def values(): global frontright,frontmiddle,frontleft,right,left,back #Digital and analog readings #THESE NEED TO BE UPDATED CONSTANTLY right = RPL.analogRead(5) back = RPL.digitalRead(17) frontright = RPL.digitalRead(20) left = RPL.analogRead(6) #frontmiddle = RPL.digitalRead(19) frontmiddle = RPL.analogRead(7) frontleft = RPL.digitalRead(18) #print(values) to debug readings return "front right = %s\nfront middle = %s\nfront left = %s\nright = %s\nleft = %s\nback = %s" % (frontright,frontmiddle,frontleft,right,left,back)
def checkPin(x, y):
global multiplier
if (y == 0):
RPL.servoWrite(x, 2000)
print("Moving motor " + str(x) + "... ")
time.sleep(1)
RPL.servoWrite(x, 1500)
RPL.servoWrite(x, 0)
print("Done with motor " + str(x) + ".")
x += 1
print("Motor testing completed!")
if (y == 1):
RPL.pinMode(pinArraySensorset1[x], RPL.INPUT)
initialTime = float(time.clock() * multiplier)
while (float(time.clock() * multiplier) < (initialTime + 4)):
displayTextClear()
print("Pin " + str(pinArraySensorset1[x]) + " output: " +
str(RPL.digitalRead(pinArraySensorset1[x])))
time.sleep(0.2)
print("Digital sensor testing complete!")
if (y == 2):
initialTime = float(time.clock() * multiplier)
while (float(time.clock() * multiplier) < (initialTime + 4)):
displayTextClear()
print("Pin " + str(pinArraySensorset2[x]) + " output: " +
str(RPL.analogRead(pinArraySensorset2[x])))
time.sleep(0.2)
print("Analog sensor testing complete!")
def move_forward():
while True:
RPL.pinMode(sensor_pinF, RPL.INPUT)
reading1 = RPL.digitalRead(sensor_pinF)
RPL.pinMode(sensor_pinL, RPL.INPUT)
reading2 = RPL.digitalRead(sensor_pinL)
RPL.pinMode(sensor_pinR, RPL.INPUT)
reading3 = RPL.digitalRead(sensor_pinR)
if reading1 == 1:
RPL.servoWrite(0, 1450)
RPL.servoWrite(1, 1550)
elif reading1 == 0:
if reading2 == 1:
RPL.servoWrite(0, 1400)
RPL.servoWrite(1, 1550)
elif reading2 == 0:
RPL.servoWrite(0, 1450)
RPL.servoWrite(1, 1550)
def checkPinsDigital():
x = 0
global multiplier
multiplier = 1
if (os.name != 'nt'):
multiplier = 1000
while (x < len(pinArraySensorset1)):
RPL.pinMode(pinArraySensorset1[x], RPL.INPUT)
initialTime = float(time.clock() * multiplier)
while (float(time.clock() * multiplier) < (initialTime + 4)):
displayTextClear()
print("Pin " + str(pinArraySensorset1[x]) + " output: " +
str(RPL.digitalRead(pinArraySensorset1[x])))
time.sleep(0.2)
x += 1
print("Digital sensor testing complete!")
motorR = 2
right = 17
front = 16
left = 19
rgo = 2000
lgo = 200
# ^ all setup
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo) # start off both motors going straight
while True:
RPL.servoWrite(motorR, rgo) # reset motors to straight through each loop
RPL.servoWrite(motorL, lgo)
while RPL.digitalRead(front) == 0: # something ahead, turn until nothing
RPL.servoWrite(motorL, rgo) # turn left
if RPL.digitalRead(left) == 0: # if something to the right, turn left
RPL.servoWrite(motorL, lgo)
RPL.servoWrite(motorR, lgo)
if RPL.digitalRead(front) != 0: # nothing to front
now = time.time()
future = now + .5 # continue turning for an extra .5s
while True:
if time.time() > future:
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
break
break
while RPL.digitalRead(right) == 0: # something to right...
