def __init__(self, name, M0b=18, M0f=23, M1b=24, M1f=25, T1=4, E1=17, simulation=False): #GPIO: 4 17 21 22 #pin : 7 11 13 15 #GPIO: 18 23 24 25 #pin : 12 16 18 22 self.logger = logging.getLogger('myR.rover') self.name = name self.version = 1 self.simulation = simulation self.ip = '192.168.0.10' self.speed = 100 # [mm/s] self.speedMax = 1000 # [mm/s] self.voltage = 6 # [V] self.mass = 2 # [Kg] self.Lenght = 180 # [mm] self.wheelR = 32 # [mm] self.time360 = 2 # [sec] self.data = datacollector() self.camera = camera(self.data) self.camserver = camserver(self.data) self.sensor = us_sensor('S1', T1, E1, self.data) self.motorLeft = DCmotor('MLeft', M0b, M0f, 11, 12) self.motorRight = DCmotor('MRight', M1b, M1f, 13, 14) self.rc = rc(self.data) self.server = server(self.data)
def __init__(self, w, h): self.w, self.h = w, h pygame.init() display = (self.w, self.h) self.screen = pygame.display.set_mode(display, DOUBLEBUF | OPENGL) self.dto = 0 self.t = 0 self.clock = pygame.time.Clock() pygame.mixer.pause() pygame.key.set_repeat(10, 10) self.backend = rc(w, h)
def grabseq(chrom, starts, stops, strand): if type(starts) is int and type(stops) is int: x = eval("Ath" + str(chrom))[(starts - 1):stops] else: assert len(starts) == len(stops) x = [] for strt, stp in tuple(zip(starts, stops)): x.append(eval("Ath" + str(chrom))[(strt - 1):stp]) x = "".join(x) if strand == "-": x = rc(x) return x
def __init__(self): self.esc = esc.esc() self.rc = rc.rc() self.accel = staccel.STAccel() self.U = [0]*4 self.Uc = [0]*4 self.Kyaw = 0.1 self.Kpitch = 0.1 self.Kthrust = 1 self.Kroll = 0.1 self.Kx = -100 self.Ky = 100
def get_sequences(combined, fasta_filename=None): """combined = pandas.DataFrame.""" if fasta_filename is None: fasta_filename = 'lib/c_elegans.WS235.genomic.fa' if 'chrm' in combined.columns: chrm_key = 'chrm' elif 'chrom' in combined.columns: chrm_key = 'chrom' elif 'Chr' in combined.columns: chrm_key = 'Chr' sequences = dict((re.sub('CHROMOSOME_', '', p.name), p.seq) for p in HTSeq.FastaReader(fasta_filename)) for index, peak_row in combined.iterrows(): start = combined.loc[index, 'left'] end = combined.loc[index, 'right'] chrm = combined.loc[index, chrm_key] seq = sequences[chrm][start:end] if combined.loc[index, 'strand'] == '-': seq = rc(seq) combined.loc[index, 'seq'] = seq
def start_wiimote_callback(channel): """ Threaded callback function called when user presses the start button """ global drive global wiimote global rc_class global rc_thread if not rc_class: print("Starting RC Mode") # Create and start a new thread running the remote control script rc_class = rc.rc(drive, wiimote) rc_thread = threading.Thread(target=rc_class.run) rc_thread.start() else: print("Stopping RC Mode") # Kill Thread kill_rc_thread()
def start_rc_mode(self): # Kill any previous Challenge / RC mode self.stop_threads() # Set Wiimote LED to RC Mode index self.current_mode = Mode.MODE_RC # Inform user we are about to start RC mode logging.info("Entering into RC Mode") self.challenge = rc.rc(self.core, self.wiimote, self.oled) # Create and start a new thread # running the remote control script logging.info("Starting RC Thread") self.challenge_thread = threading.Thread( target=self.challenge.run) self.challenge_thread.start() logging.info("RC Thread Running")
def start_rc_mode(self): # Kill any previous Challenge / RC mode self.stop_threads() # Set Wiimote LED to RC Mode index self.mode = self.MODE_RC if self.wiimote and self.wiimote.wm: self.wiimote.wm.led = self.mode # Inform user we are about to start RC mode logging.info("Entering into RC Mode") self.challenge = rc.rc(self.core, self.wiimote) # Create and start a new thread # running the remote control script logging.info("Starting RC Thread") self.challenge_thread = threading.Thread(target=self.challenge.run) self.challenge_thread.start() logging.info("RC Thread Running") # Show state on OLED display self.show_mode()
def main(): from HC_SR04 import HC_SR04 from rc import rc data = datacollector() my_sensor = HC_SR04('S1', 4, 17,data) my_sensor.start() my_rc = rc(data) my_rc.start() my_display = display(data) my_display.start() while my_display.data.cycling is True: sleep(0.01) my_display.stop() my_rc.stop() my_sensor.stop()
