def sample():
global previous
while not done:
average = [sum([x[i] for x in samples]) for i in range(4)]
#print average
new = average[:3]
control.move(previous, new, average[3], DELAY)
previous = new
time.sleep(DELAY)
def sample():
global previous
while not done:
average = [sum([x[i] for x in samples]) for i in range(4)]
#print average
new = average[:3]
control.move(previous, new, average[3], DELAY)
previous = new
time.sleep(DELAY)
def motorControl(x, y):
# TODO utilisez la fonction ct.move pour déplacer la caméra
sx = x - size[0] / 2
sy = y - size[1] / 2
#normalize
sx = sx / size[0]
sy = sy / size[1]
# vitesse entre -3 et 3
sx = sx * 30
sy = sy * 30
print("vitesse ", sx, sy)
ct.move(sx, sy)
pass
def ajax():
arrow = request.forms.get("arrow")
stop_key = (87, 83, 65, 68)
if int(arrow) == 119:
control.move('w', 0.3)
if int(arrow) == 115:
control.move('s', 0.3)
if int(arrow) == 100:
control.move('d', 0.3)
if int(arrow) == 97:
control.move('a', 0.3)
if int(arrow) in stop_key:
print('STOP')
import pin
import control
import time
pin.load("config1.json")
control.load("config1.json")
control.move(80, 60)
time.sleep(3)
control.move(-100, 90)
time.sleep(3)
# reset the GPIOs
pin.cleanup()
(contours, _) = cv2.findContours(mask, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
#print len(contours)
if len(contours) > 0:
c = max(contours, key=cv2.contourArea)
M = cv2.moments(c)
center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"])
) #has a chance to raise ZeroDivisionError
cv2.circle(frame, center, 5, (255, 0, 0), -1)
area = cv2.contourArea(c)
print area,
if area > 200:
if center[0] < 320 * 43 / 100:
control.move('j', 0.01)
print 'Left'
elif center[0] > 320 * 57 / 100:
control.move('k', 0.01)
print 'Right'
else:
control.move('w', 0.05)
print 'Straight'
else:
print 'stop'
result = cv2.bitwise_and(frame, frame, mask=mask)
cv2.imshow("result", result)
if cv2.waitKey(1) & 0xFF == ord("q"):
break
except ZeroDivisionError:
def moveTo(left,right):
print(left,right)
control.move(int(left),int(right))
return ''
"""
file = open("index.html","r")
CONTENT += file.read()
ai = socket.getaddrinfo("192.168.4.1",8080)
addr = ai[0][4]
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.bind(addr)
s.listen(5)
control.setup()
while True:
res = s.accept()
client_s = res[0]
client_addr = res[1]
print("Client address:", client_addr)
print("Client socket:", client_s)
print("Request:")
req = client_s.recv(4096)
print(req)
parts = req.decode('ascii').split(' ')
if len(parts) > 1:
if parts[1] == '/control':
client_s.close()
values = req.decode('ascii').split('dataforcontrol')[1].split(',')
control.move(int(values[0]),int(values[1]),int(values[2]))
continue
client_s.send(bytes(CONTENT, "utf-8"))
client_s.close()
def movement(x):
control.move(x)
def wonder(sentence):
print(sentence)
for word in sentence:
if word == '跑':
control.move('w', 1)
elif word == '前':
control.move('w', 0.3)
elif word == '進':
control.move('w', 0.3)
elif word == '左':
control.move('a', 0.3)
elif word == '右':
control.move('d', 0.3)
elif word == '後':
control.move('s', 0.3)
elif word == '圈':
control.move('j', 1)
sleep(0.1)
control.move('k', 1)
def moveTo(left, right):
print(left, right)
control.move(int(left), int(right))
with open(filename, "r") as file:
return file.read()
iPart = 0
pPart = pFactor * delta
left = workingPoint + pPart + iPart
left = max(min(left, 100), 0)
return left, delta
def counter(channel):
global lastTime, velocity
if lastTime != 0:
delta = (time.time() - lastTime) * 1000
velocity = 1 / delta
lastTime = time.time()
# setup the event
GPIO.add_event_detect(4, GPIO.BOTH, callback=counter)
i = 0
while i < 1000:
time.sleep(0.001)
left, delta = controller(setPoint) # setpoint
control.move(left, 0)
count += 1
if count > 100:
count = 0
print(left, velocity, setPoint, delta, iPart)
i += 1
pin.cleanup()
elif event.type == KEYDOWN and event.key == K_d:
motorRight += 10
motorLeft -= 10
elif event.type == KEYDOWN and event.key == K_a:
motorRight -= 10
motorLeft += 10
elif event.type == KEYDOWN:
motorRight = 0
motorLeft = 0
# turn back the wheels to straight direction
if (motorLeft > motorRight):
motorLeft -= 1
motorRight += 1
if (motorLeft < motorRight):
motorLeft += 1
motorRight -= 1
# set borders
motorLeft = min(motorLeft, 100)
motorLeft = max(motorLeft, -100)
motorRight = min(motorRight, 100)
motorRight = max(motorRight, -100)
# real movement
print(motorLeft, motorRight)
control.move(motorLeft, motorRight)
# reset the GPIOs
pin.cleanup()
import control
import time
import RPi.GPIO as GPIO
pin.load("config1.json")
control.load("config1.json")
lastTime = 0
count = 0
# define the function
def counter(channel):
global lastTime, count
if (count == 0):
lastTime = int(round(time.time() * 1000))
print(time.time())
count += 1
if (count >= 40):
delta = int(round(time.time() * 1000)) - lastTime
print(count / delta, count, delta)
count = 0
# setup the event
GPIO.add_event_detect(4, GPIO.BOTH, callback=counter)
control.move(100, 0)
time.sleep(5)
pin.cleanup()