import gpiozero
import numpy as np
import cwiid
steering = gpiozero.AngularServo(18, min_angle=-60, max_angle=60)
drive = gpiozero.Motor(17, 21, enable=None, pwm=True, pin_factory=None)
wii = cwiid.Wiimote()
wii.rpt_mode = cwiid.RPT_BTN | cwiid.RPT_ACC
def steer(angle):
if np.absolute(angle) < 5:
angle = 0
steering.angle = angle
def drive(speed):
if np.absolute(speed) < 0.15:
drive.stop()
elif speed < 0:
drive.backward(abs(speed))
else:
drive.forward(speed)
while True:
steer(np.clip(np.interp(wii.state["acc"][cwiid.X] - 95), 0, 50, -50, 50),
-60, 60)
drive(np.clip(np.interp(wii.state["acc"][cwiid.Y] - 95), 0, 50, -1, 1), -1,
1)
def move(self, angle=None, speed=0):
'''Moves the servo to angle [deg] at speed [deg/s].'''
if self.angle is None or angle is None or speed == 0:
self.angle = angle
return
begin, end = int(self.angle), angle
for a in range(begin, end + 1, 2 * (begin < end) - 1):
self.angle = a
time.sleep(1 / speed)
if not dry_run:
gpiozero.AngularServo.move = move
servo = gpiozero.AngularServo(4,
min_angle=0,
max_angle=90,
initial_angle=None,
pin_factory=PiGPIOFactory())
switch = gpiozero.Button(27)
breakwire = gpiozero.Button(22)
switch.when_pressed = lambda: set_position(90)
switch.when_released = lambda: set_position(0)
breakwire.when_released = lambda: stop(True)
LED = gpiozero.RGBLED(24, 23, 18)
position = None
shutdown = False # whether to shut down after exit. Var will be set by function call
shutdown_hook = None # hacky global to store the server shutdown function in at the soonest request
project_dir = '/home/pi/Documents/SRP_RI/'
def stop(_shutdown=False):
while symb != '}' and j < len(resp):
symb = resp[j]
score += symb
j += 1
symb = resp[j]
results[keyword] = float(score)
score = ''
keyword = ''
i = j
i += 1
parse_text(response.text)
servo1 = gpiozero.AngularServo(17, min_angle=-90,
max_angle=90) #right platform servo
servo1.angle = 0
servo2 = gpiozero.AngularServo(18, min_angle=-90,
max_angle=90) #left platform servo
servo2.angle = 0
sensor = gpiozero.MotionSensor(4)
led = gpiozero.LED(14)
"""while True:
if sensor.motion_detected():
led.on()
#photo
querystring = {"url":"https://external-content.duckduckgo.com/iu/?u=http%3A%2F%2F1.bp.blogspot.com%2F_Od0_3vFBzHY%2FTJechRB6evI%2FAAAAAAAAAAM%2F3PKnboxFuTU%2Fs1600%2FPlasticBottle-PET.jpg&f=1&nofb=1"}
response = requests.request("GET", url, headers=headers, params=querystring)
if "Bottle" in results.keys() and "Plastic" in results.keys():
servo1.angle = -90
def go_to_angle():
servo = gz.AngularServo(17, min_angle=-90, max_angle=90)
while True:
angle = int(input("Enter an integer for angle: "))
servo.angle = angle
import VL53L0X
tof = VL53L0X.VL53L0X()
tof.start_ranging(
1) # Start ranging, 1 = Short Range, 2 = Medium Range, 3 = Long Range
#right_motor = gpiozero.PhaseEnableMotor(13, 6)
#left_motor = gpiozero.PhaseEnableMotor(26, 19)
right_motor = gpiozero.PhaseEnableMotor(9, 10)
left_motor = gpiozero.PhaseEnableMotor(22, 27)
panangle = 0
tiltangle = 0
pan_servo = gpiozero.AngularServo(21)
tilt_servo = gpiozero.AngularServo(26)
