def __init__(self, left=(2, 3), right=(4, 5), pwm=(6, 9)):
# GPIO pin setup
if does_module_exists(MODULE_NAME):
self.left_backward = mraa.Gpio(left[0])
self.left_forward = mraa.Gpio(left[1])
self.right_forward = mraa.Gpio(right[0])
self.right_backward = mraa.Gpio(right[1])
self.left_forward.dir(mraa.DIR_OUT)
self.left_backward.dir(mraa.DIR_OUT)
self.right_backward.dir(mraa.DIR_OUT)
self.right_forward.dir(mraa.DIR_OUT)
self.en_A = mraa.Pwm(pwm[1])
self.en_B = mraa.Pwm(pwm[0])
self.en_A.enable(True)
self.en_B.enable(True)
self.halt()
self.en_A.write(.5)
self.en_B.write(.5)
import socket
from .common import UDP_IP_PORT, Keys
import utility
if utility.does_module_exists('mraa'):
import mraa
import rover
car = rover.RoverClient()
car_move = True
else:
car_move = False
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind(UDP_IP_PORT)
def receive_loop():
while True:
data, addr = sock.recvfrom(1024)
print("processing ", data)
if car_move:
if data == Keys.KEY_UP.value:
car.forward()
elif data == Keys.KEY_DOWN.value:
car.backward()
elif data == Keys.KEY_LEFT.value:
car.forward_left()
elif data == Keys.KEY_RIGHT.value:
car.forward_right()
def forward_left(self, seconds=DEFAULT_RUN_LENGTH):
if does_module_exists(MODULE_NAME):
self.on(self.right_forward, self.left_backward)
self.nap(seconds)
self.off(self.right_forward, self.left_backward)
def halt(self):
if does_module_exists(MODULE_NAME):
self.left_forward.write(0)
self.left_backward.write(0)
self.right_forward.write(0)
self.right_backward.write(0)
"""
Execute in Intel Edison
"""
from utility import does_module_exists
import time
MODULE_NAME = "mraa"
DEFAULT_RUN_LENGTH = 0.5
DEFAULT_TURN_SLEEP = 0.3
if does_module_exists(MODULE_NAME):
import mraa
class RoverClient(object):
def __init__(self, left=(2, 3), right=(4, 5), pwm=(6, 9)):
# GPIO pin setup
if does_module_exists(MODULE_NAME):
self.left_backward = mraa.Gpio(left[0])
self.left_forward = mraa.Gpio(left[1])
self.right_forward = mraa.Gpio(right[0])
self.right_backward = mraa.Gpio(right[1])
self.left_forward.dir(mraa.DIR_OUT)
self.left_backward.dir(mraa.DIR_OUT)
self.right_backward.dir(mraa.DIR_OUT)
self.right_forward.dir(mraa.DIR_OUT)
self.en_A = mraa.Pwm(pwm[1])