def mainfunction():
global navigator
global isObstacle
global motorLeft
global motorRight
global inmission
navigator = LocationAudio.Navigator(connection_string="/dev/ttyACM1", baudrate=115200)
while True:
ui = gui.UI()
# User Interface
# Get User click on map to generate destination
# Waypoint generate & upload to Ardurover
ui.mainloop()
targetbuilding = ui.location.get()
targetbuildingindex = ui.locationindex.get()
# ROS
# Get obstacles
# If too close --> Manual mode w/ pwm instructions
# If far enough --> Auto
# Ardurover GPS
navigator.setLocationindex(targetbuildingindex)
print ("The target location is: " + navigator.gettargetlocation())
currentmission = navigator.getcurrentmission()
navigator.upload_mission(currentmission)
# Need to integrate mission control with obstacle avoidance
# while no obstacle detected --> run automated mission control
inmission = True
navigator.run_mission()
inmission = False
currentaudio = navigator.getaudio()
navigator.PlayAudio(currentaudio) # Plays audio file at current location
# Need to start return mission whose file is located at current mission + 6
navigator.setLocationindex(targetbuildingindex + 6)
currentmission = navigator.getcurrentmission()
# while no obstacle detected --> run automated mission control
navigator.upload_mission(currentmission)
inmission = True
navigator.run_mission()
inmission = False
def main():
config = pystk.GraphicsConfig.hd()
config.screen_width = 800
config.screen_height = 600
pystk.init(config)
config = pystk.RaceConfig()
config.num_kart = 2
# config.track ='battleisland'
config.track = 'stadium'
config.players[0].controller = pystk.PlayerConfig.Controller.PLAYER_CONTROL
config.players[0].team = 0
# NOTE: Add 4 players
for _ in range(3):
config.players.append(
# pystk.PlayerConfig(args.kart, pystk.PlayerConfig.Controller.AI_CONTROL, (args.team + 1) % 2))
pystk.PlayerConfig('', pystk.PlayerConfig.Controller.AI_CONTROL,
1))
config.mode = config.RaceMode.THREE_STRIKES
# TODO: Look at step size?
# config.step_size = args.step_size
race = pystk.Race(config)
race.start()
race.step()
uis = [gui.UI(gui.VT['IMAGE']) for i in range(4)]
state = pystk.WorldState()
state.update()
t0 = time()
if not all(ui.pause for ui in uis):
race.step(uis[0].current_action)
state.update()
for ui, d in zip(uis, race.render_data):
ui.show(d)
input('press enter to continue')
race.stop()
del race
pystk.clean()
def start(self):
startstate = []
for massName, massObj in self.objects["masses"].items():
startstate.append(massObj.position)
startstate.append(massObj.velocity)
result = solve_ivp(self.integrator,
self.timespan,
startstate,
max_step=0.1)
return result
if __name__ == "__main__":
objects = validateSetup(setup)
if objects:
simulation = sysSim(objects, simSpan)
UI = gui.UI()
UI.prepare()
result = simulation.start()
print(result.t, result.y)
counter = 0
for massName, massObj in simulation.objects["masses"].items():
massObj.position = result.y[counter]
massObj.velocity = result.y[counter + 1]
counter += 2
UI.simulate(simulation.objects, result.t)
else:
print("\nInvalid setup\n")
sys.exit()
import gui
if __name__ == '__main__':
gui = gui.UI()
gui.create_ui()
import _thread
import gui
main_show = 0
spi = SPI(1, baudrate=26000000, sck=Pin(33), mosi=Pin(25), miso=Pin(4))
ili = ILI9163_SPI(128, 160, spi, res=Pin(27), dc=Pin(26), cs=Pin(4))
ili.fill(0xFFFF)
ili.fill_rect(5, 5, 56, 50, ili.brg(r=255))
ili.show()
f = open("weather/0.bin")
imgbyte = f.read()
img = framebuf.FrameBuffer(bytearray(imgbyte), 60, 60, framebuf.RGB565)
ili.blit(img, 0, 0)
ili.show()
ili.fill(0xFFFF)
ui = gui.UI(ili)
for i in range(100):
ui.ProgressBar(30, 30, 70, 10, i)
ui.stripBar(10, 10, 10, 70, i, 0, 0)
ili.show()
time.sleep_ms(50)
ili.fill(0xFFFF)
ui.qr_code('http://www.163.com', 20, 20)
ili.show()
ili.fill(0xFFFF)
clock = gui.Clock(ili, 64, 60, 40)
clock.settime()
clock.drawClock()
ili.show()