import rc import web import thread import signal import sys import time import config urls = ( '/devices', 'get_all_devices', '/device/(\w+)', 'get_device', '/device/(\w+)/status/(\d+)', 'set_device' ) room = rc.rc() class get_all_devices: def GET(self): print "Request for devices list" hdrs = web.input() if(hdrs["secret"]!=config.get_pwd()): return 401 global room web.header('Access-Control-Allow-Origin','*') web.header('Access-Control-Allow-Credentials', 'true') return room.getAllDevices() class get_device:
def menu_item_selected(self): """Select the current menu item""" # If ANYTHING selected, we gracefully # kill any challenge threads open self.stop_threads() if self.menu[self.menu_state]=="Remote Control": # Start the remote control logging.info("Entering into Remote Control Mode") self.challenge = rc.rc(self.drive, self.wiimote) # Create and start a new thread running the remote control script self.challenge_thread = threading.Thread(target=self.challenge.run) self.challenge_thread.start() # Ensure we know what challenge is running if self.challenge: self.challenge_name = self.menu[self.menu_state] # Move menu index to quit challenge by default self.menu_state = self.menu_quit_challenge elif self.menu[self.menu_state]=="Three Point Turn": # Start the three point turn challenge logging.info("Starting Three Point Turn Challenge") self.challenge = ThreePointTurn(self.drive) # Create and start a new thread running the remote control script self.challenge_thread = threading.Thread(target=self.challenge.run) self.challenge_thread.start() # Ensure we know what challenge is running if self.challenge: self.challenge_name = self.menu[self.menu_state] # Move menu index to quit challenge by default self.menu_state = self.menu_quit_challenge elif self.menu[self.menu_state]=="Straight Line Speed": # Start the straight line speed challenge logging.info("Starting Straight Line Speed Challenge") self.challenge = StraightLineSpeed(self.drive) # Ensure we know what challenge is running if self.challenge: self.challenge_name = self.menu[self.menu_state] # Move menu index to quit challenge by default self.menu_state = self.menu_quit_challenge elif self.menu[self.menu_state]=="Line Following": # Start the Line Following challenge logging.info("Starting Line Following Challenge") self.challenge = LineFollowing(self.drive) # Ensure we know what challenge is running if self.challenge: self.challenge_name = self.menu[self.menu_state] # Move menu index to quit challenge by default self.menu_state = self.menu_quit_challenge elif self.menu[self.menu_state]=="Proximity": # Start the Proximity challenge logging.info("Starting Proximity Challenge") self.challenge = Proximity(self.drive) # Ensure we know what challenge is running if self.challenge: self.challenge_name = self.menu[self.menu_state] # Move menu index to quit challenge by default self.menu_state = self.menu_quit_challenge elif self.menu[self.menu_state]=="Quit Challenge": # Reset menu item back to top of list self.menu_state = 0 logging.info("No Challenge Challenge Thread") elif self.menu[self.menu_state]=="Power Off Pi": # Power off the raspberry pi safely # by sending shutdown command to terminal logging.info("Shutting Down Pi") os.system("sudo shutdown -h now") self.shutting_down = True
from rc import rc from time import sleep import curses #in win non riesco a gestire lo screen.. ci vuole istallato Konsole??? screen = curses.initscr() # turn off input echoing curses.noecho() # respond to keys immediately (don't wait for enter) curses.cbreak() # map arrow keys to special values screen.keypad(True) myRc = rc(screen) myRc.start() while myRc.cycling: screen.clear() screen.addstr(1, 1, 'Roll +a -z | Throttle +k -m | SPACEBAR to quit ') screen.addstr(2, 1, 'ROLL: ' + str(myRc.roll)) screen.addstr(3, 1, 'THROTTLE: ' + str(myRc.throttle)) sleep(0.05) curses.nocbreak() screen.keypad(0) curses.echo() curses.endwin() myRc.stop()
