def __init__(self):
self.sensor = [0, 0, 0, 0, 0]
try:
self.sensor[0] = LineSensor(5)
self.sensor[1] = LineSensor(6)
self.sensor[2] = LineSensor(13)
self.sensor[3] = LineSensor(19)
self.sensor[4] = LineSensor(26)
except:
print("Sensores não conectados corretamente")
def __init__(self, remote_address):
# set PINs on BOARD
log.debug("Initializing Track...")
log.debug("> track 1: " + str(_conf['track_1_pin']))
log.debug("> track 2: " + str(_conf['track_2_pin']))
# using LineSensor
rem_pi = PiGPIOFactory(host=remote_address)
self.track1 = LineSensor(_conf['track_1_pin'], pin_factory=rem_pi)
self.track2 = LineSensor(_conf['track_2_pin'], pin_factory=rem_pi)
log.debug("...init done!")
def __init__(self, motorhat_addr=0x6f):
# Setup the motorhat with the passed in address
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
# get local variable for each motor
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
# ensure the motors get stopped when the code exits
atexit.register(self.stop_all)
# Setup the line sensors
self.left_line_sensor = LineSensor(23, queue_len=3, pull_up=True)
self.right_line_sensor = LineSensor(16, queue_len=3, pull_up=True)
def __init__(self, motorhat_addr=0x6f):
self._mh = Raspi_MotorHAT(addr=motorhat_addr)
self.left_motor = self._mh.getMotor(1)
self.right_motor = self._mh.getMotor(2)
atexit.register(self.stop_motors)
# Setup the line sensors
self.right_line_sensor = LineSensor(23, queue_len=3, pull_up=True)
self.left_line_sensor = LineSensor(16, queue_len=3, pull_up=True)
self.right_line_sensor_stuck = ""
self.left_line_sensor_stuck = ""
self.servos = Servos(addr=motorhat_addr)
def __init__(self, config: dict):
super().__init__("linesensors")
self.sensors = {}
for name, sensor_config in config['linesensors'].items():
sensor = LineSensor(sensor_config['pin'])
sensor.when_line = sensor.when_no_line = self._when_line_changed
self.sensors[name] = sensor
def __init__(self,mh_addr=0x60):
#使用给定的地址设置motorHAT
self._mh=MotorHAT(addr=mh_addr)
#设置两个马达
self.left_motor=self._mh.getMotor(1)
self.right_motor=self._mh.getMotor(2)
# recommended for auto-disabling motors on shutdown!
atexit.register(self.stop_all)
#设置两个巡线传感器
self.left_line_sensor=LineSensor(23)
self.right_line_sensor=LineSensor(16)
#设置全彩LED
self.leds=neopixel.NeoPixel(pixel_pin, num_pixels, brightness=0.2, auto_write=False,
pixel_order=ORDER)
from time import sleep
from gpiozero import Robot, LineSensor
robot = Robot(left=(7, 8), right=(9, 10))
left_sensor = LineSensor(17)
right_sensor = LineSensor(4)
front_sensor = LineSensor(27)
speed = 0.5
def motor_speed():
while True:
left_detect = int(left_sensor.value)
right_detect = int(right_sensor.value)
front_detect = int(front_sensor.value)
left_mot = 0
right_mot = 0
if left_detect == 0 and right_detect == 1:
left_mot = 1
elif left_detect == 1 and right_detect == 0:
right_mot = -1
elif front_detect == 0:
right_mot, left_mot = 0, 0
else:
left_mot = -1
right_mot = 0.9
yield right_mot, left_mot
from Robot import Motor
from gpiozero import LineSensor
from time import sleep
import numpy as np
import cv2
speed = 32
#defining line sensors
left_sensor = LineSensor(21)
right_sensor = LineSensor(26)
#defining left and right motors
right_motor = Motor(17, 27, 22)
left_motor = Motor(23, 24, 25)
left_motor.set_speed(speed)
right_motor.set_speed(speed)
video_capture = cv2.VideoCapture(-1)
video_capture.set(3, 160)
video_capture.set(4, 120)
while (True):
ret, frame = video_capture.read()
crop_img = frame[60:120, 0:160]
gray = cv2.cvtColor(crop_img, cv2.COLOR_BGR2GRAY)
blur = cv2.GaussianBlur(gray, (5, 5), 0)
ret, thresh = cv2.threshold(blur, 60, 255, cv2.THRESH_BINARY_INV)
from gpiozero import Robot, LineSensor
from time import sleep
robot = Robot(left=(7, 8), right=(9, 10))
left_sensor = LineSensor(17)
right_sensor = LineSensor(27)
speed = 0.65
def motor_speed():
while True:
left_detect = int(left_sensor.value)
right_detect = int(right_sensor.value)
## المرحلة 1
if left_detect == 0 and right_detect == 0:
left_mot = 1
right_mot = 1
## المرحلة 2
if left_detect == 0 and right_detect == 1:
left_mot = -1
if left_detect == 1 and right_detect == 0:
right_mot = -1
#print(r, l)
yield (right_mot * speed, left_mot * speed)
robot.source = motor_speed()
sleep(60)
robot.stop()
