#Motor Side
spacebrewServer = "h1.ryanteck.org.uk"
spacebrewPort = 9000
from spacebrew import Spacebrew
import RPi.GPIO as GPIO
#Setup GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setup(17, GPIO.OUT) #m1a
GPIO.setup(18, GPIO.OUT) #m1b
GPIO.setup(22, GPIO.OUT) #m2a
GPIO.setup(23, GPIO.OUT) #m2b
brew = Spacebrew("RTK-000-001", description="A Raspberry Pi with a RTK-000-001 on it", server="h1.ryanteck.org.uk")
#Add the subscribers for the motors
brew.addSubscriber("motor1a", "boolean")
brew.addSubscriber("motor1b", "boolean")
brew.addSubscriber("motor2a", "boolean")
brew.addSubscriber("motor2b", "boolean")
#handy string to boolean found from stack overflow
def str2bool(v):
return v.lower() in ("yes", "true", "t", "1")
#handlers
def motor1aH(value):
value = str2bool(value)
def right():
GPIO.output(17,1)
GPIO.output(18,0)
GPIO.output(22,0)
GPIO.output(23,1)
def stop():
GPIO.output(17,0)
GPIO.output(18,0)
GPIO.output(22,0)
GPIO.output(23,0)
#setup Spacebrew
name = "Cake"
robotName = "RTK-000-003: "+ name
brew = Spacebrew(robotName, server="sandbox.spacebrew.cc")
brew.addSubscriber("forward", "boolean")
brew.addSubscriber("backward", "boolean")
brew.addSubscriber("left", "boolean")
brew.addSubscriber("right", "boolean")
def fwd_hndl(value):
# do something with the value received
forwards()
time.sleep(0.03)
stop()
def bk_hndl(value):
backwards()
time.sleep(0.03)
stop()
# Define LCD column and row size for 16x2 LCD.
lcd_columns = 16
lcd_rows = 2
# Initialize the LCD using the pins above.
lcd = jagLCD(lcd_rs, lcd_en, lcd_d4, lcd_d5, lcd_d6, lcd_d7, lcd_columns,
lcd_rows, lcd_backlight)
# Print a two line message
lcd.currentMessage = "Search Spotify:\n"
#init spacebrew
brew = Spacebrew("ttl_keyboard",
description="A simple IO device",
server="192.168.1.96",
port=9000)
brew.addPublisher("ttl_keyboard", "string")
brew.addSubscriber("songTitle", "string")
brew.addSubscriber("songArtist", "string")
brew.subscribe("songTitle", setSongTitle)
brew.subscribe("songArtist", setSongArtist)
brew.start()
searchString = ""
#get the user's input to search on spotify
while 1:
c = getch.getche()
print "char is " + str(ord(c))
if c:
import math
import soundcard as sc
import numpy as np
import scipy.signal
from matplotlib.mlab import rms_flat
from spacebrew import Spacebrew
import traceback
rate = 96000
soundSpeed = 343 # m/s
client = Spacebrew('mic_array', server='localhost')
client.addPublisher('000', 'range')
client.addPublisher('060', 'range')
client.addPublisher('120', 'range')
client.addPublisher('x', 'number')
client.addPublisher('y', 'number')
client.addPublisher('z', 'number')
client.addPublisher('vector', 'vector3')
client.start()
# open the mic array
mic = sc.get_microphone('Azure Kinect')
def crest_factor(signal):
"""
Crest factor of a 1D signal
"""
peak = np.amax(np.absolute(signal))
rms = rms_flat(signal)
if rms == 0:
