def values(): global frontright,frontmiddle,frontleft,right,left,back #Digital and analog readings #THESE NEED TO BE UPDATED CONSTANTLY right = RPL.analogRead(5) back = RPL.digitalRead(17) frontright = RPL.digitalRead(20) left = RPL.analogRead(6) #frontmiddle = RPL.digitalRead(19) frontmiddle = RPL.analogRead(7) frontleft = RPL.digitalRead(18) #print(values) to debug readings return "front right = %s\nfront middle = %s\nfront left = %s\nright = %s\nleft = %s\nback = %s" % (frontright,frontmiddle,frontleft,right,left,back)
def sensor():
try:
return RPL.analogRead(int(request.vars['pin']))
except Exception as e:
return (e)
else:
return ("OTHER ERROR")
def checkPin(x, y):
global multiplier
if (y == 0):
RPL.servoWrite(x, 2000)
print("Moving motor " + str(x) + "... ")
time.sleep(1)
RPL.servoWrite(x, 1500)
RPL.servoWrite(x, 0)
print("Done with motor " + str(x) + ".")
x += 1
print("Motor testing completed!")
if (y == 1):
RPL.pinMode(pinArraySensorset1[x], RPL.INPUT)
initialTime = float(time.clock() * multiplier)
while (float(time.clock() * multiplier) < (initialTime + 4)):
displayTextClear()
print("Pin " + str(pinArraySensorset1[x]) + " output: " +
str(RPL.digitalRead(pinArraySensorset1[x])))
time.sleep(0.2)
print("Digital sensor testing complete!")
if (y == 2):
initialTime = float(time.clock() * multiplier)
while (float(time.clock() * multiplier) < (initialTime + 4)):
displayTextClear()
print("Pin " + str(pinArraySensorset2[x]) + " output: " +
str(RPL.analogRead(pinArraySensorset2[x])))
time.sleep(0.2)
print("Analog sensor testing complete!")
def navigation():
#Pulls respective values of the hedge for x and y from the position array
MobileX = float(hedge.position()[1])
MobileY = float(hedge.position()[2])
while True:
MobileX = hedge.position()[1]
MobileY = hedge.position()[2]
if RPL.analogRead(1) > 500: # front left
RPL.pwmWrite(ServoR, 1250, 3000)
RPL.pwmWrite(ServoL, 1000, 3000)
print "1"
elif RPL.analogRead(2) > 500: # front right
RPL.pwmWrite(ServoR, 2000, 3000)
RPL.pwmWrite(ServoL, 1750, 3000)
print "2"
elif RPL.analogRead(3) > 500: # left side
RPL.pwmWrite(ServoR, 1550, 3000)
RPL.pwmWrite(ServoL, 1000, 3000)
print "3"
elif RPL.analogRead(4) > 500: # right side
RPL.pwmWrite(ServoR, 2000, 3000)
RPL.pwmWrite(ServoL, 1450, 3000)
print "4"
elif 0 > MobileX and 0 > MobileY:
RPL.pwmWrite(ServoR, 1750, 3000) # drive straight
RPL.pwmWrite(ServoL, 1250, 3000)
print "a"
elif MobileX < 0 and MobileY > 0:
RPL.pwmWrite(ServoR, 1550, 3000) # turn right
RPL.pwmWrite(ServoL, 1250, 3000)
print "b"
elif MobileX > 0 and MobileY < 0:
RPL.pwmWrite(ServoR, 1750, 3000) # turn left
RPL.pwmWrite(ServoR, 1450, 3000)
print "c"
elif MobileX == 0 and MobileY == 0:
RPL.pwmWrite(ServoR, 1500, 3000) # stop
RPL.pwmWrite(ServoL, 1500, 3000)
print "d"
elif MobileX > 0 and MobileY > 0:
RPL.pwmWrite(ServoR, 1450, 3000) # backwards
RPL.pwmWrite(ServoR, 1550, 3000)
print "e"
print MobileX
print MobileY
hedge.print_position()
def init():
print "Initializing co2 sensor"
co2readings = []
for x in range(0,20):
co2readings.append(RPL.analogRead(4))
time.sleep(0.05)
print "Initialized"
return co2readings
def receive():
r = str(random.random())
try:
if int(request.vars['key']) in keys:
log.debug("TRY START" + r + " " + str(random.random()))
command_dictionary[int(request.vars['key'])](
request.vars['command'])
log.debug("TRY FINISH" + r + " " + str(random.random()))
return RPL.analogRead(0)
except Exception as e:
log.debug("EXCEPT START" + " " + e)
forward('stop')
return RPL.analogRead(0)
else:
log.debug("ELSE START" + r + " " + str(random.random()))
forward('stop')
log.debug("ELSE START" + r + " " + str(random.random()))
return RPL.analogRead(0)
def detectHuman():
average = sum(co2Readings) / len(co2Readings)
co2 = RPL.analogRead(4)
if average - co2 >= 20:
print "Human Dectected"
else:
pass
co2Readings.pop(0)
co2Readings.append(co2)
def checkPinsAnalog():
x = 0
global multiplier
while (x < len(pinArraySensorset2)):
initialTime = float(time.clock() * multiplier)
while (float(time.clock() * multiplier) < (initialTime + 4)):
displayTextClear()
print("Pin " + str(pinArraySensorset2[x]) + " output: " +
str(RPL.analogRead(pinArraySensorset2[x])))
time.sleep(0.2)
x += 1
print("Analog sensor testing complete!")
