def __init__(self, name, M0b=18, M0f=23, M1b=24, M1f=25, T1=4, E1=17, simulation=False):
#GPIO: 4 17 21 22
#pin : 7 11 13 15
#GPIO: 18 23 24 25
#pin : 12 16 18 22
self.logger = logging.getLogger('myR.rover')
self.name = name
self.version = 1
self.simulation = simulation
self.ip = '192.168.0.10'
self.speed = 100 # [mm/s]
self.speedMax = 1000 # [mm/s]
self.voltage = 6 # [V]
self.mass = 2 # [Kg]
self.Lenght = 180 # [mm]
self.wheelR = 32 # [mm]
self.time360 = 2 # [sec]
self.data = datacollector()
self.camera = camera(self.data)
self.camserver = camserver(self.data)
self.sensor = us_sensor('S1', T1, E1, self.data)
self.motorLeft = DCmotor('MLeft', M0b, M0f, 11, 12)
self.motorRight = DCmotor('MRight', M1b, M1f, 13, 14)
self.rc = rc(self.data)
self.server = server(self.data)
def __init__(self, w, h):
self.w, self.h = w, h
pygame.init()
display = (self.w, self.h)
self.screen = pygame.display.set_mode(display, DOUBLEBUF | OPENGL)
self.dto = 0
self.t = 0
self.clock = pygame.time.Clock()
pygame.mixer.pause()
pygame.key.set_repeat(10, 10)
self.backend = rc(w, h)
def grabseq(chrom, starts, stops, strand):
if type(starts) is int and type(stops) is int:
x = eval("Ath" + str(chrom))[(starts - 1):stops]
else:
assert len(starts) == len(stops)
x = []
for strt, stp in tuple(zip(starts, stops)):
x.append(eval("Ath" + str(chrom))[(strt - 1):stp])
x = "".join(x)
if strand == "-": x = rc(x)
return x
def __init__(self): self.esc = esc.esc() self.rc = rc.rc() self.accel = staccel.STAccel() self.U = [0]*4 self.Uc = [0]*4 self.Kyaw = 0.1 self.Kpitch = 0.1 self.Kthrust = 1 self.Kroll = 0.1 self.Kx = -100 self.Ky = 100
def get_sequences(combined, fasta_filename=None):
"""combined = pandas.DataFrame."""
if fasta_filename is None:
fasta_filename = 'lib/c_elegans.WS235.genomic.fa'
if 'chrm' in combined.columns: chrm_key = 'chrm'
elif 'chrom' in combined.columns: chrm_key = 'chrom'
elif 'Chr' in combined.columns: chrm_key = 'Chr'
sequences = dict((re.sub('CHROMOSOME_', '', p.name), p.seq) for p in HTSeq.FastaReader(fasta_filename))
for index, peak_row in combined.iterrows():
start = combined.loc[index, 'left']
end = combined.loc[index, 'right']
chrm = combined.loc[index, chrm_key]
seq = sequences[chrm][start:end]
if combined.loc[index, 'strand'] == '-':
seq = rc(seq)
combined.loc[index, 'seq'] = seq
def get_sequences(combined, fasta_filename=None):
"""combined = pandas.DataFrame."""
