async def read_gamepad_inputs():
global head_light_flag
print("Ready to drive!!")
turn_sound = SoundPlayer(
"/home/pi/xbox-raspberrypi-rover/soundfiles/turn-signal.mp3", card)
horn_sound = SoundPlayer(
"/home/pi/xbox-raspberrypi-rover/soundfiles/Horn.mp3", card)
while not is_connected():
time.sleep(2) # Wait 2 seconds for controller to come up and try again
while is_connected() and remote_control.button_b == False:
#print(" trigger_right = ", round(remote_control.trigger_right,2),end="\r")
x = round(remote_control.joystick_left_x, 2)
y = round(remote_control.joystick_left_y, 2)
angle = get_angle_from_coords(x, y)
if angle > 180:
angle = 360 - angle
#print("x:", x, " y:", y, " angle: ",angle,end="\r")
turn_head(angle)
direction = get_motor_direction(x, y)
y = adjust_speed(y, angle)
#print("x:", x, " y:", y, " direction: ",direction,end="\r")
drive_motor(direction, y)
if round(remote_control.trigger_right, 2) > 0.0:
horn_sound.play(1.0)
led.blue()
elif round(remote_control.trigger_left, 2) > 0.0:
led.cyan()
elif remote_control.bump_left:
turn_sound.play(1.0)
led.turn_left(5)
elif remote_control.bump_right:
turn_sound.play(1.0)
led.turn_right(5)
elif remote_control.dpad_up:
remote_control.dpad_up = False
elif remote_control.dpad_left:
remote_control.dpad_left = False
elif remote_control.dpad_right:
remote_control.dpad_right = False
elif remote_control.button_a:
remote_control.button_a = False
elif head_light_flag == False:
led.both_off()
led_strip.colorWipe(strip, Color(0, 0, 0))
if turn_sound.isPlaying():
turn_sound.stop()
await asyncio.sleep(100e-3) #100ms
return
def scope(cv, x, step_x, id):
global cvjob
global durchgang
global linedrop
def measure_point():
while not GPIO.input(11):
GPIO.output(9, 1)
u1 = 0
u2 = 0
for i in range(10000):
if GPIO.input(11):
GPIO.output(9, 0)
u1 = u1 + faktor
#u1=u1+1
else:
GPIO.output(9, 1)
u2 = u2 + faktor
#u2=u2+1
GPIO.output(9, 0)
spannung = (nulloffset + u1 - u2) / 2000
#print("Spannung: ", spannung, " u0: ",(((u1 - u2) * 1000 / 100000) + 100))
return spannung
#ende measure_point()
def dbv_coordinate(V):
Unull = 1
if V <= 0:
V = 0.0001
dBV = 20 * math.log10(V / Unull)
if dBV < -20:
dBV = -19.9
elif dBV > 20:
dBV = 19.9
#print("Spannung: ", V," dBV: ",dBV," Coord: ",(h/2-(dBV*20)))
return (h / 2 - (dBV * 20))
#ende dbv_coordiante(dBV)
def frequenz_koord(freq):
#Dekade feststellen
lfreq = 0
m = 0
if freq < 100:
m = 0
lfreq = freq / 10
elif freq < 1000:
m = 1
lfreq = freq / 100
elif freq < 10000:
m = 2
lfreq = freq / 1000
elif freq <= 20000:
m = 3
lfreq = freq / 10000
try:
logwert = math.log10(lfreq)
except:
print("freq: ", freq, " lfreq: ", lfreq, " m: ", m, " logwert: ",
logwert, " xwert: ", xwert)
raise
xwert = wh * logwert + (wh * m)
#print ("freq: ",freq," lfreq: ",lfreq," m: ",m," logwert: ",logwert," xwert: ",xwert)
return round(xwert)
#ende frequenz_koord(freq)
korr_faktor = 1.0
try:
korr_faktor = float(korr_var.get())
except:
print("Keine gültige Zahl: ", korr_var.get())
korr_faktor = 1.0
korr_var.set("1.0")
if korr_faktor > 4 or korr_faktor <= 0:
print("Keine gültige Zahl: ", korr_var.get())
korr_faktor = 1.0
korr_var.set("1.0")
if x < len(freqliste):
if id:
last_y = cv.coords(id)[-1]
else:
if linedrop == 1:
cv.delete("line_point" + str(durchgang)) #Linie wieder löschen
linedrop = 0
last_y = h / 2
#x += step_x
#Hier Ton erzeugen und dann Messen anschließend Frequenz erhoehen step_x entsprechend erhoehen
# id = cv.create_line(x-step_x, last_y , x, measure_point()*2, fill = "black", tag="line_point", width=2)
counter.set("Frequenz: " + str(freqliste[x]))
old_x = 0
try:
SoundPlayer.playTone(freqliste[x], 2, False,
dev) #hier auch Zeit einstellen
#SoundPlayer.playTone(300, 2, False, dev)
mp = 0
messcounter = 0 #Mittelwert
mess_liste = [] #Liste
while SoundPlayer.isPlaying():
#print("Warte:..",SoundPlayer.isPlaying())
#mp += measure_point() #Mittelwert
messcounter += 1 #Mittelwert
mess_liste.append(measure_point())
#print("Sound ",freqliste[x]," Hz")
#mp=mp/messcounter #Mittelwert bilden
#mess_liste.remove(max(mess_liste))
#mess_liste.remove(min(mess_liste))
#messcounter -= 2
mp = median(mess_liste)
#DEBUG Ausgaben
#print("Listenlänge: ",len(mess_liste)," Max: ",max(mess_liste)," Min: ",min(mess_liste), "Mid: ",mp)
old_x = x - step_x
if old_x < 0:
old_x = 0
messwert.set("Messwert: " + str(round(mp, 2)) + "V")
messpunkte.set("Messpunke: " + str(messcounter))
id = cv.create_line(frequenz_koord(freqliste[old_x]),
last_y,
frequenz_koord(freqliste[x]),
dbv_coordinate(mp * korr_faktor),
fill=linienfarbe[durchgang],
tag="line_point" + str(durchgang),
width=2)
x += step_x
except:
print("Exception x:", x, "old_x: ", old_x)
raise
else:
# hier auch Frequenz zurücksetzen
x = 0
id = None
durchgang += 1
# cv.after(20, scope, cv, x, step_x, id)
if startstop == 1 and durchgang < len(linienfarbe):
cvjob = cv.after(20, scope, cv, x, step_x, id)
else:
print("Gestoppt!")