pan_servo.angle = panangle
tilt_servo.angle = tiltangle
#pantilthat.pan(panangle)
#pantilthat.tilt(tiltangle)
running = True
while running:
try:
# Get a joystick
with ControllerResource() as joystick:
# Loop until we're disconnected
while joystick.connected:
# Check joystick
curses.cbreak()
screen.keypad(True)
if __name__=="__main__":
pinNumber1 = 17
pinNumber2 = 27
initialAngle = 0
minAngle = -90
maxAngle = 90
min_pulse_width = 500/1e6
max_pulse_width = 2400/1e6
servo1 = gpiozero.AngularServo(pinNumber1,
initialAngle,
minAngle,
maxAngle,
min_pulse_width,
max_pulse_width)
servo2 = gpiozero.AngularServo(pinNumber2,
initialAngle,
minAngle,
maxAngle,
min_pulse_width,
max_pulse_width)
def get_jacobian(q):
l1 = 1
l2 = 1
import gpiozero
import time
if __name__=="__main__":
pinNumber = 17
initialAngle = 0
minAngle = -90
maxAngle = 90
min_pulse_width = 500/1e6
max_pulse_width = 2400/1e6
servo = gpiozero.AngularServo(pinNumber,
initialAngle,
minAngle,
maxAngle,
min_pulse_width,
max_pulse_width)
servo.angle = -90
# Show the range
while servo.angle < 90:
servo.angle += 1
time.sleep(.01)
while servo.angle > -90:
servo.angle -= 1
time.sleep(.01)
while True:
angle = input("Enter an angle between -90 and 90 ")
import gpiozero as zero
from time import sleep
big = 100
lil = 0
mid = int((big - lil) * (2 / 5))
servo = zero.AngularServo(17, min_angle=lil, max_angle=big)
while True:
servo.angle = big
sleep(1)
print("big")
servo.angle = mid
sleep(1)
print("mid")
servo.angle = lil
sleep(1)
print("lil")
import gpiozero as gpio
from time import sleep
import sys
led = gpio.LED(17)
pir = gpio.MotionSensor(4)
buzzer = gpio.Buzzer(27)
servo = gpio.AngularServo(22,min_angle=-90,max_angle=90)
sensor = gpio.DistanceSensor(echo = 18, trigger = 13)
def turnOn():
led.on()
sleep(10)
print('Light was on, it just turned off')
def turnOff():
led.off()
print('Light is now off')
def servoMovement(angle):
angle = int(angle)
servo.angle = angle
sleep(3 )
print('Servo Moved')
def buzz():
buzzer.on()
sleep(10)
print('buzzzz')
def noBuzz():
import gpiozero as gpio
#max and min
MAXANGLE = 1
MINANGLE = -1
#pin numbers are temporary - change as needed
#angle values are temporary - change as needed
#INIT SERVOS
servos = [gpio.AngularServo(21, initial_angle=-50), gpio.AngularServo(20, initial_angle=-12), gpio.AngularServo(4, initial_angle=90), gpio.AngularServo(5, initial_angle=-27), gpio.AngularServo(6, initial_angle=-19), gpio.AngularServo(12, initial_angle=-10)]
angles = [(-50,-26), (-35,-12), (50,90), (-45,-27), (-35,-19), (-45,-10)]
#returns list of angle values in order servos are defined
def state():
s = []
for i in servos:
s.append(i.angle)
return s
#param string of type integer is which string is to be picked
#does gpio wait until completion? - if not, we have to manually add delays
#return angle servo is set to
def pick(string):
s = state()[string]
ang = angles[string]
if s == ang[0]:
def __init__(self):
#self.pan_servo = gpiozero.AngularServo(21)
#self.tilt_servo = gpiozero.AngularServo(26)
#self.right_motor = gpiozero.PhaseEnableMotor(9, 10)
