def debug(): status_right = not GPIO.input(line_pin_right) status_middle = not GPIO.input(line_pin_middle) status_left = not GPIO.input(line_pin_left) if status_left == 1: led.side_on(left_G) led.side_off(right_G) elif status_middle == 1: led.side_on(left_G) led.side_on(right_G) elif status_right == 1: led.side_on(right_G) led.side_off(left_G) else: led.side_off(right_G) led.side_off(left_G)
def run(): #Main loop global hoz_mid, vtr_mid, ip_con, led_status, auto_status, opencv_mode, findline_mode, speech_mode, auto_mode, data, addr, footage_socket, ap_status, turn_status, wifi_status led.setup() while True: #Connection try: s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) s.connect(("1.1.1.1", 80)) ipaddr_check = s.getsockname()[0] s.close() print(ipaddr_check) wifi_status = 1 except: if ap_status == 0: ap_threading = threading.Thread( target=ap_thread) #Define a thread for data receiving ap_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes ap_threading.start() #Thread starts led.both_off() led.yellow() time.sleep(5) wifi_status = 0 if wifi_status == 1: print('waiting for connection...') led.red() tcpCliSock, addr = tcpSerSock.accept( ) #Determine whether to connect led.both_off() led.green() print('...connected from :', addr) #time.sleep(1) tcpCliSock.send( ('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd + ' %s' % right_spd + ' %s' % look_up_max + ' %s' % look_down_max).encode()) print('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd + ' %s' % right_spd + ' %s' % left + ' %s' % right) break else: led.both_off() led.blue() print('waiting for connection...') tcpCliSock, addr = tcpSerSock.accept( ) #Determine whether to connect led.both_off() led.green() print('...connected from :', addr) #time.sleep(1) tcpCliSock.send( ('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd + ' %s' % right_spd + ' %s' % look_up_max + ' %s' % look_down_max).encode()) print('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd + ' %s' % right_spd + ' %s' % left + ' %s' % right) ap_status = 1 break #FPV initialization context = zmq.Context() footage_socket = context.socket(zmq.PUB) footage_socket.connect('tcp://%s:5555' % addr[0]) print(addr[0]) #Threads start video_threading = threading.Thread( target=opencv_thread) #Define a thread for FPV and OpenCV video_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes video_threading.start() #Thread starts ws2812_threading = threading.Thread( target=ws2812_thread) #Define a thread for ws_2812 leds ws2812_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes ws2812_threading.start() #Thread starts findline_threading = threading.Thread( target=findline_thread) #Define a thread for line tracking findline_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes findline_threading.start() #Thread starts speech_threading = threading.Thread( target=speech_thread) #Define a thread for speech recognition speech_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes speech_threading.start() #Thread starts auto_threading = threading.Thread( target=auto_thread) #Define a thread for ultrasonic tracking auto_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes auto_threading.start() #Thread starts scan_threading = threading.Thread( target=dis_scan_thread) #Define a thread for ultrasonic scan scan_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes scan_threading.start() #Thread starts while True: data = '' data = tcpCliSock.recv(BUFSIZ).decode() if not data: continue elif 'exit' in data: os.system("sudo shutdown -h now\n") elif 'spdset' in data: global spd_ad spd_ad = float((str(data))[7:]) #Speed Adjustment elif 'scan' in data: dis_can = scan() #Start Scanning str_list_1 = dis_can #Divide the list to make it samller to send str_index = ' ' #Separate the values by space str_send_1 = str_index.join(str_list_1) + ' ' tcpCliSock.sendall((str(str_send_1)).encode()) #Send Data tcpCliSock.send( 