if fasta_filename is None:
fasta_filename = 'lib/c_elegans.WS235.genomic.fa'
if 'chrm' in combined.columns: chrm_key = 'chrm'
elif 'chrom' in combined.columns: chrm_key = 'chrom'
elif 'Chr' in combined.columns: chrm_key = 'Chr'
sequences = dict((re.sub('CHROMOSOME_', '', p.name), p.seq)
for p in HTSeq.FastaReader(fasta_filename))
for index, peak_row in combined.iterrows():
start = combined.loc[index, 'left']
end = combined.loc[index, 'right']
chrm = combined.loc[index, chrm_key]
seq = sequences[chrm][start:end]
if combined.loc[index, 'strand'] == '-':
seq = rc(seq)
combined.loc[index, 'seq'] = seq
def start_wiimote_callback(channel):
""" Threaded callback function called
when user presses the start button """
global drive
global wiimote
global rc_class
global rc_thread
if not rc_class:
print("Starting RC Mode")
# Create and start a new thread running the remote control script
rc_class = rc.rc(drive, wiimote)
rc_thread = threading.Thread(target=rc_class.run)
rc_thread.start()
else:
print("Stopping RC Mode")
# Kill Thread
kill_rc_thread()
def start_rc_mode(self):
# Kill any previous Challenge / RC mode
self.stop_threads()
# Set Wiimote LED to RC Mode index
self.current_mode = Mode.MODE_RC
# Inform user we are about to start RC mode
logging.info("Entering into RC Mode")
self.challenge = rc.rc(self.core, self.wiimote, self.oled)
# Create and start a new thread
# running the remote control script
logging.info("Starting RC Thread")
self.challenge_thread = threading.Thread(
target=self.challenge.run)
self.challenge_thread.start()
logging.info("RC Thread Running")
def start_rc_mode(self):
# Kill any previous Challenge / RC mode
self.stop_threads()
# Set Wiimote LED to RC Mode index
self.mode = self.MODE_RC
if self.wiimote and self.wiimote.wm:
self.wiimote.wm.led = self.mode
# Inform user we are about to start RC mode
logging.info("Entering into RC Mode")
self.challenge = rc.rc(self.core, self.wiimote)
# Create and start a new thread
# running the remote control script
logging.info("Starting RC Thread")
self.challenge_thread = threading.Thread(target=self.challenge.run)
self.challenge_thread.start()
logging.info("RC Thread Running")
# Show state on OLED display
self.show_mode()
def main():
from HC_SR04 import HC_SR04
from rc import rc
data = datacollector()
my_sensor = HC_SR04('S1', 4, 17,data)
my_sensor.start()
my_rc = rc(data)
my_rc.start()
my_display = display(data)
my_display.start()
while my_display.data.cycling is True:
sleep(0.01)
my_display.stop()
my_rc.stop()
my_sensor.stop()
import rc
import web
import thread
import signal
import sys
import time
import config
urls = (
'/devices', 'get_all_devices',
'/device/(\w+)', 'get_device',
'/device/(\w+)/status/(\d+)', 'set_device'
)
room = rc.rc()
class get_all_devices:
def GET(self):
print "Request for devices list"
hdrs = web.input()
if(hdrs["secret"]!=config.get_pwd()):
return 401
global room
web.header('Access-Control-Allow-Origin','*')
web.header('Access-Control-Allow-Credentials', 'true')
return room.getAllDevices()
class get_device:
def menu_item_selected(self):
"""Select the current menu item"""
# If ANYTHING selected, we gracefully
# kill any challenge threads open
self.stop_threads()
if self.menu[self.menu_state]=="Remote Control":
# Start the remote control
logging.info("Entering into Remote Control Mode")
self.challenge = rc.rc(self.drive, self.wiimote)
# Create and start a new thread running the remote control script
self.challenge_thread = threading.Thread(target=self.challenge.run)
self.challenge_thread.start()
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Three Point Turn":
# Start the three point turn challenge
logging.info("Starting Three Point Turn Challenge")
self.challenge = ThreePointTurn(self.drive)
# Create and start a new thread running the remote control script
self.challenge_thread = threading.Thread(target=self.challenge.run)
self.challenge_thread.start()
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Straight Line Speed":
# Start the straight line speed challenge
logging.info("Starting Straight Line Speed Challenge")
self.challenge = StraightLineSpeed(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Line Following":
# Start the Line Following challenge
logging.info("Starting Line Following Challenge")
self.challenge = LineFollowing(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Proximity":
# Start the Proximity challenge
logging.info("Starting Proximity Challenge")
self.challenge = Proximity(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state]=="Quit Challenge":
# Reset menu item back to top of list
self.menu_state = 0
logging.info("No Challenge Challenge Thread")
elif self.menu[self.menu_state]=="Power Off Pi":
# Power off the raspberry pi safely
# by sending shutdown command to terminal
logging.info("Shutting Down Pi")
os.system("sudo shutdown -h now")
self.shutting_down = True
from rc import rc
from time import sleep
import curses
#in win non riesco a gestire lo screen.. ci vuole istallato Konsole???
