def cmd_forward():
open_serial_port()
blinkon()
for t in range(0,21):
message = [0x88,int(math.floor(t*MAXSPEED/20)),0x8c,int(math.floor(t*MAXSPEED/20))]
for a in range(0,4):
wp.serialPutchar(rpi,(message[a]))
if R_Ranger.obstacle_present() == 1:
message = [0x88,0,0x8c,0]
for a in range(0,4):
wp.serialPutchar(rpi, message[a])
close_serial_port()
return -1
time.sleep(PAUSE)
for t in range(20,-1, -1):
message = [0x88,int(math.floor(t*MAXSPEED/20)),0x8c,int(math.floor(t*MAXSPEED/20))]
for a in range(0,4):
wp.serialPutchar(rpi, message[a])
if R_Ranger.obstacle_present() == 1:
message = [0x88,0,0x8c,0]
for a in range(0,4):
wp.serialPutchar(rpi, message[a])
close_serial_port()
return -1
time.sleep(PAUSE)
blinkoff()
close_serial_port()
return 0
def cmd_rotateright():
open_serial_port()
blinkon()
for t in range(0,21):
message = [0x8a,int(math.floor(t*MAXSPEED/20)),0x8c,int(math.floor(t*MAXSPEED/20))]
for a in range(0,4):
wp.serialPutchar(rpi, message[a])
time.sleep(ROTATIONPAUSE)
for t in range(20,-1,-1):
message = [0x8a,int(math.floor(t*MAXSPEED/20)),0x8c,int(math.floor(t*MAXSPEED/20))]
for a in range(0,4):
wp.serialPutchar(rpi, message[a])
time.sleep(ROTATIONPAUSE)
blinkoff()
close_serial_port()
def cmd_reverse():
open_serial_port()
blinkon()
for t in range(0,21):
message = [0x8a,int(math.floor(t*MAXSPEED/20)),0x8e,int(math.floor(t*MAXSPEED/20))]
for a in range(0,4):
wp.serialPutchar(rpi, message[a])
time.sleep(0.1)
for t in range(20,-1,-1):
message = [0x8a,int(math.floor(t*MAXSPEED/20)),0x8e,(math.floor(t*MAXSPEED/20))]
for a in range(0,4):
wp.serialPutchar(rpi, message[a])
time.sleep(0.1)
blinkoff()
close_serial_port()
def cmd_rotateleft():
open_serial_port()
blinkon()
for t in range(0, 21):
message = [
0x88,
int(math.floor(t * MAXSPEED / 20)), 0x8e,
int(math.floor(t * MAXSPEED / 20))
]
for a in range(0, 4):
wp.serialPutchar(rpi, message[a])
time.sleep(ROTATIONPAUSE)
for t in range(20, -1, -1):
message = [
0x88,
int(math.floor(t * MAXSPEED / 20)), 0x8e,
int(math.floor(t * MAXSPEED / 20))
]
for a in range(0, 4):
wp.serialPutchar(rpi, message[a])
time.sleep(ROTATIONPAUSE)
blinkoff()
close_serial_port()
def cmd_reverse():
open_serial_port()
blinkon()
for t in range(0, 21):
message = [
0x8a,
int(math.floor(t * MAXSPEED / 20)), 0x8e,
int(math.floor(t * MAXSPEED / 20))
]
for a in range(0, 4):
wp.serialPutchar(rpi, message[a])
time.sleep(0.1)
for t in range(20, -1, -1):
message = [
0x8a,
int(math.floor(t * MAXSPEED / 20)), 0x8e,
(math.floor(t * MAXSPEED / 20))
]
for a in range(0, 4):
wp.serialPutchar(rpi, message[a])
time.sleep(0.1)
blinkoff()
close_serial_port()
def cmd_forward():
open_serial_port()
blinkon()
for t in range(0, 21):
message = [
0x88,
int(math.floor(t * MAXSPEED / 20)), 0x8c,
int(math.floor(t * MAXSPEED / 20))