'finished'.encode() ) #Sending 'finished' tell the client to stop receiving the list of dis_can elif 'EC1set' in data: #Camera Adjustment new_EC1 = int((str(data))[7:]) turn.camera_turn(new_EC1) replace_num('E_C1:', new_EC1) elif 'EC2set' in data: #Ultrasonic Adjustment new_EC2 = int((str(data))[7:]) replace_num('E_C2:', new_EC2) turn.ultra_turn(new_EC2) elif 'EM1set' in data: #Motor A Speed Adjustment new_EM1 = int((str(data))[7:]) replace_num('E_M1:', new_EM1) elif 'EM2set' in data: #Motor B Speed Adjustment new_EM2 = int((str(data))[7:]) replace_num('E_M2:', new_EM2) elif 'LUMset' in data: #Motor A Turningf Speed Adjustment new_ET1 = int((str(data))[7:]) replace_num('look_up_max:', new_ET1) turn.camera_turn(new_ET1) elif 'LDMset' in data: #Motor B Turningf Speed Adjustment new_ET2 = int((str(data))[7:]) replace_num('look_down_max:', new_ET2) turn.camera_turn(new_ET2) elif 'stop' in data: #When server receive "stop" from client,car stops moving tcpCliSock.send('9'.encode()) setup() motor.motorStop() setup() if led_status == 0: led.setup() led.both_off() colorWipe(strip, Color(0, 0, 0)) continue elif 'lightsON' in data: #Turn on the LEDs led.both_on() led_status = 1 tcpCliSock.send('lightsON'.encode()) elif 'lightsOFF' in data: #Turn off the LEDs led.both_off() led_status = 0 tcpCliSock.send('lightsOFF'.encode()) elif 'middle' in data: #Go straight if led_status == 0: led.side_color_off(left_R, left_G) led.side_color_off(right_R, right_G) else: led.side_on(left_B) led.side_on(right_B) turn_status = 0 turn.middle() elif 'Left' in data: #Turn left if led_status == 0: led.side_color_on(left_R, left_G) else: led.side_off(left_B) turn.left() turn_status = 1 tcpCliSock.send('3'.encode()) elif 'Right' in data: #Turn right if led_status == 0: led.side_color_on(right_R, right_G) else: led.side_off(right_B) turn.right() turn_status = 2 tcpCliSock.send('4'.encode()) elif 'backward' in data: #When server receive "backward" from client,car moves backward tcpCliSock.send('2'.encode()) motor.motor_left(status, backward, left_spd * spd_ad) motor.motor_right(status, forward, right_spd * spd_ad) colorWipe(strip, Color(255, 0, 0)) elif 'forward' in data: #When server receive "forward" from client,car moves forward tcpCliSock.send('1'.encode()) motor.motor_left(status, forward, left_spd * spd_ad) motor.motor_right(status, backward, right_spd * spd_ad) colorWipe(strip, Color(0, 0, 255)) elif 'l_up' in data: #Camera look up if vtr_mid < look_up_max: vtr_mid += turn_speed turn.camera_turn(vtr_mid) tcpCliSock.send('5'.encode()) elif 'l_do' in data: #Camera look down if vtr_mid > look_down_max: vtr_mid -= turn_speed turn.camera_turn(vtr_mid) print(vtr_mid) tcpCliSock.send('6'.encode()) elif 'l_le' in data: #Camera look left if hoz_mid < look_left_max: hoz_mid += turn_speed turn.ultra_turn(hoz_mid) tcpCliSock.send('7'.encode()) elif 'l_ri' in data: #Camera look right if hoz_mid > look_right_max: hoz_mid -= turn_speed turn.ultra_turn(hoz_mid) tcpCliSock.send('8'.encode()) elif 'ahead' in data: #Camera look ahead turn.ahead() elif 'Stop' in data: #When server receive "Stop" from client,Auto Mode switches off opencv_mode = 0 findline_mode = 0 speech_mode = 0 auto_mode = 0 auto_status = 0 dis_scan = 1 tcpCliSock.send('auto_status_off'.encode()) motor.motorStop() led.both_off() turn.middle() time.sleep(0.1) motor.motorStop() led.both_off() turn.middle() elif 'auto' in data: #When server receive "auto" from client,start Auto Mode if auto_status == 0: tcpCliSock.send('0'.encode()) auto_status = 1 auto_mode = 1 dis_scan = 0 else: pass continue elif 'opencv' in data: #When server receive "auto" from client,start Auto Mode if auto_status == 0: auto_status = 1 opencv_mode = 1 tcpCliSock.send('oncvon'.encode()) continue elif 'findline' in data: #Find line mode start if auto_status == 0: tcpCliSock.send('findline'.encode()) auto_status = 1 findline_mode = 1 else: pass continue elif 'voice_3' in data: #Speech recognition mode start if auto_status == 0: auto_status = 1 speech_mode = 1 tcpCliSock.send('voice_3'.encode()) else: pass continue