def __init__(self, name, pin0=18, pin1=23, pin2=24, pin3=25, simulation=True): #GPIO: 18 23 24 25 #pin : 12 16 18 22 self.logger = logging.getLogger('myQ.quadcptr') self.name = name self.simulation = simulation self.version = 1 self.motor = [motor('M' + str(i), 0) for i in xrange(4)] self.motor[0] = motor('M0', pin0, kv=1000, WMin=0, WMax=100, simulation=self.simulation) self.motor[1] = motor('M1', pin1, kv=1000, WMin=0, WMax=100, simulation=self.simulation) self.motor[2] = motor('M2', pin2, kv=1000, WMin=0, WMax=100, simulation=self.simulation) self.motor[3] = motor('M3', pin3, kv=1000, WMin=0, WMax=100, simulation=self.simulation) self.sensor = sensor(simulation=self.simulation) self.pidR = pid() self.pidP = pid() self.pidY = pid() self.pidR_rate = pid() self.pidP_rate = pid() self.pidY_rate = pid() self.ip = '192.168.1.1' self.netscan = netscan(self.ip) self.webserver = webserver(self) self.display = display(self) self.rc = rc(self.display.screen) self.imulog = False self.savelog = False self.calibIMU = False self.debuglev = 0 self.netscanning = False #for quadricopter phisics calculations- not used yet self.prop = prop(9, 4.7, 1) self.voltage = 12 # [V] self.mass = 2 # [Kg] self.barLenght = 0.23 # [mm] self.barMass = 0.15 # [kg] self.datalog = '' self.initLog()
def main(): rc()
def menu_item_selected(self): """Select the current menu item""" # If ANYTHING selected, we gracefully # kill any challenge threads open self.stop_threads() if self.menu[self.menu_state] == "Remote Control": # Start the remote control logging.info("Entering into Remote Control Mode") self.challenge = rc.rc(self.drive, self.wiimote) # Create and start a new thread running the remote control script self.challenge_thread = threading.Thread(target=self.challenge.run) self.challenge_thread.start() # Ensure we know what challenge is running if self.challenge: self.challenge_name = self.menu[self.menu_state] # Move menu index to quit challenge by default self.menu_state = self.menu_quit_challenge elif self.menu[self.menu_state] == "Three Point Turn": # Start the three point turn challenge logging.info("Starting Three Point Turn Challenge") self.challenge = ThreePointTurn(self.drive) # Create and start a new thread running the remote control script self.challenge_thread = threading.Thread(target=self.challenge.run) self.challenge_thread.start() # Ensure we know what challenge is running if self.challenge: self.challenge_name = self.menu[self.menu_state] # Move menu index to quit challenge by default self.menu_state = self.menu_quit_challenge elif self.menu[self.menu_state] == "Straight Line Speed": # Start the straight line speed challenge logging.info("Starting Straight Line Speed Challenge") self.challenge = StraightLineSpeed(self.drive) # Ensure we know what challenge is running if self.challenge: self.challenge_name = self.menu[self.menu_state] # Move menu index to quit challenge by default self.menu_state = self.menu_quit_challenge elif self.menu[self.menu_state] == "Line Following": # Start the Line Following challenge logging.info("Starting Line Following Challenge") self.challenge = LineFollowing(self.drive) # Ensure we know what challenge is running if self.challenge: self.challenge_name = self.menu[self.menu_state] # Move menu index to quit challenge by default self.menu_state = self.menu_quit_challenge elif self.menu[self.menu_state] == "Proximity": # Start the Proximity challenge logging.info("Starting Proximity Challenge") self.challenge = Proximity(self.drive) # Ensure we know what challenge is running if self.challenge: self.challenge_name = self.menu[self.menu_state] # Move menu index to quit challenge by default self.menu_state = self.menu_quit_challenge elif self.menu[self.menu_state] == "Quit Challenge": # Reset menu item back to top of list self.menu_state = 0 logging.info("No Challenge Challenge Thread") elif self.menu[self.menu_state] == "Power Off Pi": # Power off the raspberry pi safely # by sending shutdown command to terminal logging.info("Shutting Down Pi") os.system("sudo shutdown -h now") self.shutting_down = True