def process(self):
try:
msg = self.connection.read()
if not msg:
return
msg = msg.decode("utf-8")
items = msg.split(" ")
cmd = items[0]
if cmd != "":
# run the robot command
print(cmd)
if cmd == "f": motorcontrol.forward()
if cmd == "b": motorcontrol.backward()
if cmd == "l": motorcontrol.left()
if cmd == "r": motorcontrol.right()
if cmd == "<<": motorcontrol.hardleft()
if cmd == ">>": motorcontrol.hardright()
if cmd == "x": motorcontrol.stop_all()
# respond
self.counter += 1
self.led.value(1)
self.connection.write(cmd + str(self.counter))
self.led.value(0)
except ClientClosedError:
self.connection.close()
import motorcontrol
import soundsensor
motorcontrol.forward(2)
print(soundsensor.distance('cm'))
mycall_R = partial(pulse_mainR, eR)
GPIO.add_event_detect(eL.pinA, GPIO.RISING, callback=mycall_L)
GPIO.add_event_detect(eR.pinA, GPIO.RISING, callback=mycall_R)
""" ==========Begin Routine========== """
#camera.start_preview()
camera.start_recording('/home/pi/Videos/latest.mp4')
# moving forwards
for i in range(10):
distL = ultra_check(uL)
distR = ultra_check(uR)
if min(distL, distR) > 5:
eL.dir, eR.dir = MC.forward(mL, mR, 25)
sleep(3)
else:
lcd.clear()
lcd.cursor_pos = (0, 0)
lcd.write("L %02d" % distL)
lcd.cursor_pos = (1, 0)
lcd.write("R %02d" % distL)
#moving backwards
for i in range(10):
distB = ultra_check(uB)
if min(distL, distR) > 5:
eL.dir, eR.dir = MC.backward(mL, mR, 25)
sleep(3)
# instant (no waiting) key response, and use special values for cursor keys
screen = curses.initscr()
curses.noecho()
curses.cbreak()
screen.keypad(True)
dc = 50 # set dc variable to 0 for 0%
motorcontrol.start(GPIO, dc)
try:
while True:
char = screen.getch()
if char == ord('q'):
break
elif char == curses.KEY_UP:
motorcontrol.forward(GPIO)
print "up"
elif char == curses.KEY_DOWN:
motorcontrol.reverse(GPIO)
print "down"
elif char == curses.KEY_RIGHT:
motorcontrol.right(GPIO)
print "right"
elif char == curses.KEY_LEFT:
motorcontrol.left(GPIO)
print "left"
elif char == 10:
import motorcontrol
import soundsensor
import random
while True:
#Always move forward
motorcontrol.forward(0.2)
#If close to object, backup
dist = soundsensor.distance('cm')
print(dist)
if soundsensor.distance('cm') <= 20:
motorcontrol.reverse(0.5)
#Randomly turn then loop again
turn = random.randint(0, 9) % 2
if random.randint == 0:
motorcontrol.left_turn(random.randint(0, 9) % 2)
else:
motorcontrol.right_turn(random.randint(0, 9) % 2)