def run(): '''Main loop''' #??? Do these globals make sense global hoz_mid, vtr_mid, ip_con, led_status, auto_status, opencv_mode, findline_mode, speech_mode, auto_mode, data, addr, footage_socket, ap_status, turn_status, wifi_status led.setup() while True: #??? only exits from breaks, seems wrong #??? should this be if else rather than try except #??? while not-connected try: # try to ping to see if there is wifi # checking self ip addr s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) s.connect(("1.1.1.1", 80)) ipaddr_check = s.getsockname()[0] s.close() print(ipaddr_check) wifi_status = 1 except: # if not set up hotspot if ap_status == 0: #??? it always is #Define a thread for data receiving ap_threading = threading.Thread(target=ap_thread) ap_threading.setDaemon(True) ap_threading.start() led.both_off() led.yellow() time.sleep(5) #??? why sleep wifi_status = 0 #??? seems unecessary if wifi_status == 1: print('waiting for connection...') led.red() #??? pause here and wait for connection? tcpCliSock, addr = tcpSerSock.accept() led.both_off() led.green() print('...connected from :', addr) #time.sleep(1) #TODO: change to format #??? is this the best way to do this tcpCliSock.send( ('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd + ' %s' % right_spd + ' %s' % look_up_max + ' %s' % look_down_max).encode()) print('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd + ' %s' % right_spd + ' %s' % left + ' %s' % right) break else: #??? now assuming ap-hotspot, but never explained led.both_off() led.blue() #??? a lot of this is duplicated in the if statement print('waiting for connection...') # wait for connection tcpCliSock, addr = tcpSerSock.accept() led.both_off() led.green() print('...connected from :', addr) #time.sleep(1) tcpCliSock.send( ('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd + ' %s' % right_spd + ' %s' % look_up_max + ' %s' % look_down_max).encode()) print('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd + ' %s' % right_spd + ' %s' % left + ' %s' % right) ap_status = 1 break #??? this is outside the while loop now #FPV initialization context = zmq.Context() footage_socket = context.socket(zmq.PUB) footage_socket.connect('tcp://%s:5555' % addr[0]) print(addr[0]) #??? why are we starting all these threads now #Threads start #Define a thread for FPV and OpenCV video_threading = threading.Thread(target=opencv_thread) video_threading.setDaemon(True) video_threading.start() #Define a thread for ws_2812 leds ws2812_threading = threading.Thread(target=ws2812_thread) ws2812_threading.setDaemon(True) ws2812_threading.start() #Define a thread for line tracking findline_threading = threading.Thread(target=findline_thread) findline_threading.setDaemon(True) findline_threading.start() #Define a thread for speech recognition speech_threading = threading.Thread(target=speech_thread) speech_threading.setDaemon(True) speech_threading.start() #Define a thread for ultrasonic tracking auto_threading = threading.Thread(target=auto_thread) auto_threading.setDaemon(True) auto_threading.start() #Define a thread for ultrasonic scan scan_threading = threading.Thread(target=dis_scan_thread) scan_threading.setDaemon(True) scan_threading.start() while True: #??? infinite loop data = '' #??? why do we have to define early data = tcpCliSock.recv(BUFSIZ).decode() print(data) #??? BUFSIZ is global #??? this should be handled by a dictionary or interrupts if not data: continue elif 'exit' in data: quit() #??? shutting down is a bad idea #TODO: Make a shutdown function #TODO: Include proper shutdowns #os.system("sudo shutdown -h now\n") elif 'spdset' in data: #Speed Adjustment global spd_ad spd_ad = float((str(data))[7:]) elif 'scan' in data: #Start Scanning dis_can = scan() #Divide the list to make it