def values():
global left, right, leftwheel, rightwheel, frontleft, frontright, top
left = RPL.analogRead(0)
leftwheel = RPL.analogRead(1)
frontleft = RPL.analogRead(2)
top = RPL.analogRead(3)
frontright = RPL.analogRead(4)
rightwheel = RPL.analogRead(5)
right = RPL.analogRead(6)
return "Top: %s\nFront left: %s\nFront right: %s\n\nLeft: %s\nRight: %s\n\nRight wheel: %s\nLeft wheel: %s" % (
top, frontleft, frontright, left, right, rightwheel, leftwheel)
right = 19
front = 16
left = 17
analogL = 1
rgo = 2000
lgo = 1000
# ^ setup
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo) # turn on both motors going straight
while True:
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
while RPL.analogRead(analogL) >= 400: # middle range, can go straight
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
while RPL.analogRead(analogL) < 400: # no longer middle
if RPL.digitalRead(left) == 0: # digital also sense, so close
RPL.servoWrite(motorR, 0) # turn away from wall
RPL.servoWrite(motorL, lgo)
if RPL.digitalRead(left) == 1: # digital doesn't sense, far
RPL.servoWrite(motorR, rgo) # turn towards wall
RPL.servoWrite(motorL, 0)
# CO2 sensor # comands: # ssh [email protected] # password: Engineering!1 # python co2reading.py # go to GUI: nav > config ip adress > data should be ssh number import RoboPiLib as RPL RPL.RoboPiInit("/dev/ttyAMA0", 115200) import post_to_web as PTW import time co = 1 print RPL.analogRead(co) average = [] base = 0 CO2detect = 0 content = 0 PTW.state['CO2detect'] = 1 # ^ setup # begins by averaging the first 1000 readings in order to get a base reading base = RPL.analogRead(co) while True: content = RPL.analogRead(co) if content <= 250 or base - content >= 30: CO2detect = 2
import setup from setup import RPL import RoboPiLib as RoboPi RoboPi.RoboPiInit(“/dev/ttyAMA0”,115200) RoboPi.pinMode(1,RoboPi.OUTPUT) RoboPi.digitalWrite(16,1) RoboPi.pinMode(17,RoboPi.PWM) RoboPi.analogWrite(17,127) print RoboPi.analogRead(0) #RPL.servoWrite(0,1000) #RPL.servoWrite(1,1000) #x = 1 #while x == 1: # RoboPi.analogRead(1) # AnalogRead = RoboPi.analogRead(1) # AnalogRead = int(AnalogRead) # print AnalogRead # Dist = (500 * AnalogRead)/1024 # print Dist #import RoboPiLib as RoboPi
import RoboPiLib as RPL
import setup
import post_to_web as PTW
import time
start = time.time()
now = time.time()
pin = 6
content = 0
i = 0
average = [ ]
base = RPL.analogRead(pin)
while len(average) < 50:
content = RPL.analogRead(pin)
average.append(content)
base = sum(average) / len(average)
PTW.state['Start Time:'] = time.asctime(time.localtime())
# begins by averaging the first 1000 readings in order to get a base reading
while now - start < 1500:
content = RPL.analogRead(pin)
if base - content >= 3:
PTW.state['CO2detect: '] = "Life possible - %i" % content
elif base - content >= 15:
PTW.state['CO2detect: '] = "Life certain - %i" % content
else:
import RoboPiLib as RPL
import setup
import time
running = True
while running:
print(RPL.analogRead(6))
## time.sleep(1)
RPL.servoWrite(motorL, motorL_forward)
RPL.servoWrite(motorR, motorR_forward)
def reverse():
RPL.servoWrite(motorL, motorL_backward)
RPL.servoWrite(motorR, motorR_backward)
def stop():
RPL.servoWrite(motorL, 0)
RPL.servoWrite(motorR, 0)
while counter == 0:
RPL.analogRead(0)
RPL.analogRead(3)