right = 19
front = 16
left = 17
analogL = 1
rgo = 2000
lgo = 1000
# ^ setup
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo) # turn on both motors going straight
while True:
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
while RPL.analogRead(analogL) >= 400: # middle range, can go straight
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
while RPL.analogRead(analogL) < 400: # no longer middle
if RPL.digitalRead(left) == 0: # digital also sense, so close
RPL.servoWrite(motorR, 0) # turn away from wall
RPL.servoWrite(motorL, lgo)
if RPL.digitalRead(left) == 1: # digital doesn't sense, far
RPL.servoWrite(motorR, rgo) # turn towards wall
RPL.servoWrite(motorL, 0)
rslow = 1500
lgo = 100
lslow = 600
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
RPL.servoWrite(motorL, lgo)
while True:
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
while RPL.analogRead(analogR) >= 300: # middle range, can go straight
print "we good"
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
while RPL.analogRead(analogR) < 300: # no longer middle
while RPL.digitalRead(19) == 0: # digital also sense, so close
print "close"
print RPL.analogRead(analogR)
RPL.servoWrite(motorR, rslow)
RPL.servoWrite(motorL, lgo)
while RPL.digitalRead(19) == 1: # digital doesn't sense, far
print "far"
print RPL.analogRead(analogR)
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lslow)
RPL.servoWrite(motorL, lgo)
RPL.servoWrite(motorR, rgo)
def stop():
RPL.servoWrite(motorL, 0)
RPL.servoWrite(motorR, 0)
while True:
while True: # forward
RPL.analogRead(fana)
RPL.analogRead(back)
Fanalog = RPL.analogRead(fana)
Banalog = RPL.analogRead(bana)
frontsensor = RPL.digitalRead(16)
straight = Fanalog - Banalog
#if there is something in front it will turn left
if frontsensor == 0:
RPL.servoWrite(motorL, lgo)
RPL.servoWrite(motorR, 0)
# calibrating the distance off the wall:
if Fanalog <= closedist and Banalog <= closedist:
RPL.servoWrite(motorL, lslow)
RPL.servoWrite(motorR, rgo)
if Fanalog >= fardist and Banalog >= fardist:
RPL.servoWrite(motorL, lgo)
RPL.servoWrite(motorR, rslow)
import RoboPiLib as RPL # (robotonomy setup.py)
from setup import RPL # (robotonomy README.md)
import time
RPL.RoboPiInit("/dev/ttyAMA0", 115200) # (robotonomy setup.py)
motorL = 1 # (robo-control control.py)
motorR = 0 # (robo-control control.py)
sensor_pin = 16 # (robotonomy basic.py)
RPL.servoWrite(motorR, 2000) # (robo-control control.py)
RPL.servoWrite(motorL, 1000) # (robo-control control.py)
RPL.pinMode(sensor_pin, RPL.INPUT) # (robo-control control.py)
while RPL.digitalRead(sensor_pin) == 1: # (robotonomy basic.py)
RPL.servoWrite(motorR, 2000) # (robo-control control.py)
RPL.servoWrite(motorL, 1000) # (robo-control control.py)
else:
RPL.servoWrite(motorR, 0) # (robo-control control.py)
RPL.servoWrite(motorL, 0) # (robo-control control.py)
import RoboPiLib as RPL
from setup import RPL
import time
import post_to_web as PTW
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
motorL = 1
motorR = 0
sensor_pin = 16
RPL.servoWrite(motorR, 1000)
RPL.servoWrite(motorL, 2000)
RPL.pinMode(sensor_pin, RPL.INPUT)
while RPL.digitalRead(sensor_pin) == 1:
PTW.state['d1'] = RPL.digitalRead(sensor_pin)
RPL.servoWrite(motorR, 1000)
RPL.servoWrite(motorL, 2000)
PTW.post()
else:
PTW.state['d1'] = RPL.digitalRead(sensor_pin)
RPL.servoWrite(motorR, 0)
RPL.servoWrite(motorL, 0)
PTW.post()
import RoboPiLib as RPL
import setup
x = 1
Sensor_pin = 16
RPL.pinMode(sensor_pin, RPL.INPUT)
while x == 1:
reading = RPL.digitalRead(sensor_pin)
if reading == 0:
RPL.servoWrite(0, 1600)
elif reading == 1:
RPL.servoWrite(0, 300)