]
for a in range(0, 4):
wp.serialPutchar(rpi, (message[a]))
if R_Ranger.obstacle_present() == 1:
message = [0x88, 0, 0x8c, 0]
for a in range(0, 4):
wp.serialPutchar(rpi, message[a])
close_serial_port()
return -1
time.sleep(PAUSE)
for t in range(20, -1, -1):
message = [
0x88,
int(math.floor(t * MAXSPEED / 20)), 0x8c,
int(math.floor(t * MAXSPEED / 20))
]
for a in range(0, 4):
wp.serialPutchar(rpi, message[a])
if R_Ranger.obstacle_present() == 1:
message = [0x88, 0, 0x8c, 0]
for a in range(0, 4):
wp.serialPutchar(rpi, message[a])
close_serial_port()
return -1
time.sleep(PAUSE)
blinkoff()
close_serial_port()
return 0
def open_serial_port():
global rpi
rpi = wp.serialOpen("/dev/ttyAMA0",38400)
wp.serialPutchar(rpi,170)
def dataOutput(target, value): dataOutputLock.acquire() wiringpi2.serialPutchar(middleLayer, target) wiringpi2.serialPutchar(middleLayer, mes) dataOutputLock.release()
def open_serial_port():
global rpi
rpi = wp.serialOpen("/dev/ttyAMA0", 38400)
wp.serialPutchar(rpi, 170)
import sys
#this example need change script.bin
#[uart_para6]
#uart_used = 1
#uart_port = 6
#uart_type = 2
#uart_tx = port:PI12<3><1><default><default>
#uart_rx = port:PI13<3><1><default><default>
#PI12: pin46[U14 Next to sata]
#PI13: pin48[U14 Next to sata]
serial = wiringpi2.serialOpen('/dev/ttyS6', 115200)
wiringpi2.serialPuts(serial, "\n")
print serial
wiringpi2.serialPuts(serial, "Putchar:")
wiringpi2.serialPutchar(serial, 0x38) #sent ascii 0x38: 8
#wiringpi2.serialPutchar(serial,0x65)#sent ascii 0x68: A
wiringpi2.serialPuts(serial, "\n")
wiringpi2.serialPuts(serial, "Puts:")
wiringpi2.serialPuts(serial, "hello\n")
wiringpi2.serialPuts(serial, "Printf:")
wiringpi2.serialPrintf(serial, "hello\n")
#####get data from serial
while 1:
if wiringpi2.serialDataAvail(serial):
val = wiringpi2.serialGetchar(serial)
print chr(val)
def outputArduino(mes): arduinoOutLock.acquire() wiringpi2.serialPutchar(arduino, mes) arduinoOutLock.release()
import sys
#this example need change script.bin
#[uart_para6]
#uart_used = 1
#uart_port = 6
#uart_type = 2
#uart_tx = port:PI12<3><1><default><default>
#uart_rx = port:PI13<3><1><default><default>
#PI12: pin46[U14 Next to sata]
#PI13: pin48[U14 Next to sata]
serial = wiringpi2.serialOpen('/dev/ttyS6',115200)
wiringpi2.serialPuts(serial,"\n")
print serial
wiringpi2.serialPuts(serial,"Putchar:")
wiringpi2.serialPutchar(serial,0x38)#sent ascii 0x38: 8
#wiringpi2.serialPutchar(serial,0x65)#sent ascii 0x68: A
wiringpi2.serialPuts(serial,"\n")
wiringpi2.serialPuts(serial,"Puts:")
wiringpi2.serialPuts(serial,"hello\n")
wiringpi2.serialPuts(serial,"Printf:")
wiringpi2.serialPrintf(serial,"hello\n")
#####get data from serial
while 1:
if wiringpi2.serialDataAvail(serial):
val = wiringpi2.serialGetchar(serial)