Fanalog = RPL.analogRead(0)
Banalog = RPL.analogRead(3)
straight = Fanalog - Banalog
if straight > -2 and straight < 8:
reverse()
#if the robot is angled away the wall- turn tiwards
if straight < -2:
RPL.servoWrite(motorL, 1550)
RPL.servoWrite(motorR, motorR_backward)
#if the robot is towards the wall
if straight > 8:
RPL.servoWrite(motorL, motorL_backward)
import RoboPiLib as RPL
import setup
def brake()
x = RPL.analogRead(4)
speed0 = - 0.000885 * x ** 2 + 0.558286 * x + 1481.5
speed1 = - 0.000885 * x ** 2 + 0.558286 * x + 1481.5
print('this is the speed0', speed0)
print('this is the speed1', speed1)
if speed0 and speed1 >= 0:
RPL.servoWrite(0,int(speed0))
RPL.servoWrite(1,int(speed1))
brake()
RPL.servoWrite(motorR, lgo)
def forward():
RPL.servoWrite(motorL, lgo)
RPL.servoWrite(motorR, rgo)
def stop():
RPL.servoWrite(motorL, 0)
RPL.servoWrite(motorR, 0)
while True:
while True: # forward
RPL.analogRead(fana)
RPL.analogRead(back)
Fanalog = RPL.analogRead(fana)
Banalog = RPL.analogRead(bana)
frontsensor = RPL.digitalRead(16)
straight = Fanalog - Banalog
#if there is something in front it will turn left
if frontsensor == 0:
RPL.servoWrite(motorL, lgo)
RPL.servoWrite(motorR, 0)
# calibrating the distance off the wall:
if Fanalog <= closedist and Banalog <= closedist:
RPL.servoWrite(motorL, lslow)
RPL.servoWrite(motorR, rgo)
def start_camera():
os.system(
'/usr/src/mjpg-streamer/mjpg-streamer-experimental/mjpg_streamer -o "output_http.so -w /usr/src/mjpg-streamer/mjpg-streamer-experimental/www -p 8080" -i "input_raspicam.so -x 640 -y 480 -fps 10 -rot 180"'
)
return RPL.analogRead(0)
import setup import RoboPiLib as RPL ((500 * RPL.analogRead(0)) / 1024) print RPL.analogRead(1)
import RoboPiLib as RPL
import time
RPL.RoboPiInit("/dev/ttyAMA0",115200)
sensor_2 = RPL.analogRead(1)
def forward():
RPL.servoWrite(6, 1400)
RPL.servoWrite(7, 1600)
print "Forward"
while True:
if sensor_2 > 300:
forward()
RPL.servoWrite(motorR,back)
def forward():
RPL.servoWrite(motorL,lgo)
RPL.servoWrite(motorR,rgo)
def stop():
RPL.servoWrite(motorL, 1500)
RPL.servoWrite(motorR, 1500)
while x != "no": # big loop
while True: # forward
Fanalog = RPL.analogRead(fana)
Banalog = RPL.analogRead(bana)
Lanalog = RPL.analogRead(lana)
fsensor = RPL.digitalRead(fdig)
bsensor = RPL.digitalRead(bdig)
straight = Banalog - Fanalog
PTW.state['Fanalog'] = Fanalog
PTW.state['Banalog'] = Banalog
PTW.state['Lanalog'] = Lanalog
PTW.state['fsensor'] = fsensor
PTW.state['bsensor'] = bsensor
PTW.state['straight'] = straight
forward()
rgo = 2000
rslow = 1500
lgo = 100
lslow = 600
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
RPL.servoWrite(motorL, lgo)
while True:
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
while RPL.analogRead(analogR) >= 300: # middle range, can go straight
print "we good"
RPL.servoWrite(motorR, rgo)
RPL.servoWrite(motorL, lgo)
while RPL.analogRead(analogR) < 300: # no longer middle
while RPL.digitalRead(19) == 0: # digital also sense, so close
print "close"
print RPL.analogRead(analogR)
RPL.servoWrite(motorR, rslow)
RPL.servoWrite(motorL, lgo)
while RPL.digitalRead(19) == 1: # digital doesn't sense, far
print "far"
print RPL.analogRead(analogR)
RPL.servoWrite(motorR, rgo)
import setup
import RoboPiLib as RPL
while True:
print RPL.analogRead(1)
# elif content - base <= -3:
# x = 0
# y = y + 1
# if y >= 3:
# average = [ ]
# while len(average) < 1000:
# content = RPL.analogRead(co)
# average.append(content)
# if len(average) == 1000:
# base = sum(average) / len(average)
# print "NEW BASE"
# print base
def small_correct():
RPL.servoWrite(7, 1550)
RPL.servoWrite(6, 1420)
print "RIGHT correction"
def large_correct():
RPL.servoWrite(6, 1460)
RPL.servoWrite(7, 1570)
print "LEFT correction"
while True:
sensor_1 = RPL.analogRead(0)
sensor_2 = RPL.analogRead(1)
move_forward = False
move_left = False
move_right = False
stop = False
right = False
left = False
if sensor_1 > 400:
move_right = True
elif sensor_1 > 50:
move_forward = True
elif sensor_1 - sensor_2 > 80:
right = True
elif sensor_2 - sensor_1 > 80:
import RoboPiLib as RPL
import setup
import time
from time import sleep
sensor_pinF = 5
sensor_pinL = 6
sensor_pinR = 7
RPL.pinMode(sensor_pinF, RPL.INPUT)
RPL.pinMode(sensor_pinL, RPL.INPUT)
RPL.pinMode(sensor_pinR, RPL.INPUT)
R = 1
L = 0
startDistanceLeft = RPL.analogRead(sensor_pinL)
startDistanceRight = RPL.analogRead(sensor_pinR)
startDistanceForward = RPL.analogRead(sensor_pinF)
while True:
currentDistanceForward = RPL.analogRead(sensor_pinF)
currentDistanceLeft = RPL.analogRead(sensor_pinL)
currentDistanceRight = RPL.analogRead(sensor_pinR)
if currentDistanceLeft <= 15:
sleep(1.0)
if currentDistanceLeft <= 15:
RPL.servoWrite(L, 1500)
RPL.servoWrite(R, 1600)
sleep(1.30)
if currentDistanceForward >= 315:
if currentDistanceRight < currentDistanceLeft:
RPL.servoWrite(L, 1400)
import RoboPiLib as RPL
import setup
import post_to_web as PTW
sensor_pin = 16
mSpeed = 1400
mSpeed2 = 1600
Asensor_pin = 6
Fdistance = 100
running = True
while running:
distance = RPL.analogRead(Asensor_pin)
RPL.servoWrite(1, mSpeed2)
RPL.servoWrite(0, mSpeed)
if distance > Fdistance:
mSpeed = 1600
mSpeed2 = 1600
print("Left Turn")
elif distance < Fdistance:
mSpeed = 1400
mSpeed2 = 1400
print("right turn")
else:
mSpeed = 1400
mSpeed2 = 1600
print("straight")
def wall_left():
motors.wall_left()
print "wall_left"
def wall_right():
motors.wall_right()
print "wall_right"
##Analog
while 1:
left_sensor = RoboPi.analogRead(LEFT_GO)
L_VOLTS = 1000 / (RoboPi.analogRead(LEFT_GO) + 0.0000000001)
L_CM = RoboPi.analogRead(LEFT_GO)
go_forward = False
go_clockwise = False
go_counterclockwise = False
go_stop = False
go_wall_left = False
go_wall_right = False
print RoboPi.analogRead(LEFT_GO)
if L_CM > 400:
go_wall_left = True
import direction
import time
import RoboPiLib as RPL
pause = TIME HERE
speed = SPEED HERE
apin = 7
while True:
analog = RPL.analogRead(apin)
if analog <= 650: #EDIT THIS
direction.touch(analog)
else:
direction.frontraw(speed)
time.sleep(pause)
direction.stop()
break
import RoboPiLib as RPL import setup import time from time import sleep sensor_pinF = 0 sensor_pinL = 2 sensor_pinR = 3 RPL.pinMode(sensor_pinF, RPL.INPUT) RPL.pinMode(sensor_pinL, RPL.INPUT) RPL.pinMode(sensor_pinR, RPL.INPUT) R = 1 L = 0 values = [] for i in range(0,100): values.append(RPL.analogRead(sensor_pinF)) print(sum(values) / 100)
import RoboPiLib as RPL
import setup
import time
L = 1
R = 0
x = 1
while x == 1:
reading = RPL.analogRead(7)
if reading < 500:
RPL.servoWrite(0, 1590)
RPL.servoWrite(1, 1410)
else:
RPL.servoWrite(0, 1500)
time.sleep(1.5)
RPL.servoWrite(0, 1590)