samller to send str_list_1 = dis_can #Separate the values by space str_index = ' ' str_send_1 = str_index.join(str_list_1) + ' ' #??? this send is surprising #Send Data tcpCliSock.sendall((str(str_send_1)).encode()) #Sending 'finished' #tell the client to stop receiving the list of dis_can tcpCliSock.send('finished'.encode()) elif 'scan_rev' in data: #Start Scanning #??? what is scan_rev #??? a lot of this is repeated dis_can = scan_rev() #Divide the list to make it samller to send str_list_1 = dis_can #Separate the values by space str_index = ' ' str_send_1 = str_index.join(str_list_1) + ' ' #Send Data tcpCliSock.sendall((str(str_send_1)).encode()) #Sending 'finished' #tell the client to stop receiving the list of dis_can tcpCliSock.send('finished'.encode()) #??? what are there names elif 'EC1set' in data: #Camera Adjustment new_EC1 = int((str(data))[7:]) turn.camera_turn(new_EC1) replace_num('E_C1:', new_EC1) elif 'EC2set' in data: #Ultrasonic Adjustment new_EC2 = int((str(data))[7:]) replace_num('E_C2:', new_EC2) turn.ultra_turn(new_EC2) #TODO: fix the code for single motor elif 'EM1set' in data: #Motor A Speed Adjustment new_EM1 = int((str(data))[7:]) replace_num('E_M1:', new_EM1) elif 'EM2set' in data: #Motor B Speed Adjustment new_EM2 = int((str(data))[7:]) replace_num('E_M2:', new_EM2) #TODO: fix the code for single motor elif 'LUMset' in data: #Motor A Turningf Speed Adjustment new_ET1 = int((str(data))[7:]) replace_num('look_up_max:', new_ET1) turn.camera_turn(new_ET1) elif 'LDMset' in data: #Motor B Turningf Speed Adjustment new_ET2 = int((str(data))[7:]) replace_num('look_down_max:', new_ET2) turn.camera_turn(new_ET2) elif 'stop' in data: #??? what is the goal of stop #??? what is this 9 tcpCliSock.send('9'.encode()) #??? why are we doing setup stop setup setup() motor.motorStop() setup() #??? why are we doing this if led_status == 0: led.setup() led.both_off() #??? what is the colorwipe colorWipe(strip, Color(0, 0, 0)) continue elif 'lightsON' in data: # Turn on the LEDs led.both_on() #TODO statuses should be handled by a dictionary led_status = 1 tcpCliSock.send('lightsON'.encode()) elif 'lightsOFF' in data: # Turn off the LEDs led.both_off() led_status = 0 tcpCliSock.send('lightsOFF'.encode()) elif 'middle' in data: # Go straight if led_status == 0: led.side_color_off(left_R, left_G) led.side_color_off(right_R, right_G) else: led.side_on(left_B) led.side_on(right_B) #TODO status handled better turn_status = 0 turn.middle() elif 'Left' in data: # Turn left #TODO: fix the capital case if led_status == 0: led.side_color_on(left_R, left_G) else: led.side_off(left_B) turn.left() turn_status = 1 #??? what do these numbers map too #??? maybe use a dictionary tcpCliSock.send('3'.encode()) elif 'Right' in data: # Turn right #TODO: fix the capital case if led_status == 0: #TODO: clarify variable names led.side_color_on(right_R, right_G) else: led.side_off(right_B) turn.right() turn_status = 2 tcpCliSock.send('4'.encode()) #TODO: fix for single motor elif 'backward' in data: # Go backward motor.motor_left(status, backward, left_spd * spd_ad) motor.motor_right(status, forward, right_spd * spd_ad) colorWipe(strip, Color(255, 0, 0)) tcpCliSock.send('2'.encode()) #TODO: fix for single motor elif 'forward' in data: # Go forward motor.motor_left(status, forward, left_spd * spd_ad) motor.motor_right(status, backward, right_spd * spd_ad) colorWipe(strip, Color(0, 0, 255)) tcpCliSock.send('1'.encode()) #TODO: make better names elif 'l_up' in data: #Camera look up if vtr_mid < look_up_max: vtr_mid += turn_speed turn.camera_turn(vtr_mid) tcpCliSock.send('5'.encode()) elif 'l_do' in data: # Camera look down if vtr_mid > look_down_max: vtr_mid -= turn_speed turn.camera_turn(vtr_mid) print(vtr_mid) tcpCliSock.send('6'.encode()) elif 'l_le' in data: # Camera look left if hoz_mid < look_left_max: hoz_mid += turn_speed turn.ultra_turn(hoz_mid) tcpCliSock.send('7'.encode()) elif 