def ultra_tester(severity=0.5): #just controlling distance with the ultrasonic
dist = checkdist(exact=True)
if dist < (severity - 0.1):
move.move_backward(60)
elif dist > (severity + 0.1):
move.move_forward(60)
elif dist >= (severity - 0.1) and dist <= (severity + 0.1):
move.motorStop()
def do_GET(self):
if self.path == '/':
self.path += 'index.html'
if self.path.endswith(".html") or self.path.endswith(
".js") or self.path.endswith(".svg") or self.path.endswith(
".css"):
self.send_response(200)
self.end_headers()
try:
f = open(curdir + sep + self.path)
self.wfile.write(bytes(f.read(), 'utf-8'))
f.close()
except IOError as e:
self.send_error(404, str(e))
elif self.path == '/stream.mjpg':
self.close_connection = False
self.send_response(200)
self.send_header('Age', 0)
self.send_header('Cache-Control', 'no-cache, private')
self.send_header('Pragma', 'no-cache')
self.send_header('Content-Type',
'multipart/x-mixed-replace; boundary=--FRAME')
self.end_headers()
output.add_client(self)
if 'cmd=' in self.path:
self.send_response(200)
self.end_headers()
cmd = self.path.split('cmd=')[1][0]
if cmd == 'a':
global mode_auto
mode_auto = not mode_auto
database.write_mode(mode_auto)
elif cmd == 'l':
motor.rotate_camera(15)
elif cmd == 'r':
motor.rotate_camera(-15)
elif cmd == 'w':
motor.move_forward(1)
elif cmd == 's':
motor.move_backward(1)
elif cmd == 'd':
self.wfile.write(bytes(database.read_last(13), 'utf-8'))
elif cmd == 'c':
self.wfile.write(bytes(str(-motor.camera_angle), 'utf-8'))
elif cmd == 'b':
self.wfile.write(
bytes("%.1fM" % sensors.altitude_baro(), 'utf-8'))
elif pyb.elapsed_millis(start) >= backup_timer: #This is 90 minutes
break
else:
xbee.write('\nNo new data')
xbee.write('\nNo data from GPS')
pyb.delay(500)
xbee.write('\n\nAt {}, I have landed at location: {}'.format(my_gps.timestamp, initial_point))
# log.write('{},'.format(initial_point))
# Breakout from parachute mechanism
relay.high()
pyb.delay(5000)
relay.low()
motor.move_forward(100)
pyb.delay(10000)
motor.stop()
# GPS check loop: exact starting point defined here
while True:
# Update the GPS Object when flag is tripped
# if sw():
# log.close()
# break
if new_data:
while uart.any():
my_gps.update(chr(uart.readchar()))
if my_gps.latitude[0] != 0:
import motor
import sensor
import time
import RPi.GPIO as gpio
print "Starting up car"
try:
while True:
motor.move_forward(100)
angle = sensor.sense_angles()
print "Sensed obstacle at", angle
if angle >= 90:
motor.turn_right(angle - 90)
else:
motor.turn_left(angle + 90)
except KeyboardInterrupt:
print "Cleaning up"
gpio.cleanup()