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()