motorR = 2
motorL = 0
# lsens = 23
# fsens = 16
# motorR forward = 1000
# motorL forward = 2000
# Okay so this is good but I think we need to do a thing to actually make it...
# ...turn into a gap because right now it's just turning away from a wall
RPL.servoWrite(motorR, 100)
RPL.servoWrite(motorL, 2000)
print "going"
while True:
if RPL.digitalRead(23) == 0:
RPL.servoWrite(motorR, 100)
RPL.servoWrite(motorL, 2000)
print "something"
if RPL.digitalRead(23) == 1:
timeb = time.time()
RPL.servoWrite(motorR, 100)
RPL.servoWrite(motorL, 2000)
print "gap"
if RPL.digitalRead(23) == 0:
timea = time.time()
timeg = timea - timeb
while timeg < 2:
RPL.servoWrite(motorR, 100)
RPL.servoWrite(motorL, 2000)
print "moving on"
import RoboPiLib as RPL
from setup import RPL
import time
import post_to_web as PTW
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
motorL = 2
motorR = 1
sensor_pin = 17
j = 3
i = 5.
while RPL.digitalRead(sensor_pin) == 1:
PTW.state['d1'] = RPL.digitalRead(sensor_pin)
RPL.servoWrite(motorR, 1000)
RPL.servoWrite(motorL, 2000)
PTW.post()
if RPL.digitalRead(sensor_pin) != 1:
break
while RPL.digitalRead(sensor_pin) == 0:
PTW.state['d1'] = RPL.digitalRead(sensor_pin)
PTW.post()
move = time.time()
while time.time() < (move + i):
RPL.servoWrite(motorR, 1475)
RPL.servoWrite(motorL, 1520)
while time.time() > (move + i):
RPL.servoWrite(motorR, 0)
RPL.servoWrite(motorL, 0)
import RoboPiLib as RPL
import time
RPL.RoboPiInit("/dev/ttyAMA0",115200)
motorL = 7
motorR = 6
sensor_R = 16
sensor_M = 17
sensor_L = 18
j = 3.5
RPL.servoWrite(motorR, 2000)
RPL.servoWrite(motorL, 1000)
while RPL.digitalRead(sensor_R) or RPL.digitalRead(sensor_M) or RPL.digitalRead(sensor_L)!= 1:
while RPL.digitalRead(sensor_R) == 0:
move = time.time()
while time.time() < (move + j):
RPL.servoWrite(motorL, 1490)
RPL.servoWrite(motorR, 2000)
if time.time() > (move + j):
RPL.servoWrite(motorL, 1000)
RPL.servoWrite(motorR, 2000)
while RPL.digitalRead(sensor_L) == 0:
run = time.time()
while time.time() < (run + j):
RPL.servoWrite(motorL, 1000)
RPL.servoWrite(motorR, 1510)
if time.time() > (run + j):
RPL.servoWrite(motorL, 1000)
RPL.servoWrite(motorR, 2000)
def start_right():
RPL.servoWrite(2, 1550)
RPL.servoWrite(1, 1420)
print "Turning Right"
def start_left():
RPL.servoWrite(1, 1460)
RPL.servoWrite(2, 1550)
print "Turning Left"
while True:
sensorL = RPL.digitalRead(22)
sensorM = RPL.digitalRead(20)
sensorR = RPL.digitalRead(23)
move_forward = False
move_left = False
move_right = False
go_reverse = False
if sensorL == 1:
move_right = True
elif sensorM == 1:
go_reverse = True
elif sensorR == 1:
move_left = True
else:
move_forward = True
import RoboPiLib as RPL
import setup
import post_to_web as PTW
sensor_pin = 16
RPL.pinMode(sensor_pin, RPL.INPUT)
running = True
braking = False
m1Speed = 1400
m2Speed = 1600
while running:
reading = RPL.digitalRead(sensor_pin)
if reading == 0:
braking = True
if braking == True and m1Speed != 1500 and m2Speed != 1500:
print("If statement fired")
m1Speed += 10
m2Speed -= 10
if m1Speed == 1500 and m2Speed == 1500:
m1Speed = 00
m2Speed = 00
running = False
RPL.servoWrite(0, m1Speed)
RPL.servoWrite(1, m2Speed)
PTW.state['d1'] = RPL.digitalRead(sensor_pin)
PTW.state['d2'] = RPL.servoRead(0)
PTW.state['d3'] = RPL.servoRead(1)
from time import sleep
sensor_pinF = 16
sensor_pinL = 18
sensor_pinR = 17
