def connect():
ipcon = IPConnection() # Create IP connection
gps = GPS(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
print('GPS Bricklet connected...')
return gps, ipcon
def cb_enumerate(uid, connected_uid, position, hardware_version,
firmware_version, device_identifier, enumeration_type):
if connected_uid == '0':
print 'Master Brick UID: \t%s' % (uid)
#print 'UID: %s' % uid
#print 'connected_uid: %s' % connected_uid
#print 'position: %s' % position
#print 'hardware_version: %i.%i.%i' % hardware_version
#print 'firmware_version: %i.%i.%i' % firmware_version
#print 'device_identifier: %d' % device_identifier
#print 'enumeration_type: %d' % enumeration_type
if enumeration_type == IPConnection.ENUMERATION_TYPE_CONNECTED or \
enumeration_type == IPConnection.ENUMERATION_TYPE_AVAILABLE:
# Enumeration is for IMU Brick
if device_identifier == IMU.DEVICE_IDENTIFIER:
print 'IMU Brick UID: \t\t%s' % (uid)
# Create imu device object
imu = IMU(uid, ipcon)
imu.set_all_data_period(100)
imu.register_callback(imu.CALLBACK_ALL_DATA, cb_imudynamic)
# Enumeration is for GPS Bricklet
if device_identifier == GPS.DEVICE_IDENTIFIER:
print 'GPS Bricklet UID: \t%s' % (uid)
# Create imu device object
gps = GPS(uid, ipcon)
gps.set_coordinates_callback_period(100)
gps.register_callback(gps.CALLBACK_COORDINATES, cb_coordinates)
PORT = 4223
UID = "ABC" # Change to your UID
from tinkerforge.ip_connection import IPConnection
from tinkerforge.bricklet_gps import GPS
# Callback function for coordinates
def cb_coordinates(latitude, ns, longitude, ew, pdop, hdop, vdop, epe):
print('Latitude: ' + str(latitude / 1000000.0) + '° ' + ns)
print('Longitude: ' + str(longitude / 1000000.0) + '° ' + ew)
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
gps = GPS(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Set Period for coordinates callback to 1s (1000ms)
# Note: The callback is only called every second if the
# coordinates have changed since the last call!
gps.set_coordinates_callback_period(1000)
# Register coordinates callback to function cb_coordinates
gps.register_callback(gps.CALLBACK_COORDINATES, cb_coordinates)
raw_input('Press key to exit\n') # Use input() in Python 3
ipcon.disconnect()
HOST = "localhost"
PORT = 4223
UID = "ABC" # Change to your UID
from tinkerforge.ip_connection import IPConnection
from tinkerforge.bricklet_gps import GPS
# Callback function for coordinates
def cb_coordinates(latitude, ns, longitude, ew, pdop, hdop, vdop, epe):
print('Latitude: ' + str(latitude/1000000.0) + '° ' + ns)
print('Longitude: ' + str(longitude/1000000.0) + '° ' + ew)
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
gps = GPS(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# Set Period for coordinates callback to 1s (1000ms)
# Note: The callback is only called every second if the
# coordinates have changed since the last call!
gps.set_coordinates_callback_period(1000)
# Register coordinates callback to function cb_coordinates
gps.register_callback(gps.CALLBACK_COORDINATES, cb_coordinates)
raw_input('Press key to exit\n') # Use input() in Python 3
ipcon.disconnect()
if msg_header[0] == msg_index - 1:
sms_reply_to = msg_header[2]
break
except:
print 'ERROR: Failed to process received SMS'
return
try:
modem.sms_send(sms_reply_to, msg_body_send)
except:
# Ignore exceptions
pass
time.sleep(2)
mm = ModemManager(
sys.argv[1],
PIN_SIM) # You can keep the PIN as empty string if PIN is disabled
mm.register_new_sms_callback(
cb_new_sms) # Register a callback for new SMS arrival event
ipcon = IPConnection() # Create IP connection
gps = GPS(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
raw_input('Press any key to exit...\n') # Use input() in Python 3
mm.stop_prober()
ipcon.disconnect()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from tinkerforge.ip_connection import IPConnection
from tinkerforge.bricklet_gps import GPS
from settings import HOST, PORT, GPSUID
from array import array
ipcon = IPConnection(HOST, PORT) # Create ip connection to brickd
gps = GPS(GPSUID) # Create device object
ipcon.add_device(gps) # Add device to ip connection
coords = gps.get_coordinates()
lon = coords.longitude/1000000.0
lat = coords.latitude/1000000.0
print('Latitude: ' + str(lat) + '° ' + coords.ns)
print('Longitude: ' + str(lon/1000000.0) + '° ' + coords.ew)
if coords.ns == "S":
lat = 0 - lat
if coords.ew == "W":
lon = 0 - lon
arr = array(lat, lon)
try:
# This will create a new file or **overwrite an existing file**.
f = open("location.txt", "w")
try:
arr.tofile(f)
finally:
if fix == 3 or fix == 2:
enable = True
else:
enable = False
print("stop!!!1")
servo.set_position(steeringsrv, mid)
servo.set_position(motor, stop)
if __name__ == "__main__":
enable = False
ipcon = IPConnection(HOST, PORT) # Create ip connection to brickd
gps = GPS(GPSUID) # Create device object
ipcon.add_device(gps) # Add device to ip connection
servo = Servo(SERVOUID) # Create device object
ipcon.add_device(servo) # Add device to IP connection
# Don't use device before it is added to a connection
servo.set_degree(motor, -9000, 9000)
servo.set_pulse_width(motor, 950, 1950)
servo.set_period(motor, 20000)
servo.set_acceleration(motor, 7000)
servo.set_velocity(motor, 0xFFFF) # Full speed
servo.set_degree(steeringsrv, -3600, 3600)
servo.set_pulse_width(steeringsrv, 955, 2000)
servo.set_period(steeringsrv, 20000)
servo.set_acceleration(steeringsrv, 7000) # Full acceleration 0xFFFF
servo.set_velocity(steeringsrv, 0xFFFF) # Full speed