#self.left_motor = gpiozero.PhaseEnableMotor(22, 27)
self.second_servo = gpiozero.AngularServo(22)
self.first_servo = gpiozero.AngularServo(12,min_angle=-90,max_angle=90)
self.fan_servo = gpiozero.AngularServo(20)
self.fan_servo.angle = 90
self.servo_off()
self.first_angle = 0
self.second_angle = 0
M1DIR = 27
M1PWM = 13
M2DIR = 6
M2PWM = 5
# self.right_motor = gpiozero.PhaseEnableMotor(M1DIR, M1PWM)
# self.left_motor = gpiozero.PhaseEnableMotor(M2DIR, M2PWM)
# self.right_motor.stop()
# self.left_motor.stop()
self.right_pwm = gpiozero.PWMOutputDevice(M1PWM)
self.right_dir = gpiozero.OutputDevice(M1DIR)
self.left_pwm = gpiozero.PWMOutputDevice(M2PWM)
self.left_dir = gpiozero.OutputDevice(M2DIR)
self.battery()
self.temperature()
try:
# Create a VL53L0X object
self.tof = VL53L0X.VL53L0X()
# Start ranging
# tof.start_ranging(VL53L0X.Vl53l0xAccuracyMode.BETTER)
self.tof.start_ranging(VL53L0X.VL53L0X_HIGH_SPEED_MODE)
self.timing = self.tof.get_timing()
if self.timing < 20000:
self.timing = 20000
print("Timing %d ms" % (self.timing/1000))
self.hasTOF = True
except:
print("Problem init TOF")
self.hasTOF = False
# Raspberry Pi configuration with serial UART and RST connected to GPIO 18:
self.bno = BNO055.BNO055(serial_port='/dev/serial0', rst=7)
while True:
try:
self.bno.begin()
break
except KeyboardInterrupt:
# CTRL+C exit, disable all drives
return
except:
print("BNO Error")
#raise RuntimeError('Failed to initialize BNO055! Is the sensor connected?')
# Print BNO055 software revision and other diagnostic data.
sw, bl, accel, mag, gyro = self.bno.get_revision()
print('Software version: {0}'.format(sw))
print('Bootloader version: {0}'.format(bl))
print('Accelerometer ID: 0x{0:02X}'.format(accel))
print('Magnetometer ID: 0x{0:02X}'.format(mag))
print('Gyroscope ID: 0x{0:02X}\n'.format(gyro))
import time
import gpiozero as gp
l = gp.Motor(6, 13)
r = gp.Motor(2, 3)
pan = gp.AngularServo(12)
tilt = gp.AngularServo(8)
time.sleep(10)
try:
l.forward()
r.forward()
time.sleep(2)
l.backward()
time.sleep(0.5)
l.forward()
time.sleep(1)
r.backward()
time.sleep(0.5)
r.forward()
time.sleep(1)
finally:
r.stop()
l.stop()
pan.angle = 0
pan.detach()
tilt.angle = 0
tilt.detach()
DISTANCE_TO_OBJECT = 5
MIN_AREA = 100
MAX_AREA = 1000
CONFIDENCE = 0.01
BORDER = 8
FRAMES_TO_ENSURE = 1
FRAMES_TO_CANCEL_SHOOTING = 20
CORRECT_THRESHOLD_PROPORTION = 0
CHANGE_THRESHOLD = 0.2
DETECTION_DIFFERENCE_THRESHOLD = 4
# All Pins are BCM
RELAY_PIN = 17
SERVO_PIN = 18
RELAY = gpiozero.OutputDevice(RELAY_PIN)
SERVO = gpiozero.AngularServo(SERVO_PIN, min_angle=-45, max_angle=45)
SERVO.mid()
# TODO: find optimal values
LOWER_SQUIRREL_HSV = np.array([20, 0, 50])
UPPER_SQUIRREL_HSV = np.array([130, 255, 180])
LABELS = open(
os.path.abspath("yolo-coco/coco.names")).read().strip().split("\n")
np.random.seed(42)
COLORS = np.random.randint(0, 255, size=(len(LABELS), 3), dtype="uint8")
weightsPath = os.path.sep.join(["yolo-coco", "yolov3-tiny.weights"])
configPath = os.path.sep.join(["yolo-coco", "yolov3-tiny.cfg"])
print("Loading YOLO v3 Tiny from disk...")
