def stop():
global running
print "Stopping controller"
xboxController.stop()
print "Cleanup initio"
initio.cleanup()
running = False
print "Exit"
sys.exit()
def execute():
print('Startup')
initio.init(Motors=True)
cmd_forwards = 'f'
cmd_backwards = 'b'
cmd_left = 'l'
cmd_right = 'r'
cmd_stop = 's'
cmd_query = '?'
r = redis.Redis(host='192.168.0.1', port=6379,
db=0, decode_responses=True)
p = r.pubsub(ignore_subscribe_messages=True)
p.subscribe('fernando')
r.publish('services', 'fernando.on')
systemd.daemon.notify('READY=1')
print('Startup complete')
try:
initio.stop()
r.publish('fernando.status', cmd_stop)
last_cmd = cmd_stop
for message in p.listen():
cmd = message['data']
if cmd == cmd_forwards:
initio.forward(100)
elif cmd == cmd_backwards:
initio.reverse(100)
elif cmd == cmd_left:
initio.spinLeft(100)
elif cmd == cmd_right:
initio.spinRight(100)
elif cmd == cmd_stop:
initio.stop()
elif cmd == cmd_query:
# Don't need to do anything in this case
pass
if cmd != cmd_query:
last_cmd = cmd
r.publish('fernando.status', last_cmd)
except:
p.close()
initio.stop()
initio.cleanup()
r.publish('services', 'fernando.off')
print('Goodbye')
#!/usr/bin/python import time, initio initio.stop initio.cleanup()
def execute():
print('Startup')
if len(sys.argv) > 1 and sys.argv[1] == 'line':
print('Line mode')
initio.init(Line=True)
message_prefix = 'line'
left_sensor = initio.lineLeft
right_sensor = initio.lineRight
else:
print('Obstacle mode')
initio.init(IR=True)
message_prefix = 'obstacle'
left_sensor = initio.irFL
right_sensor = initio.irFR
redis_queue = 'redeye.' + message_prefix
redis_queue_left = redis_queue + '.left'
redis_queue_right = redis_queue + '.right'
message_left_off = message_prefix + '.left.off'
message_left_on = message_prefix + '.left.on'
message_right_off = message_prefix + '.right.off'
message_right_on = message_prefix + '.right.on'
r = redis.Redis(host='192.168.0.1', port=6379, db=0, decode_responses=True)
p = r.pubsub(ignore_subscribe_messages=True)
p.subscribe(redis_queue)
r.publish('services', redis_queue + '.on')
systemd.daemon.notify('READY=1')
print('Startup complete')
try:
def left_callback(c):
if GPIO.input(left_sensor):
r.publish(redis_queue_left, message_left_off)
else:
r.publish(redis_queue_left, message_left_on)
def right_callback(c):
if GPIO.input(right_sensor):
r.publish(redis_queue_right, message_right_off)
else:
r.publish(redis_queue_right, message_right_on)
GPIO.add_event_detect(left_sensor,
GPIO.BOTH,
callback=left_callback,
bouncetime=100)
GPIO.add_event_detect(right_sensor,
GPIO.BOTH,
callback=right_callback,
bouncetime=100)
left_callback(left_sensor)
right_callback(right_sensor)
for message in p.listen():
# If message is received, send current status
left_callback(left_sensor)
right_callback(right_sensor)
except:
p.close()
initio.cleanup()
r.publish('services', redis_queue + '.off')
print('Goodbye')
if keyp == 'w' or ord(keyp) == 16:
initio.forward(speed)
print 'Forward', speed
elif keyp == 'z' or ord(keyp) == 17:
initio.reverse(speed)
print 'Reverse', speed
elif keyp == 's' or ord(keyp) == 18:
initio.spinRight(speed)
print 'Spin Right', speed
elif keyp == 'a' or ord(keyp) == 19:
initio.spinLeft(speed)
print 'Spin Left', speed
elif keyp == '.' or keyp == '>':
speed = min(100, speed+10)
print 'Speed+', speed
elif keyp == ',' or keyp == '<':
speed = max (0, speed-10)
print 'Speed-', speed
elif keyp == ' ':
initio.stop()
print 'Stop'
elif ord(keyp) == 3:
break
except KeyboardInterrupt:
print
finally:
initio.cleanup()
def execute():
print('Startup')
x = {'init': 0, 'max': 80, 'min': -80}
y = {'init': 10, 'max': 80, 'min': -25}
initio.init(Servos=True)
initio.setServo(0, x['init'])
initio.setServo(1, y['init'])
r = redis.Redis(host='192.168.0.1', port=6379,
db=0, decode_responses=True)
p = r.pubsub(ignore_subscribe_messages=True)
p.subscribe('jaxx')
r.publish('services', 'jaxx.on')
systemd.daemon.notify('READY=1')
print('Startup complete')
try:
r.publish('jaxx.head', str(x['init']) + "," + str(y['init']))
x_angle = x['init']
y_angle = y['init']
for message in p.listen():
cmd = message['data']
if cmd == '0':
x_angle = x['init']
y_angle = y['init']
elif cmd == '?':
# Query mode - don't need to update anything - just pass through
pass
else:
angles = cmd.split(',')
x_angle = int(angles[0])
y_angle = int(angles[1])
# Make sure it's valid
if x_angle > x['max']:
x_angle = x['max']
if x_angle < x['min']:
x_angle = x['min']
if y_angle > y['max']:
y_angle = y['max']
if y_angle < y['min']:
y_angle = y['min']
initio.setServo(0, x_angle)
initio.setServo(1, y_angle)
r.publish('jaxx.head', str(x_angle) + "," + str(y_angle))
except:
p.close()
initio.setServo(0, x['init'])
initio.setServo(1, y['init'])
initio.cleanup()
r.publish('services', 'jaxx.off')
print('Goodbye')
