import sys import atexit import os import profile count=1 speed=0 steer=0 timer=0 deltaL=0 deltaR=0 encoder=Encoder() navigation=Navigation() scanner=Scanner() karte=Karte(encoder) plan=Plan() kreis=0 motor=Motor() grid=Grid(50,50) logic=Logic() manuell=Manuell() json=Json() weggeber=Weggeber() grid.setZielInGrid(35,20) grid.setStartInGrid(1,1) karte.setRoboPosZero(0,0) plan.setGlobalZiel(150,0) def cleaning():
from Encoder import * import Kompass from Karte import * from Plan import * from Motor import * from Grid import * import sys import atexit count = 1 speed = 0 steer = 0 encoder = Encoder() navigation = Navigation() scanner = Scanner() karte = Karte(encoder) plan = Plan() kreis = 0 motor = Motor() grid = Grid(50, 50) grid.setZielInGrid(15, 49) grid.setStartInGrid(15, 1) karte.setRoboPosZero(150, 150) def cleaning(): """Do cleanup at end, command are visVersa""" motor.setCommand(0, 0)
#Robo Main Robo=True from Scanner import * from Encoder import * import Kompass from Karte import * from Plan import * from Motor import * karte=Karte() navigation=Navigation() scanner=Scanner() plan=Plan(karte,navigation) encoder=Encoder() motor=Motor() ThreadScanAllTime=Thread(target=scanner.runAllTime, args=(1,)) ThreadScanAllTime.daemon=True ThreadScanAllTime.start() ThreadEncoder=Thread(target=encoder.runAllTime,args=()) ThreadEncoder.daemon=True ThreadEncoder.start() while Robo==True: obstacles=scanner.getNewDistValues() karte.updateObstacles(obstacles)
from Karte import * from Motion import * from Weggeber import * from SMBUSBatt import * from Pathplaning import * from Scanner import * from math import * import pickle from Avoid import * from Transmit import * from Planer import * manuell = Manuell() motion = Motion() battery = SMBUSBatt() karte = Karte() weggeber = Weggeber() pathplaning = Pathplaning() scanner = Scanner() avoid = Avoid() transmit = Transmit() pumper = Pumper() planer = Planer(avoid, karte) ThreadEncoder = Thread(target=manuell.runManuell, args=()) ThreadEncoder.daemon = True ThreadEncoder.start() theta_goal = 180 x_goal = 0 y_goal = 70
#Robo Main Robo = True from Scanner import * from Encoder import * import Kompass from Karte import * from Plan import * from Motor import * karte = Karte() navigation = Navigation() scanner = Scanner() plan = Plan(karte, navigation) encoder = Encoder() motor = Motor() ThreadScanAllTime = Thread(target=scanner.runAllTime, args=(1, )) ThreadScanAllTime.daemon = True ThreadScanAllTime.start() ThreadEncoder = Thread(target=encoder.runAllTime, args=()) ThreadEncoder.daemon = True ThreadEncoder.start() while Robo == True: obstacles = scanner.getNewDistValues() karte.updateObstacles(obstacles) deltaDist = encoder.getDistCounts()
def loop(): global inCmd print() inCmd = input('Numpad j/n : ') Numpad(inCmd) if os.path.exists("/home/pi/Code/Git/RasPi/Code/Numpad"): print("# = Diese Liste") print("* = beenden") print("A = Taschenrechner") print("B = Dez-Bin-Hex-Rechner") print("C = GUI") print("1 = wuerfeln (16-seitig)") print("2 = Zeit anzeigen") print("3 = Display CPU-Temp") print("4 = 'snake'") print("5 = 'snake-game'") print("6 = 'matrix'") print("7 = matrix2'") print("8 = random Punkt") print("9 = 'Bislschirmschoner'") print("0 = Karte ziehen") while True: keypad = Keypad.Keypad(keys, rowsPins, colsPins, ROWS, COLS) keypad.setDebounceTime(50) key = keypad.getKey() try: if (key == '1'): wurf.zufall() elif (key == '2'): print(time_pr.time_wert()) time_pr.Time() elif (key == '3'): temp.cpu_temp() elif (key == '4'): snake.snakeL() elif key == '5': try: snake_game.main() except: print('Spiel beendet.') pass elif (key == '6'): matrix.matrix() elif key == '7': matrix2.matrixx() elif key == '8': random_dot.Dot() elif key == '9': random_dot2.main() elif key == '0': Karte.main() elif key == 'A': TR.main() elif key == 'B': bin_hex.main() elif key == 'C': GUI.main() break elif key == '*': destroy() break elif (key == '#'): print("# = Diese Liste") print("* = beenden") print("A = Taschenrechner") print("B = Dez-Bin-Hex-Rechner") print("C = GUI") print("1 = wuerfeln (16-seitig)") print("2 = Zeit anzeigen") print("3 = Display CPU-Temp") print("4 = 'snake'") print("5 = 'snake-game'") print("6 = 'matrix'") print("7 = matrix2'") print("8 = random Punkt") print("9 = 'Bislschirmschoner'") print("0 = Karte ziehen") except: print('Ein Fehler ist aufgetreten!') pass elif os.path.isfile("home/pi/Code/Git/RasPi/Code/Numpad") == False: print("'quit' = beenden") print("'wurf' = wuerfeln (16-seitig)") print("'time' = Zeit anzeigen") print("'temp' = Display CPU-Temp") print("'snake'") print("'snake-game' ---- WIP -----") print("'matrix'") print("'matrix2'") print("'random' = random Punkt") print("'random2' = 'Bilschrimschoner'") print("'TR' = Taschenrechner ----WIP----") print("'bin_hex' = Dez-Bin-Hex-Rechner ----WIP----") print("'karte' = Karte ziehen") try: while True: inCmd = input() if inCmd == "wurf": wurf.zufall() elif (inCmd == "time"): print(time_pr.time_wert()) time_pr.Time() elif (inCmd == "snake"): snake.snakeL() elif (inCmd == "matrix"): matrix.matrix() elif (inCmd == 'temp'): temp.cpu_temp elif (inCmd == 'matrix2'): matrix2.matrixx ## elif inCmd == 'snake-game': ## snake_game.main() elif inCmd == 'random': random_dot.Dot() elif inCmd == 'random2': random_dot2.main() elif inCmd == 'TR': TR.main() elif inCmd == 'gui': GUI.main() elif inCmd == 'karte': Karte.main elif inCmd == 'rechner': bin_hex.main() elif inCmd == 'quit' or 'beenden': destroy() break else: print('Befehl nicht erkannt') except: print('Ein Fehler ist aufgetreten!')