screen = curses.initscr()
# turn off input echoing
curses.noecho()
# respond to keys immediately (don't wait for enter)
curses.cbreak()
# map arrow keys to special values
screen.keypad(True)
myRc = rc(screen)
myRc.start()
while myRc.cycling:
screen.clear()
screen.addstr(1, 1, 'Roll +a -z | Throttle +k -m | SPACEBAR to quit ')
screen.addstr(2, 1, 'ROLL: ' + str(myRc.roll))
screen.addstr(3, 1, 'THROTTLE: ' + str(myRc.throttle))
sleep(0.05)
curses.nocbreak()
screen.keypad(0)
curses.echo()
curses.endwin()
myRc.stop()
def __init__(self,
name,
pin0=18,
pin1=23,
pin2=24,
pin3=25,
simulation=True):
#GPIO: 18 23 24 25
#pin : 12 16 18 22
self.logger = logging.getLogger('myQ.quadcptr')
self.name = name
self.simulation = simulation
self.version = 1
self.motor = [motor('M' + str(i), 0) for i in xrange(4)]
self.motor[0] = motor('M0',
pin0,
kv=1000,
WMin=0,
WMax=100,
simulation=self.simulation)
self.motor[1] = motor('M1',
pin1,
kv=1000,
WMin=0,
WMax=100,
simulation=self.simulation)
self.motor[2] = motor('M2',
pin2,
kv=1000,
WMin=0,
WMax=100,
simulation=self.simulation)
self.motor[3] = motor('M3',
pin3,
kv=1000,
WMin=0,
WMax=100,
simulation=self.simulation)
self.sensor = sensor(simulation=self.simulation)
self.pidR = pid()
self.pidP = pid()
self.pidY = pid()
self.pidR_rate = pid()
self.pidP_rate = pid()
self.pidY_rate = pid()
self.ip = '192.168.1.1'
self.netscan = netscan(self.ip)
self.webserver = webserver(self)
self.display = display(self)
self.rc = rc(self.display.screen)
self.imulog = False
self.savelog = False
self.calibIMU = False
self.debuglev = 0
self.netscanning = False
#for quadricopter phisics calculations- not used yet
self.prop = prop(9, 4.7, 1)
self.voltage = 12 # [V]
self.mass = 2 # [Kg]
self.barLenght = 0.23 # [mm]
self.barMass = 0.15 # [kg]
self.datalog = ''
self.initLog()
def main():
rc()
def menu_item_selected(self):
"""Select the current menu item"""
# If ANYTHING selected, we gracefully
# kill any challenge threads open
self.stop_threads()
if self.menu[self.menu_state] == "Remote Control":
# Start the remote control
logging.info("Entering into Remote Control Mode")
self.challenge = rc.rc(self.drive, self.wiimote)
# Create and start a new thread running the remote control script
self.challenge_thread = threading.Thread(target=self.challenge.run)
self.challenge_thread.start()
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Three Point Turn":
# Start the three point turn challenge
logging.info("Starting Three Point Turn Challenge")
self.challenge = ThreePointTurn(self.drive)
# Create and start a new thread running the remote control script
self.challenge_thread = threading.Thread(target=self.challenge.run)
self.challenge_thread.start()
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Straight Line Speed":
# Start the straight line speed challenge
logging.info("Starting Straight Line Speed Challenge")
self.challenge = StraightLineSpeed(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Line Following":
# Start the Line Following challenge
logging.info("Starting Line Following Challenge")
self.challenge = LineFollowing(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Proximity":
# Start the Proximity challenge
logging.info("Starting Proximity Challenge")
self.challenge = Proximity(self.drive)
# Ensure we know what challenge is running
if self.challenge:
self.challenge_name = self.menu[self.menu_state]
# Move menu index to quit challenge by default
self.menu_state = self.menu_quit_challenge
elif self.menu[self.menu_state] == "Quit Challenge":
# Reset menu item back to top of list
self.menu_state = 0
logging.info("No Challenge Challenge Thread")
elif self.menu[self.menu_state] == "Power Off Pi":
# Power off the raspberry pi safely
# by sending shutdown command to terminal
logging.info("Shutting Down Pi")
os.system("sudo shutdown -h now")
self.shutting_down = True
