ROBOT_ROOT = '/home/robot/'
##Adafruit_BBIO:
import Adafruit_BBIO.GPIO as GPIO
elif path.isfile(path.expanduser('~/.robotConf')):
#If we're not on an actual robot, check if we have
#a working environment set for robot debugging:
CONFIG_FILE = open(path.expanduser('~/.robotConf'), 'r')
ROBOT_ROOT = CONFIG_FILE.read().strip()
CONFIG_FILE.close()
import Adafruit_BBIO_SIM.GPIO as GPIO
#Simulator setup
GPIO.pin_association(LEDS_GPIO["STATUS"][1], 'STATUS led')
GPIO.setup_behavior('print')
else:
ROBOT_ROOT = ''
print('It seems like you are NOT working on an actual robot. \
You should set up a debugging environment before running any code (see documentation)')
#Logging Initialization :
LOGGER = robotLogger("FL > led", ROBOT_ROOT+'logs/fl/')
###########################################################################
# I/O Initialization : #
###########################################################################
GPIO.setup(LEDS_GPIO["STATUS"][1], GPIO.OUT)
GPIO.output(LEDS_GPIO["STATUS"][1], GPIO.LOW)
import Adafruit_BBIO.GPIO as GPIO
import Adafruit_BBIO.PWM as PWM
elif path.isfile(path.expanduser('~/.robotConf')):
#If we're not on an actual robot, check if we have
#a working environment set for robot debugging:
CONFIG_FILE = open(path.expanduser('~/.robotConf'), 'r')
ROBOT_ROOT = CONFIG_FILE.read().strip()
CONFIG_FILE.close()
import Adafruit_BBIO_SIM.GPIO as GPIO
import Adafruit_BBIO.PWM as PWM
#Simulator setup
PWM.pin_association(GPIODEF.ENGINES["left"]["PWM"], 'left motor\'s PWM')
PWM.pin_association(GPIODEF.ENGINES["right"]["PWM"], 'right motor\'s PWM')
GPIO.pin_association(GPIODEF.ENGINES["left"]["forward"], 'left motor\'s forward pin')
GPIO.pin_association(GPIODEF.ENGINES["right"]["forward"], 'right motor\'s forward pin')
GPIO.pin_association(GPIODEF.ENGINES["left"]["backward"], 'left motor\'s backward pin')
GPIO.pin_association(GPIODEF.ENGINES["right"]["backward"], 'right motor\'s backward pin')
GPIO.setup_behavior('print')
PWM.setup_behavior('print')
else:
ROBOT_ROOT = ''
print('It seems like you are NOT working on an actual robot. \
You should set up a debugging environment before running any code (see documentation)')
#Logging Initialization :
LOGGER = robotLogger("FL > mot", ROBOT_ROOT+'logs/fl/')
###########################################################################
# I/O Initialization : #
##Adafruit_BBIO:
import Adafruit_BBIO.GPIO as GPIO
elif path.isfile(path.expanduser('~/.robotConf')):
#If we're not on an actual robot, check if we have
#a working environment set for robot debugging:
CONFIG_FILE = open(path.expanduser('~/.robotConf'), 'r')
ROBOT_ROOT = CONFIG_FILE.read().strip()
CONFIG_FILE.close()
import Adafruit_BBIO_SIM.GPIO as GPIO
#Simulator setup
for name, detail in LEDS_GPIO.items():
GPIO.pin_association(detail[1], name+' blinker')
GPIO.setup_behavior('print')
else:
ROBOT_ROOT = ''
print('It seems like you are NOT working on an actual robot. \
You should set up a debugging environment before running any code (see documentation)')
#Logging Initialization :
LOGGER = robotLogger("FL > led", ROBOT_ROOT+'logs/fl/')
###########################################################################
# I/O Initialization : #
###########################################################################
for LED in LEDS_PINS:
#Declare motor enabling pins as outputs
LOOKFOR = 0 #0 = RED, 1 = GREEN
#If we are on an actual robot :
if path.isdir("/home/robot"):
ROBOT_ROOT = '/home/robot/'
elif path.isfile(path.expanduser('~/.robotConf')):
#If we're not on an actual robot, check if we have
#a working environment set for robot debugging:
CONFIG_FILE = open(path.expanduser('~/.robotConf'), 'r')
ROBOT_ROOT = CONFIG_FILE.read().strip()
CONFIG_FILE.close()
#Simulator setup
GPIO.pin_association(RESET_GPIO, 'pushbutton\'s state')
GPIO.setup_behavior('print')
else:
ROBOT_ROOT = ''
print('It seems like you are NOT working on an actual robot. \
You should set up a debugging environment before running any code (see documentation)')
#Logging Initialization :
LOGGER = robotLogger("FL > pb", ROBOT_ROOT+'logs/fl/')
#######################################################################
# CONSTANTS FOR IMAGE PROCESSING #
#######################################################################
BOUNDARIES = [[[255, 150, 237], [161, 87, 159]], [[70, 141, 255], [23, 44, 138]]]
ERODE = 1
#!/usr/bin/python3.5
#-*- coding: utf-8 -*-
#Standard imports :
import time
#Specific imports :
from robotBasics.constants import gpiodef as GPIODEF
import Adafruit_BBIO.GPIO as GPIO
import Adafruit_BBIO.PWM as PWM
"""
####################################################
# Simulator setup #
####################################################
GPIO.pin_association(GPIODEF.ENGINES["left"]["PWM"], 'left motor\'s PWM')
GPIO.pin_association(GPIODEF.ENGINES["right"]["PWM"], 'right motor\'s PWM')
PWM.pin_association(GPIODEF.ENGINES["left"]["forward"], 'left motor\'s forward pin')
PWM.pin_association(GPIODEF.ENGINES["right"]["forward"], 'right motor\'s forward pin')
PWM.pin_association(GPIODEF.ENGINES["left"]["backward"], 'left motor\'s backward pin')
PWM.pin_association(GPIODEF.ENGINES["right"]["backward"], 'right motor\'s backward pin')
GPIO.setup_behavior('print')
PWM.setup_behavior('print')
"""
####################################################
##Adafruit_BBIO:
import Adafruit_BBIO.GPIO as GPIO
elif path.isfile(path.expanduser('~/.robotConf')):
#If we're not on an actual robot, check if we have
#a working environment set for robot debugging:
CONFIG_FILE = open(path.expanduser('~/.robotConf'), 'r')
ROBOT_ROOT = CONFIG_FILE.read().strip()
CONFIG_FILE.close()
import Adafruit_BBIO_SIM.GPIO as GPIO
#Simulator setup
for name, pin in LEDS_GPIO.items():
GPIO.pin_association(pin, name+' blinker')
GPIO.setup_behavior('print')
else:
ROBOT_ROOT = ''
print('It seems like you are NOT working on an actual robot. \
You should set up a debugging environment before running any code (see documentation)')
#Logging Initialization :
LOGGER = robotLogger("FL > led", ROBOT_ROOT+'logs/fl/')
###########################################################################
# I/O Initialization : #
###########################################################################
for LED in LEDS_PINS:
#Declare motor enabling pins as outputs