from gpiozero import LineSensor, LED import paho.mqtt.client as mqtt from time import sleep import json import os mqtt_user = os.environ["MQTT_USER"] mqtt_passwd = os.environ["MQTT_PASSWD"] mqtt_host = os.environ["MQTT_HOST"] sensor_north = LineSensor(12, pull_up=True, queue_len=50) sensor_south = LineSensor(16, pull_up=True, queue_len=50) # Use LED to utilize blink() to pulse the relay relay_north = LED(5, active_high=False) relay_south = LED(6, active_high=False) client = mqtt.Client() client.username_pw_set(mqtt_user, password=mqtt_passwd) client.connect(mqtt_host) # Required to allow the state of the doors to be learned upon startup state_north = None state_south = None # Home Assistant defaults payload_open = "OPEN" payload_close = "CLOSE" # Report the state of the door via MQTT
def setupSensor(self):
self._sensor = LineSensor(self.gpio_pin)
self._sensor.when_activated = self.beginTray
self._sensor.when_deactivated = self.endTray
# CamJam EduKit 3 - Robotics
# Worksheet 5 - Line Detection
import time # Import the Time library
from gpiozero import LineSensor # Import the GPIO Zero Library
# Set variables for the GPIO pins
pinLineFollowerFront = 11
pinLineFollowerBack = 9
sensorFront = LineSensor(pinLineFollowerFront)
sensorBack = LineSensor(pinLineFollowerBack)
# Define the functions that will be called when the line is
# detected or not detected
def lineseenfront():
print("Line seen front")
def linenotseenfront():
print("No line seen front")
def lineseenback():
print("Line seen back")
def linenotseenback():
print("No line seen back")
from robot import Robot
from time import sleep
from gpiozero import LineSensor
r = Robot()
lsensor = LineSensor(23, pull_up=True)
rsensor = LineSensor(16, pull_up=True)
lsensor.when_line = r.stop_motors
rsensor.when_line = r.stop_motors
r.set_left(60)
r.set_right(60)
while True:
sleep(0.02)
from gpiozero import LineSensor
from signal import pause
sensor = LineSensor(21)
sensor.when_line = lambda: print('Object Detected')
sensor.when_no_line = lambda: print('Object Not Detected')
pause()
#!/usr/bin/python3
import os
from gpiozero import LineSensor
from signal import pause
# script that uses gpiozero library with the LineSensor 'drivers' and
# functions
# when IR sensor detect somethig between the sensor and her range we save the
# time in line.log
# when IR sensor no detect something between the sensor and her range we save
# the time in noline.log
# este programa usa la libreria gpiozero que usa unas funciones especificas
# para el sensor IR
# cuando el sensor IR detecta que hay algo entre el y su rango de deteccion
# guarda la fecha en line.log
# cuando el sensor detecta que ha dejado de haber algo entre el sensor
# y su rango de alcance guarda la fecha en noline.log
directorio = "/tmp/miriadax/"
sensor = LineSensor(26)
sensor.when_line = lambda: os.system('date +"%s" > ' + directorio + '/line.log'
)
sensor.when_no_line = lambda: os.system('date +"%s" >' + directorio +
'/noline.log')
pause(
) # it wait for another signal from sensor // se mantiene a la espera de otra señal del sensor
mqtt_update(0.5, mqtt_topic)
except:
logging.warn("Failed to update influxdb")
meter_lastupdate = now
logging.info("Updated water meter")
def call1():
logging.debug("Line detected - {}".format(meter_sensor._queue.queue))
update()
def call2():
logging.debug("No line detected - {}".format(meter_sensor._queue.queue))
update()
# Initiate line sensor from GPIO. We use 20Hz and a queue length of 5, such
# that we have an effective sample rate of 5 Hz (supersampled 5x). Default
# is 100 Hz but this takes more CPU than needed for this slow meter
logging.debug("Initiating linesensor, queue_len 10, sample @ 40Hz")
meter_sensor = LineSensor(4, queue_len=10, sample_rate=40)
meter_sensor.when_line = call1
meter_sensor.when_no_line = call2
# Start waiting loop
logging.info("Starting waiting loop forever")
pause()
from gpiozero import LineSensor, Robot
from time import sleep, time
robot = Robot(left=(7, 8), right=(9, 10))
line = LineSensor(18)
speed = 0.8
def on_line():
print('running on')
robot.forward(speed)
def find_line():
print('running find')
robot.stop()
sleep(0.2)
period = 0.05
while True:
start = time()
robot.right(speed + 0.1)
while time() < (start + period):
print('Searching right with period,', period)
if line.line_detected:
robot.stop()
print('line detected')
return 1
pass
period += 0.05