, y_position))
else:
set_plataform([0, 0, 0], [0, 0, 117])
area_x = 0
area_y = 0
#print("X={}, Y={}, area_x{}, pitch{}".format(x_position,y_position,area_x,pitch))
#lcd.message(" X = {}".format(x_position)," Y = {}".format(y_position))
menu = 0
error_anterior_x = error_x
error_anterior_y = error_y
if show_plot:
xy_label = np.append(xy_label, x_position)
yy_label = np.append(yy_label, y_position)
x_label = np.append(x_label, i)
list_point_x = np.append(list_point_x, set_point_x)
list_point_y = np.append(list_point_y, set_point_y)
if show_plot:
plotting()
ax[0].plot(x_label, xy_label, "b", label="x position")
ax[0].plot(x_label, list_point_x, "r--", label="set point")
ax[1].plot(x_label, yy_label, "g", label="y position")
ax[1].plot(x_label, list_point_y, "r--", label="set point")
ax[0].legend(loc="upper right")
ax[1].legend(loc="upper right")
plt.show()
yy_label = []
xy_label = []
x_label = []
list_point_x = []
list_point_y = []
while funtion == 4: #Height
position = joystick()
height = position[1]
set_plataform([0, 0, 0], [0, 0, 116 + height])
lcd.message(" Height ",
"Length:{:.2f}".format(116 + height) + "mm")
menu = 2
while funtion == 5: #IP direction
ip_message = " Searching IP"
for i in range(4):
lcd.message(ip_message, "")
ip_message += "."
sleep(0.5)
ip = get_ip()
if ip is None:
lcd.message(" IP not found", "")
sleep(2)
while ip is not None and funtion == 5:
lcd.message(" IP Found:", " IP:{}".format(ip))
while (funtion == 6 or funtion == 7
or funtion == 8): # move Pitch and roll
position = joystick()
pitch = position[0]
roll = position[1]
if funtion == 6: #Pitch
set_plataform([0, pitch, 0], [0, 0, 117])
lcd.message(" Pitch ",
" Angle:{:.2f}".format(pitch) + "°")
elif funtion == 7: #Roll
set_plataform([0, 0, roll], [0, 0, 117])
lcd.message(" Roll ",
" Angle:{:.2f}".format(roll) + "°")
elif funtion == 8: #Pitch and roll
set_plataform([0, pitch, roll], [0, 0, 117])
lcd.message("Pitch = {:.2f}".format(pitch) + "°",
"Roll = {:.2f}".format(roll) + "°")
menu = 2
while funtion == 9 or funtion == 10 or funtion == 11:
lcd.message(" Funtion", " no supported".format(Kp))
counter_serial = 0 #Gains for Kp,Ki,Kd
while funtion == 15 or funtion == 16 or funtion == 17:
value_joystick = joystick()
selector = value_joystick[1]
if selector > 6: counter_serial = counter_serial + 0.01
elif selector < -6: counter_serial = counter_serial - 0.01
elif selector > -6 and selector < 6:
counter_serial = counter_serial + 0
if funtion == 15:
Kp = Kp + counter_serial
lcd.message("Proportional", " Kp={}".format(Kp))
if Kp == 1.55:
lcd.message("Proportional", " Kp={}".format(Kp) + "*Recom")
if funtion == 16:
Ki = Ki + counter_serial
lcd.message("Integral", " Ki={:.2f}".format(Ki))
if Ki == 0.22:
lcd.message("Integral", " Ki={}".format(Ki) + "*Recom")
if funtion == 17:
Kd = Kd + counter_serial
lcd.message("Derivative", " Kd={}".format(Kd))
if Kd == 18:
lcd.message("Derivative", " Kd={}".format(Kd) + "*Recom")
while funtion == 14:
values = camera.position(show=True)
lcd.message(" CAMERA", "")
menu = 5
while funtion == 18:
os.system("exit")
sleep(0.5)
lcd.message(" Bye Bye", " ;)")
sleep(1)
lcd.message(" Made by:", " Jorge Gutierrez")
sleep(3)
lcd.message("", "")
os.system("sudo init 0") #Turn off raspberry
cv2.destroyAllWindows()
# Torrent Operating boX's Integrated Client (TOXIC)
from os import system as sys
from time import sleep
from transmission import Transmission
import lcd
lcd = lcd.lcd()
lcd.begin(16,2)
lcd.clear()
sys("service transmission-daemon start")
lcd.clear()
lcd.message("Booting to TOXIC\nT- seconds left")
for i in range(5,0,-1):
lcd.setCursor(2,1)
lcd.message(str(i))
sleep(1)
# Enter specific details here
client = Transmission(host='IP_ADDRESS', port=PORT, username='******', password='******')
lcd.clear()
lcd.message("TOX: __d __s __p\nUp:____|Dwn:____")
def adjust(speed):
speed = int(speed)/1024
if speed < 1000 :
speed = str(str(speed)+'K').rjust(4)
else :
speed = str(float(speed)/1024)
password = sys.argv[2]
mailmanager = Mailmanager(login, password)
mail = mailmanager.mail
lcd.lcd_init()
log("Control Server started\n")
try :
state = 'off'
GPIO.output(config.backlightPin, False)
lcd.home()
lcd.message('Message service', style=2)
lcd.lcd_byte(lcd.LCD_LINE_2, lcd.LCD_CMD)
lcd.message('started', style=2)
time.sleep(3)
while True:
lcd.clear()
time.sleep(.1)
if config.verbose: log('Checking messages...')
lcd.lcd_byte(lcd.LCD_LINE_1, lcd.LCD_CMD)
lcd.message("Checking", style=2)
lcd.lcd_byte(lcd.LCD_LINE_2, lcd.LCD_CMD)
lcd.message("messages", style=2)
time.sleep(3)
number = 0
try :
def off(self) :
lcd.home()
lcd.message("OFF command")
GPIO.output(config.lightsPin, False)
time.sleep(config.displayTime)
def on(self) :
lcd.clear()
lcd.message("ON command")
GPIO.output(config.lightsPin, True)
time.sleep(config.displayTime)
