def right_forward():
turn.home()
print("turn right")
turn.turn_right()
motor.forwardWithSpeed(spd=100)
time.sleep(1)
motor.stop()
turn.home()
def left_forward():
print("turn left")
turn.home()
turn.turn_left()
motor.forwardWithSpeed(spd=100)
time.sleep(1)
motor.stop()
turn.home()
def forward(self, speed=None):
if speed is None:
motor.forward()
else:
motor.forwardWithSpeed(int(speed))
return self.ack()
def mover():
#Init variables for the control loop
counter = 1
bDriving = False
bEndLoops = False
sRobotDirection = Direction()
rospy.init_node('mover', anonymous=True)
rospy.Subscriber("motioncommand", String,
sRobotDirection.direction_callback)
scooper_dir.setup(busnum=busnum)
car_dir.setup(busnum=busnum)
# Initialize the Raspberry Pi GPIO connected to the DC motor.
motor.setup(busnum=busnum)
#video_dir.home_x_y()
#scooper_dir.servo_test ()
car_dir.home()
# Loop to wait for received commands.
while (bEndLoops == False):
# Loop to perform movement controls while input received.
while (bEndLoops == False):
data = sRobotDirection.directionMsg
# Analyze the command received and control the car accordingly.
#doAction (data, counter)
#counter += 1
#print counter
if not data:
break
if data == ctrl_cmd[0]:
print 'ELFF WILL DRIVE'
counter += 1
print counter
try:
spd = 20
#print "Moving forward with speed!"
motor.forwardWithSpeed(spd)
except:
print 'Error speed =' + str(spd)
elif data == ctrl_cmd[1]:
print 'ELFF WILL REVERSE'
counter += 1
print counter
try:
spd = 20
#print "Moving backward with speed!"
motor.backwardWithSpeed(spd)
except:
print 'Error speed =' + str(spd)
elif data == ctrl_cmd[2]:
print 'ELFF WILL GO LEFT'
counter += 1
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print 'ELFF WILL GO RIGHT'
counter += 1
car_dir.turn_right()
elif data == ctrl_cmd[4]:
print 'ELFF WILL SCOOP'
scooper_dir.home_x_y()
scooper_dir.doScoop()
scooper_dir.home_x_y()
# Used with publisher.py only as a debug method.
elif data == ctrl_cmd[5]:
print 'ELFF WILL RESET POSITION'
scooper_dir.home_x_y()
car_dir.home()
motor.ctrl(0)
bEndLoops = True
elif data == ctrl_cmd[6]:
print 'ELFF WILL STOP'
counter += 1
print counter
try:
spd = 0
motor.forwardWithSpeed(spd)
except:
print 'Error speed =' + str(spd)
else:
print 'Waiting to receive a command...'
def forward():
turn.home()
print("go forward")
motor.forwardWithSpeed(spd=100)
time.sleep(1)
motor.stop()
spd = 24
motor.setSpeed(spd)
elif data[0:5] == 'turn=': #Turning Angle
print('data =', data)
angle = data.split('=')[1]
try:
angle = int(angle)
car_dir.turn(angle)
except:
print('Error: angle =', angle)
elif data[0:8] == 'forward=':
print('data =', data)
spd = data[8:]
try:
spd = int(spd)
motor.forwardWithSpeed(spd)
except:
print('Error speed =', spd)
elif data[0:9] == 'backward=':
print('data =', data)
spd = data.split('=')[1]
try:
spd = int(spd)
motor.backwardWithSpeed(spd)
except:
print('ERROR, speed =', spd)
else:
print('Command Error! Cannot recognize command: ' + data)
tcpSerSock.close()
else:
print(data)
if '1' in re.findall('1', data): #find voice1 command in burst data
print('tts command received')
motor.stop()
print('tts speaching')
tts_guide(corpus[0])
elif '2' in re.findall('2', data): #find voice2 command in burst data
print('tts command received')
motor.stop()
print('tts speaching')
tts_guide(corpus[1])
if data == "Forward-Right":
motor.forwardWithSpeed(70)
car_dir.turn_right()
elif data == "Forward-Left":
motor.forwardWithSpeed(70)
car_dir.turn_left()
motor.forward()
elif data == "Forward":
car_dir.home()
motor.forwardWithSpeed(70)
elif data == "Home":
car_dir.home()
motor.stop()
elif data == "Stop" or "Stop" in re.findall("Stop", data):
motor.stop()
motor_socket.close()
# client socket for the subsequent communication. By default, the function accept() is a blocking
# one, which means it is suspended before the connection comes.
tcpCliSock, addr = tcpSerSock.accept()
print(
'...connected from :',
addr) # Print the IP address of the client connected with the server.
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
break
if data == ctrl_cmd[0]:
print('motor moving forward')
motor.forwardWithSpeed()
elif data == ctrl_cmd[1]:
print('recv backward cmd')
motor.backwardWithSpeed()
elif data == ctrl_cmd[2]:
print('recv left cmd')
car_dir.turn_left()
elif data == ctrl_cmd[3]:
print('recv right cmd')
car_dir.turn_right()
elif data == ctrl_cmd[6]:
print('recv home cmd')
car_dir.home()
elif data == ctrl_cmd[4]:
print('recv stop cmd')
motor.ctrl(0)
def motor_run(self, speed=35):
motor.forwardWithSpeed(speed)