def addLCDScreen(self, arg0, arg1, arg2, arg3, arg4, arg5, arg6):
# the arguments in order are pin_rs, pin_e
self.__LCD = CharLCD(arg0, arg1, arg2, arg3, arg4, arg5, arg6) # Add and initialize the LCD screen
self.__LCD.begin(16,2) # Specify the dimensions of the screen (row,col)
self.__isset_LCD = True # Set the variable so the rest of the software knows there is a LCD connected
class Robot(object):
__leftWheels = []
__rightWheels = []
__IRLEDs = []
# Boolean set variables
__isset_LCD = False
def __init__(self, arg0):
print "Configuring Robot"
# arg0 is a dictionary, which means it is a list with keys and values (key:value, key:value, ...)
# the key is the type of peripheral is plugged into the board
# the value is the pin number it is plugged into
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
for key, value in arg0:
if key == "LEFTWHEEL":
self.__leftWheels.append(value)
continue
if key == "RIGHTWHEEL":
self.__rightWheels.append(value)
continue
if key == "IRLED":
self.__IRLEDs.append(value)
continue
GPIO.setup(3, GPIO.IN) #Right sensor connection
GPIO.setup(16, GPIO.IN, pull_up_down=GPIO.PUD_UP) #Left sensor connection
# Move Function (forward and back)
def move(self, arg0, arg1):
print "move"
# arg0 is speed
# arg1 is time (optional)
def turn(self, arg0, arg1):
print "turn"
# arg0 is change in degree (positive is clockwise, negative is counterclockwise)
# arg1 is speed at which to pivot
def moveDistance(self, arg0):
print "move distance"
# arg0 is distance in feet
#############################################################
# IR LED Collision Detection Methods
#############################################################
def checkForCollisionLR(self, arg0, arg1):
# check for collision among two left/right or front/back IR LEDs
i=GPIO.input(arg0) #Reading output of right IR sensor
j=GPIO.input(arg1) #Reading output of left IR sensor
if i==0: #Right IR sensor detects an object
print("Obstacle detected on Left",i)
return -1
time.sleep(0.1)
elif j==0: #Left IR sensor detects an object
print ("Obstacle detected on Right",j)
return 1
time.sleep(0.1)
else:
return 0
def checkForCollision(self):
# check for collision among a list of IR LEDs
if len(self.__IRLEDs) == 0: # If no IR LEDs are set then display an warning
print "Warning: Checking for collision but no IR LEDs are set!"
for x in self.__IRLEDs:
if GPIO.input(x)==i:
print("Obstacle detected with LED on Pin %s" % arg0[i.index(x)])
return arg0[i.index(x)]
time.sleep(0.1)
return 0
#############################################################
# LCD Display Methods
#############################################################
def addLCDScreen(self, arg0, arg1, arg2, arg3, arg4, arg5, arg6):
# the arguments in order are pin_rs, pin_e
self.__LCD = CharLCD(arg0, arg1, arg2, arg3, arg4, arg5, arg6) # Add and initialize the LCD screen
self.__LCD.begin(16,2) # Specify the dimensions of the screen (row,col)
self.__isset_LCD = True # Set the variable so the rest of the software knows there is a LCD connected
def writeToLCD(self, arg0):
# Write a string (arg0) to the LCD display
# The newline character (\n) separates the lines
if self.__isset_LCD == False:
print "Error: Can not write to LCD because there is no LCD configured"
return 0
self.__LCD.clear() # Clear the display before showing anything
self.__LCD.message(arg0)
def clearLCD(self):
if self.__isset_LCD == False:
print "Error: Can not clear LCD because there is no LCD configured"
return 0
self.__LCD.clear()