a = 0
b = 0
def fire():
for fire in range(0, b):
RPL.servoWrite(0, 1400)
RPL.servoWrite(1, 1600)
sleep(1)
RPL.servoWrite(0, 1500)
RPL.servoWrite(1, 1500)
sleep(1)
while True:
RPL.pinMode(sensor_pinF, RPL.INPUT)
reading1 = RPL.digitalRead(sensor_pinF)
RPL.pinMode(sensor_pinL, RPL.INPUT)
reading2 = RPL.digitalRead(sensor_pinL)
RPL.pinMode(sensor_pinR, RPL.INPUT)
reading3 = RPL.digitalRead(sensor_pinR)
if reading1 == 0:
b += 1
a += b
fire()
print("the motor has fired ", a, " times.")
def stop():
RPL.servoWrite(motorL, 0)
RPL.servoWrite(motorR, 0)
def turnL():
RPL.servoWrite(motorL, 1480)
RPL.servoWrite(motorR, motorR_forward)
def turnR():
RPL.servoWrite(motorL, motorL_forward)
RPL.servoWrite(motorR, 1520)
while counter == 0:
front_obstacle = RPL.digitalRead(17)
right_obstacle = RPL.digitalRead(16)
left_obstacle = RPL.digitalRead(18)
if front_obstacle == 1:
forward()
if front_obstacle == 0:
turnL()
if right_obstacle == 0:
turnL()
#brings in time
import time
start = time.time()
#to make sensors work
import setup
import RoboPiLib as RPL
#sensor pin reading
pin = raw_input("What is the pin number? ")
#to make definable in a function
close = RPL.digitalRead(pin)
#which pin the motor is in
motorL = 1
mororR = 0
#it runs when the pin is not reading anything
while close is 1:
RPL.servoWrite(mororL, 1000)
RPL.servoWrite(motorR, 2000)
#it stops when the sensor senses something
else:
RPL.servoWrite(mororL, 0)
RPL.servoWrite(motorR, 0)
return
#write code to slow down robot
end = time.time()
import setup
import RoboPiLib as RPL
import time
sensor_pin = 16
RPL.pinMode(sensor_pin, RPL.INPUT)
while True:
if RPL.digitalRead(sensor_pin) == 1:
import RoboPiLib as RPL
import setup
RPL.servoWrite(0, 2000)
RPL.servoWrite(1, 500)
if RPL.digitalRead(sensor_pin) == 0:
import RoboPiLib as RPL
import setup
RPL.servoWrite(0, 0)
RPL.servoWrite(1, 0)
RPL.servoWrite(L, 1500)
def right():
if readingL == 0:
RPL.servoWrite(R, 1590)
elif readingL == 1:
RPL.servoWrite(R, 1500)
def both():
RPL.servoWrite(L, 1590)
RPL.servoWrite(R, 1410)
def none():
RPL.servoWrite(L, 1500)
RPL.servoWrite(R, 1500)
while x == 1:
readingL = RPL.digitalRead(LS)
readingR = RPL.digitalRead(RS)
if readingL == 0 and readingR == 0:
both()
elif readingL == 1 and readingR == 1:
none()
else:
left()
right()
import setup
import RoboPiLib as RPL
import time
motorR = 2
motorL = 0
while True:
while RPL.digitalRead(16) == 1:
RPL.servoWrite(motorL, 100)
RPL.servoWrite(motorR, 2000)
print "nothing"
while RPL.digitalRead(16) == 0:
future = time.time() + 0.5
while time.time() < future:
RPL.servoWrite(motorL, 600)
RPL.servoWrite(motorR, 1500)
print "slowing"
while time.time() >= future:
RPL.servoWrite(motorL, 0)
RPL.servoWrite(motorR, 0)
print "stop"
motorR_forward = 2000
motorR_backward = 1000
motorL_forward = 1000
motorL_backward = 2000
counter = 0
def forward():
RPL.servoWrite(motorL,motorL_forward)
RPL.servoWrite(motorR,motorR_forward)
def stop():
RPL.servoWrite(motorL, 0)
RPL.servoWrite(motorR, 0)
while counter == 0:
RPL.digitalRead(17)
obstacle = RPL.digitalRead(17)
if obstacle == 1:
forward()
if obstacle == 0:
stop()
counter = counter + 1
front = 16
left = 19
rgo = 2000
lgo = 200
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
RPL.servoWrite(motorL, lgo)
while True:
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
print ".............."