# Sound1b.py
from soundplayer import SoundPlayer
import time
# Use device with ID 0 (mostly standard audio output)
# Sound resource in current folder
p = SoundPlayer("salza1.wav", 1)
print "play for 10 s"
p.play() # non blocking, volume = 1
n = 0
while True:
if not p.isPlaying():
break
print "playing:", n
if n == 10:
p.stop()
print "stopped"
n += 1
time.sleep(1)
print "done"
# Sound2b.py
from soundplayer import SoundPlayer
import time
# Sine of 1000 Hz during 5 s, non-blocking, device 1
SoundPlayer.playTone(1000, 5, False, 1)
n = 0
while SoundPlayer.isPlaying():
print "playing #", n
time.sleep(1)
n += 1
print "done"
import time
from soundplayer import SoundPlayer
# Use device with ID 1 (mostly USB audio adapter)
p = SoundPlayer("/home/pi/sound/salza1.wav", 1)
print("play for 10 s with volume 0.5")
p.play(0.5) # non-blocking, volume = 0.5
print("isPlaying:", p.isPlaying())
time.sleep(10)
print("pause for 5 s")
p.pause()
print("isPlaying:", p.isPlaying())
time.sleep(5)
print("resume for 10 s")
p.resume()
time.sleep(10)
print("stop")
p.stop()
print("isPlaying:", p.isPlaying())
print = ("done")
while True:
if GPIO.input(P_PAUSE) == GPIO.LOW and state == "PLAYING":
state = "PAUSED"
p.pause()
print "playing->paused"
elif GPIO.input(P_PLAY) == GPIO.LOW and state == "STOPPED":
state = "PLAYING"
p.play()
print "stopped->playing, song ID", songID
elif GPIO.input(P_PLAY) == GPIO.LOW and state == "PAUSED":
state = "PLAYING"
p.resume()
print "paused->playing"
elif GPIO.input(P_STOP) == GPIO.LOW and (state == "PAUSED"
or state == "PLAYING"):
state = "STOPPED"
p.stop()
print "paused/playing->stopped"
elif GPIO.input(P_SELECT) == GPIO.LOW and state == "STOPPED":
songID += 1
if songID == nbSongs:
songID = 0
p = SoundPlayer("/home/pi/songs/song" + str(songID) + ".mp3", 1)
print "stopped->playing, song ID", songID
p.play()
state = "PLAYING"
if state == "PLAYING" and not p.isPlaying():
print "finished->stopped"
state = "STOPPED"
time.sleep(0.1)
# Sound1a.py
import time
from soundplayer import SoundPlayer
# Use device with ID 1 (mostly USB audio adapter)
p = SoundPlayer("/home/pi/Music/song0.mp3", 1)
print "play for 10 s with volume 0.5"
p.play(0.5) # non-blocking, volume = 0.5
print "isPlaying:", p.isPlaying()
time.sleep(10)
print "pause for 5 s"
p.pause()
print "isPlaying:", p.isPlaying()
time.sleep(5)
print "resume for 10 s"
p.resume()
time.sleep(10)
print "stop"
p.stop()
print "isPlaying:", p.isPlaying()
print "done"
elif GPIO.input(P_TON6) == GPIO.LOW:
print "Ton6..."
p.stop()
DoSound.playTone(1000, 0.3, dev)
p = SoundPlayer("/home/pi/mp3/Wie_kleine_Tiere.mp3", 1)
p.play()
elif GPIO.input(P_LOWBAT) == GPIO.LOW:
time.sleep(0.1) # Entprellen zur Sicherheit
if GPIO.input(P_LOWBAT) == GPIO.LOW:
print "Batterie leer, Ausschaltmeldung und runterfahren"
GPIO.output(P_POWER, False) # Netzteil abschalten
p.stop()
DoSound.playTone([440, 550, 660], 10, dev)
p = SoundPlayer("/home/pi/mp3/BatterieLeer_n.mp3", 1)
p.play()
time.sleep(2)
os.system("sudo poweroff")
elif (GPIO.input(P_POWSWITCH) == GPIO.HIGH) or (schleife > AUSLIMIT):
time.sleep(0.1) # Entprellen zur Sicherheit
if (GPIO.input(P_POWSWITCH) == GPIO.HIGH) or (schleife > AUSLIMIT):
print "Ausschalten gewuenscht, runterfahren und ausschalten"
GPIO.output(P_POWER, False)
p.stop()
DoSound.playTone([440, 550, 660], 0.2, dev)
os.system("sudo poweroff")
if p.isPlaying() == True:
schleife = 0
else:
schleife = schleife + 1
time.sleep(0.1) # Do not waste processor time
