def get_dist() :
'''Get the distance
Returns:
Distance in cm
'''
output (PIN_TRIGGER, False)
sleep (DELAY_SETUP)
output (PIN_TRIGGER, True)
sleep (DELAY_EXEC)
output (PIN_TRIGGER, False)
while not input (PIN_ECHO):
pulse_start = time()
while input (PIN_ECHO):
pulse_end = time()
distance = (pulse_end - pulse_start) * CM_CONVERTOR
distance = round (distance, 2)
if not MIN_DIST < distance < MAX_DIST:
distance = 0
return distance
def loop():
'''Infinity loop
Setup the trigger
get the echo
calculate and prints distance
prints out of range if the distance is incorrect
'''
pulse_start = 0
pulse_end = 0
while True:
output(PIN_TRIGGER, False)
sleep(TIMESTAMP_SETUP)
output(PIN_TRIGGER, True)
sleep(TIMESTAMP_EXEC)
output(PIN_TRIGGER, False)
while not input(PIN_ECHO):
pulse_start = time()
while input(PIN_ECHO):
pulse_end = time()
distance = (pulse_end - pulse_start) * CM_CONVERTOR
distance = round(distance, 2)
distance -= 0.5
if 2 < distance < 250:
print("Distance: ", distance, "cm")
else:
print("Out Of Range (", distance, ")")
def loop():
for foo in camera.capture_continuous(stream,
format='bgr',
resize=(640, 480),
use_video_port=True):
#TODO: check mph and if off by a bit accelerate/decelerate
#TODO: write clean acceleration and breaking methods to import from another file. maybe have varying degrees of acceleration or breaking.
#to read in mph: need try except because arduino sometimes gives null values
# try:
# if ser.readline().split()[1] < 2 & braking == False:
# thr.start()
# except:
# pass
if input(brake_pin):
global braked
if not braked:
print "breaking"
dobrake(speed=1000, time_on=1.5)
braked = True
kill()
stream.truncate()
stream.seek(0)
#TODO: disengage accelerator motor
continue
ret3, frame = threshold(
bilateralFilter(cvtColor(stream.array, COLOR_BGR2GRAY), 12, 70,
70), 0, 255, THRESH_BINARY + THRESH_OTSU)
edges = Canny(frame, 1000, 1000, 5)
lines = HoughLines(edges, 1, pi / 180, 100)
if lines is None:
kill()
stream.truncate()
stream.seek(0)
continue
thetas = array([theta for rho, theta in lines[0]])
theta_filtered = thetas[where((thetas >= 0) & (thetas <= pi))]
#use list of thetas to figure out degrees to turn
if (average(theta_filtered) < half):
radians_to_turn = half - average(thetas)
print "turning %d degrees right" % degrees(radians_to_turn)
turn(degrees(radians_to_turn), dir=True)
else:
radians_to_turn = average(thetas) - half
print "turning %d degrees left" % degrees(radians_to_turn)
turn(degrees(radians_to_turn), dir=False)
stream.truncate()
stream.seek(0)
""" Send string to LCD. Newline wraps to second line"""
for char in text:
if char == '\n':
self.write4bits(0xC0) # next line
else:
self.write4bits(ord(char), True)
lcd = Adafruit_CharLCD()
lcd.begin(16, 1)
INTERVAL = 3
DELAY = 60 / INTERVAL
countdown = DELAY
tzinfo = timezone('US/Eastern')
while True:
lcd.clear()
cmd = "ip addr show eth0 | grep inet | awk '{print $2}' | cut -d/ -f1"
p = Popen(cmd, shell=True, stdout=PIPE)
ipaddr = p.communicate()[0].split('\n')[0]
lcd.message(datetime.now(tzinfo).strftime('%b %d %H:%M:%S\n'))
lcd.message('IP %s' % (ipaddr))
if input(18):
countdown = DELAY
else:
countdown -= 1
if countdown == 0:
os.system('shutdown -h now')
sleep(INTERVAL)
for char in text:
if char == '\n':
self.write4bits(0xC0) # next line
else:
self.write4bits(ord(char), True)
lcd = Adafruit_CharLCD()
lcd.begin(16, 1)
INTERVAL = 3
DELAY = 60 / INTERVAL
countdown = DELAY
tzinfo = timezone('US/Eastern')
while True:
lcd.clear()
cmd = "ip addr show wlan0 | grep inet | awk '{print $2}' | cut -d/ -f1"
p = Popen(cmd, shell=True, stdout=PIPE)
ipaddr = p.communicate()[0].split('\n')[0]
lcd.message(datetime.now(tzinfo).strftime('%b %d %H:%M:%S\n'))
lcd.message(ipaddr)
if input(18):
countdown = DELAY
else:
countdown -= 1
if countdown == 0:
os.system('shutdown -h now')
sleep(INTERVAL)
def state(self):
return input(self.gpio)