while RPL.digitalRead(front) == 0 and RPL.digitalRead(
right) == 0: # reverse
if RPL.digitalRead(left) == 0:
RPL.servoWrite(motorR, lgo)
RPL.servoWrite(motorL, rgo)
while RPL.digitalRead(front) == 0: # something ahead, turn until nothing
RPL.servoWrite(motorL, rgo)
print "++++++"
if RPL.digitalRead(front) != 0: # nothing to side, go
now = time.time()
future = now + 1
while True:
if time.time() > future:
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
import RoboPiLib as RPL
import setup
import post_to_web as PTW
lmotor = 0
rmotor = 1
d1 = 16
d2 = 17
while True:
d1read = RPL.digitalRead(d1)
d2read = RPL.digitalRead(d2)
if d1read == 1 and d2read == 1:
RPL.servoWrite(lmotor,1400)
RPL.servoWrite(rmotor,1600)
elif d1read == 0 and d2read == 0:
RPL.servoWrite(lmotor,0)
RPL.servoWrite(rmotor,0)
print('so long comerade')
exit()
elif d1read == 0 or d2read == 0:
RPL.servoWrite(lmotor,1500)
RPL.servoWrite(rmotor,1500)
PTW.state['d1'] = d1read
def sokomade():
while RPL.digitalRead(17) == 0:
RPL.servoWrite(1, 0)
RPL.servoWrite(2, 0)
if RPL.digitalRead(17) == 1:
forward()
import setup
import RoboPiLib as RPL
sensor_pin = 17
RPL.pinMode(sensor_pin,RPL.INPUT)
while True:
while RPL.digitalRead(sensor_pin) == 1:
RPL.servoWrite(0,500)
RPL.servoWrite(1,2000)
while RPL.digitalRead(sensor_pin)== 0:
first_time == time.time()
while 1 >= time.time() - first_time:
RPL.servoWrite(0,
import RoboPiLib as RPL
import post_to_web as PTW
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
import time
while True:
PTW.state['d1'] = RPL.digitalRead(16)
time.sleep(0.3)
PTW.post()
def forward():
while RPL.digitalRead(17) == 1:
RPL.servoWrite(1, 1000)
RPL.servoWrite(2, 2000)
if RPL.digitalRead(17) == 0:
stoppu()
import RoboPiLib as RPL
import time
import post_to_web as PTW
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
motorL = 1
motorR = 7
sensor_R = 16
sensor_M = 17
sensor_L = 18
j = 3
i = 4.0
while RPL.digitalRead(sensor_R) and RPL.digitalRead(
sensor_M) and RPL.digitalRead(sensor_L) == 1:
PTW.state['d1'] = RPL.digitalRead(sensor_pin)
RPL.servoWrite(motorR, 1000)
RPL.servoWrite(motorL, 2000)
PTW.post()
if RPL.digitalRead(sensor_R) or RPL.digitalRead(
sensor_M) or RPL.digitalRead(sensor_L) == 0:
break
while RPL.digitalRead(sensor_R) == 0:
PTW.state['d1'] = RPL.digitalRead(sensor_R)
move = time.time()
while time.time() < (move + i):
RPL.servoWrite(motorR, 1490)
RPL.servoWrite(motorL, 1520)
PTW.post()
while time.time() > (move + i):
