def __init__(self):
self.services_to_run = {
"encoders": [True, False],
"motors": [True, False],
"ir_sensors": [True, False],
"tone": [True, False]
}
# Init services
self.mirto = MirtoRobot(debug=False, services_on=self.services_to_run)
# Author: Noman Niazi
#Code may not be used by third part individuals or groups
from mirto_asip_manager.mirto_robot import MirtoRobot
from time import sleep
import time
services_to_run = {"encoders": [True, False], "motors": [True, False], "ir_sensors": [True, False],
"tone": [True, False]}
# Run services test
mirto = MirtoRobot(debug=True, services_on=services_to_run)
from time import sleep
def get_Motor_Distance_Values():
motor_Distance = []
enc = mirto.get_encoders_values()
OneEncMM = 2 * 3.14 * (66.20 / 2) / 1632 / 10
l_OneEncMM = (enc[0] * OneEncMM)
r_OneEncMM = (enc[1] * OneEncMM * -1)
motor_Distance.extend((l_OneEncMM, r_OneEncMM))
return motor_Distance
while True:
all_motor_Distance = get_Motor_Distance_Values()
from mirto_asip_manager.mirto_robot import MirtoRobot
from time import sleep
services_to_run = {
"encoders": [True, False],
"motors": [True, False],
"ir_sensors": [True, False]
}
# Run services test
mirto = MirtoRobot(debug=False, services_on=services_to_run)
# mirto.set_motors(100,0)
# sleep(1)
# mirto.stop_motors()
# mirto.terminate()
# get_encoders_values',
# 'get_ir_sensors_values',
# 'get_left_encoder_values',
# 'get_right_encoder_values',
# 'get_version_info',
# 'robot',
# 'set_motors',
# 'stop_motors',
# 'terminate',
# 'test_encoders',
# 'test_ir_sensors',
# 'test_motor']
# mirto.test_ir_sensors()
print()
rightIR = 0
leftIR = 0
from mirto_asip_manager.mirto_robot import MirtoRobot
from time import sleep
services_to_run = {
"encoders": [True, False],
"motors": [True, False],
"ir_sensors": [True, False],
"tone": [True, False]
}
# Run services test
mirto = MirtoRobot(debug=True, services_on=services_to_run)
from time import sleep
while True:
enc = mirto.get_encoders_values()
Distance = 2 * 3.14 * (66.20 / 2) / 1632 / 10
print(enc[0] * Distance)
print(enc[0] * Distance)
sleep(0.1)
import imutils
import time
import cv2
import json
from mirto_asip_manager.mirto_robot import MirtoRobot
from time import sleep
from threading import Thread
# from pyzbar import pyzbar
services_to_run = {"encoders": [True, False], "motors": [True, False], "ir_sensors": [True, False],
"tone": [True, False]}
# Run services test
mirto = MirtoRobot(debug=False, services_on=services_to_run)
def whatColoris():
cap = cv2.VideoCapture(0)
ret, frame = cap.read()
rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2BGRA)
# cv2.imshow('frame', rgb)
out = cv2.imwrite('capture.jpg', frame)
cap.release()
cv2.destroyAllWindows()
import requests
class DrivingRobot:
def __init__(self):
self.services_to_run = {
"encoders": [True, False],
"motors": [True, False],
"ir_sensors": [True, False],
"tone": [True, False]
}
# Init services
self.mirto = MirtoRobot(debug=False, services_on=self.services_to_run)
def get_mirto_ir_values(self):
ordered_ir_values = []
ir_values = mirto.get_ir_sensors_values()
left_ir = ir_values[0]
center_ir = ir_values[2]
right_ir = ir_values[1]
ordered_ir_values.extend((left_ir, center_ir, right_ir))
return ordered_ir_values
def get_ir_values_threshold(self):
"""
:return:
"""
ir_values = self.mirto.get_ir_sensors_values()
sensors_vals = {
"left": [ir_values[0], False],
"center": [ir_values[2], False],
"right": [ir_values[1], False]
}
threshold = 110
for sensor in sensors_vals.keys():
sensor_val = sensors_vals.get(sensor)
sensors_vals.update(sensors_vals)
if sensor_val[0] > threshold:
sensor_val[1] = True
sensors_vals[sensor] = sensor_val
else:
sensor_val[1] = False
sensors_vals[sensor] = sensor_val
# print(sensors_vals, "\n")
return sensors_vals
def run_main(self):
try:
while True:
ir_values_after_check = self.get_ir_values_threshold()
return ir_values_after_check
if ir_values_after_check.get("left")[1]:
self.mirto.set_motors(20, 40)
elif ir_values_after_check.get("right"[1]):
self.mirto.set_motors(40, 20)
else:
self.mirto.set_motors(35, 35)
sleep(0.1)
except Exception as error:
print(error)
# Author: Noman Niazi
#Code may not be used by third part individuals or groups
from mirto_asip_manager.mirto_robot import MirtoRobot
from time import sleep
services_to_run = {"encoders": [True, False], "motors": [True, False], "ir_sensors": [True, False],
"tone": [True, False]}
# Run services test
mirto = MirtoRobot(debug=True, services_on=services_to_run)
from time import sleep
def get_Motor_Distance_Values():
motor_Distance = []
enc = mirto.get_encoders_values()
OneEncMM = 2 * 3.14 * (66.20 / 2) / 1632 / 10
l_OneEncMM = (enc[0] * OneEncMM)
r_OneEncMM = (enc[1] * OneEncMM * -1)
motor_Distance.extend((l_OneEncMM, r_OneEncMM))
return motor_Distance
# while True:
# all_motor_Distance = get_Motor_Distance_Values()
#