'l_ri' in data: # Camera look right if hoz_mid > look_right_max: hoz_mid -= turn_speed turn.ultra_turn(hoz_mid) tcpCliSock.send('8'.encode()) elif 'ahead' in data: # Camera look ahead turn.ahead() elif 'Stop' in data: #TODO: fix capitalization opencv_mode = 0 findline_mode = 0 speech_mode = 0 auto_mode = 0 auto_status = 0 dis_scan = 1 #??? why is this 1 tcpCliSock.send('auto_status_off'.encode()) motor.motorStop() led.both_off() turn.middle() time.sleep(0.1) #??? why #??? why do this twice motor.motorStop() led.both_off() turn.middle() elif 'auto' in data: # start Auto Mode #??? which automode is this if auto_status == 0: tcpCliSock.send('0'.encode()) auto_status = 1 auto_mode = 1 #?? dif from automode and autostatus dis_scan = 0 #??? dis_scan else: pass continue elif 'opencv' in data: # Start opencv mode if auto_status == 0: auto_status = 1 opencv_mode = 1 #??? what is this name tcpCliSock.send('oncvon'.encode()) continue elif 'findline' in data: # Find line mode start if auto_status == 0: tcpCliSock.send('findline'.encode()) auto_status = 1 findline_mode = 1 else: pass continue #??? why voice 3 elif 'voice_3' in data: #Speech recognition mode start if auto_status == 0: auto_status = 1 speech_mode = 1 tcpCliSock.send('voice_3'.encode()) else: pass continue
def run(): #Main loop global hoz_mid, vtr_mid, ip_con, led_status, auto_status, opencv_mode, findline_mode, speech_mode, auto_mode, data, addr, footage_socket, ap_status, turn_status, wifi_status led.setup() while True: #Connection print('waiting for connection...') led.red() tcpCliSock, addr = tcpSerSock.accept() #Determine whether to connect led.both_off() led.green() print('...connected from :', addr) #time.sleep(1) tcpCliSock.send(('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd + ' %s' % right_spd + ' %s' % look_up_max + ' %s' % look_down_max).encode()) print('SET %s' % vtr_mid + ' %s' % hoz_mid + ' %s' % left_spd + ' %s' % right_spd + ' %s' % left + ' %s' % right) break #Threads start findline_threading = threading.Thread( target=findline_thread) #Define a thread for line tracking findline_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes findline_threading.start() #Thread starts auto_threading = threading.Thread( target=auto_thread) #Define a thread for ultrasonic tracking auto_threading.setDaemon( True ) #'True' means it is a front thread,it would close when the mainloop() closes auto_threading.start() #Thread starts time.sleep(0.5) tcpCliSock.send('TestVersion'.encode()) while True: data = '' data = tcpCliSock.recv(BUFSIZ).decode() if not data: continue elif 'exit' in data: pass elif 'spdset' in data: global spd_ad spd_ad = float((str(data))[7:]) #Speed Adjustment elif 'scan' in data: dis_can = scan() #Start Scanning str_list_1 = dis_can #Divide the list to make it samller to send str_index = ' ' #Separate the values by space str_send_1 = str_index.join(str_list_1) + ' ' tcpCliSock.sendall((str(str_send_1)).encode()) #Send Data tcpCliSock.send( 'finished'.encode() ) #Sending 'finished' tell the client to stop receiving the list of dis_can elif 'scan_rev' in data: dis_can = scan_rev() #Start Scanning str_list_1 = dis_can #Divide the list to make it samller to send str_index = ' ' #Separate the values by space str_send_1 = str_index.join(str_list_1) + ' ' tcpCliSock.sendall((str(str_send_1)).encode()) #Send Data tcpCliSock.send( 'finished'.encode() ) #Sending 'finished' tell the client to stop receiving the list of dis_can elif 'EC1set' in data: #Camera Adjustment new_EC1 = int((str(data))[7:]) turn.camera_turn(new_EC1) replace_num('E_C1:', new_EC1) elif 'EC2set' in data: #Ultrasonic Adjustment new_EC2 = int((str(data))[7:]) replace_num('E_C2:', new_EC2) turn.ultra_turn(new_EC2) elif 'EM1set' in data: #Motor A Speed Adjustment new_EM1 = int((str(data))[7:]) replace_num('E_M1:', new_EM1) elif 'EM2set' in data: #Motor B Speed Adjustment new_EM2 = int((str(data))[7:]) replace_num('E_M2:', new_EM2) elif 'LUMset' in data: #Motor A Turningf Speed Adjustment new_ET1 = int((str(data))[7:]) replace_num('look_up_max:', new_ET1) turn.camera_turn(new_ET1) elif 'LDMset' in data: #Motor B Turningf Speed Adjustment new_ET2 = int((str(data))[7:]) replace_num('look_down_max:', new_ET2) turn.camera_turn(new_ET2) elif 'stop' in data: #When server receive "stop" from client,car stops moving tcpCliSock.send('9'.encode()) setup() motor.motorStop() setup() if led_status == 0: led.setup() led.both_off() continue elif 'lightsON' in data: #Turn on the LEDs led.both_on() led_status = 1 tcpCliSock.send('lightsON'.encode()) elif 'lightsOFF' in data: #Turn off the LEDs led.both_off() led_status = 0 tcpCliSock.send('lightsOFF'.encode()) elif 'middle' in data: #Go straight if led_status == 0: led.side_color_off(left_R, left_G) led.side_color_off(right_R, right_G) else: led.side_on(left_B) led.side_on(right_B) turn_status = 0 turn.middle() elif 'Left' in data: #Turn left if led_status == 0: led.side_color_on(left_R, left_G) else: led.side_off(left_B) turn.left() tcpCliSock.send('3'.encode()) elif 'Right' in data: #Turn right if led_status == 0: led.side_color_on(right_R, right_G) else: led.side_off(right_B) turn.right() tcpCliSock.send('4'.encode()) elif 'backward' in data: #When server receive "backward" from client,car moves backward tcpCliSock.send('2'.encode()) motor.motor_left(status, backward, left_spd * spd_ad) motor.motor_right(status, forward, right_spd * spd_ad) elif 'forward' in data: #When server receive "forward" from client,car moves forward tcpCliSock.send('1'.encode()) motor.motor_left(status, forward, left_spd * spd_ad) motor.motor_right(status, backward, right_spd * spd_ad) elif 'l_up' in data: #Camera look up if vtr_mid < look_up_max: vtr_mid += turn_speed turn.camera_turn(vtr_mid) tcpCliSock.send('5'.encode()) elif 'l_do' in data: #Camera look down if vtr_mid > look_down_max: vtr_mid -= turn_speed turn.camera_turn(vtr_mid) tcpCliSock.send('6'.encode()) elif 'l_le' in data: #Camera look left if hoz_mid < look_left_max: hoz_mid += turn_speed turn.ultra_turn(hoz_mid) tcpCliSock.send('7'.encode()) elif 'l_ri' in data: #Camera look right if hoz_mid > look_right_max: hoz_mid -= turn_speed turn.ultra_turn(hoz_mid) tcpCliSock.send('8'.encode()) elif 'ahead' in data: #Camera look ahead turn.ahead() elif 'Stop' in data: #When server receive "Stop" from client,Auto Mode switches off findline_mode = 0 auto_mode = 0 auto_status = 0 tcpCliSock.send('auto_status_off'.encode()) motor.motorStop() led.both_off() turn.middle() time.sleep(0.1) motor.motorStop() led.both_off() turn.middle() elif 'auto' in data: #When server receive "auto" from client,start Auto Mode if auto_status == 0: tcpCliSock.send('0'.encode()) auto_status = 1 auto_mode = 1 dis_scan = 0 else: pass continue elif 'findline' in data: #Find line mode start if auto_status == 0: tcpCliSock.send('findline'.encode()) auto_status = 1 findline_mode = 1 else: pass continue
print("-------------------") print("-------------------") print("LED Tests") print("-------------------") print("-------------------") print() led.both_off() print() print("-------------------") print("Left Front LED Test - Red ") print("-------------------") led.side_on(led.left_R) time.sleep(1.0) led.side_off(led.left_R) print() print("-------------------") print("Left Front LED Test - Blue ") print("-------------------") led.side_on(led.left_B) time.sleep(1.0) led.side_off(led.left_B) print() print("-------------------") print("Right Front LED Test - Red ") print("-------------------") led.side_on(led.right_R) time.sleep(1.0) led.side_off(led.right_R)
def set_Front_LED_Off(self,colorLED): led.side_off(colorLED)
def allLEDSOff(self): led.side_off(self.left_R) led.side_off(self.left_G) led.side_off(self.left_B) led.side_off(self.right_R) led.side_off(self.right_G) led.side_off(self.right_B) self.colorWipe(Color(0,0,0))