ROBOT_ROOT = '/home/robot/' ##Adafruit_BBIO: import Adafruit_BBIO.GPIO as GPIO elif path.isfile(path.expanduser('~/.robotConf')): #If we're not on an actual robot, check if we have #a working environment set for robot debugging: CONFIG_FILE = open(path.expanduser('~/.robotConf'), 'r') ROBOT_ROOT = CONFIG_FILE.read().strip() CONFIG_FILE.close() import Adafruit_BBIO_SIM.GPIO as GPIO #Simulator setup GPIO.pin_association(LEDS_GPIO["STATUS"][1], 'STATUS led') GPIO.setup_behavior('print') else: ROBOT_ROOT = '' print('It seems like you are NOT working on an actual robot. \ You should set up a debugging environment before running any code (see documentation)') #Logging Initialization : LOGGER = robotLogger("FL > led", ROBOT_ROOT+'logs/fl/') ########################################################################### # I/O Initialization : # ########################################################################### GPIO.setup(LEDS_GPIO["STATUS"][1], GPIO.OUT) GPIO.output(LEDS_GPIO["STATUS"][1], GPIO.LOW)
import Adafruit_BBIO.GPIO as GPIO import Adafruit_BBIO.PWM as PWM elif path.isfile(path.expanduser('~/.robotConf')): #If we're not on an actual robot, check if we have #a working environment set for robot debugging: CONFIG_FILE = open(path.expanduser('~/.robotConf'), 'r') ROBOT_ROOT = CONFIG_FILE.read().strip() CONFIG_FILE.close() import Adafruit_BBIO_SIM.GPIO as GPIO import Adafruit_BBIO.PWM as PWM #Simulator setup PWM.pin_association(GPIODEF.ENGINES["left"]["PWM"], 'left motor\'s PWM') PWM.pin_association(GPIODEF.ENGINES["right"]["PWM"], 'right motor\'s PWM') GPIO.pin_association(GPIODEF.ENGINES["left"]["forward"], 'left motor\'s forward pin') GPIO.pin_association(GPIODEF.ENGINES["right"]["forward"], 'right motor\'s forward pin') GPIO.pin_association(GPIODEF.ENGINES["left"]["backward"], 'left motor\'s backward pin') GPIO.pin_association(GPIODEF.ENGINES["right"]["backward"], 'right motor\'s backward pin') GPIO.setup_behavior('print') PWM.setup_behavior('print') else: ROBOT_ROOT = '' print('It seems like you are NOT working on an actual robot. \ You should set up a debugging environment before running any code (see documentation)') #Logging Initialization : LOGGER = robotLogger("FL > mot", ROBOT_ROOT+'logs/fl/') ########################################################################### # I/O Initialization : #
##Adafruit_BBIO: import Adafruit_BBIO.GPIO as GPIO elif path.isfile(path.expanduser('~/.robotConf')): #If we're not on an actual robot, check if we have #a working environment set for robot debugging: CONFIG_FILE = open(path.expanduser('~/.robotConf'), 'r') ROBOT_ROOT = CONFIG_FILE.read().strip() CONFIG_FILE.close() import Adafruit_BBIO_SIM.GPIO as GPIO #Simulator setup for name, detail in LEDS_GPIO.items(): GPIO.pin_association(detail[1], name+' blinker') GPIO.setup_behavior('print') else: ROBOT_ROOT = '' print('It seems like you are NOT working on an actual robot. \ You should set up a debugging environment before running any code (see documentation)') #Logging Initialization : LOGGER = robotLogger("FL > led", ROBOT_ROOT+'logs/fl/') ########################################################################### # I/O Initialization : # ########################################################################### for LED in LEDS_PINS: #Declare motor enabling pins as outputs
LOOKFOR = 0 #0 = RED, 1 = GREEN #If we are on an actual robot : if path.isdir("/home/robot"): ROBOT_ROOT = '/home/robot/' elif path.isfile(path.expanduser('~/.robotConf')): #If we're not on an actual robot, check if we have #a working environment set for robot debugging: CONFIG_FILE = open(path.expanduser('~/.robotConf'), 'r') ROBOT_ROOT = CONFIG_FILE.read().strip() CONFIG_FILE.close() #Simulator setup GPIO.pin_association(RESET_GPIO, 'pushbutton\'s state') GPIO.setup_behavior('print') else: ROBOT_ROOT = '' print('It seems like you are NOT working on an actual robot. \ You should set up a debugging environment before running any code (see documentation)') #Logging Initialization : LOGGER = robotLogger("FL > pb", ROBOT_ROOT+'logs/fl/') ####################################################################### # CONSTANTS FOR IMAGE PROCESSING # ####################################################################### BOUNDARIES = [[[255, 150, 237], [161, 87, 159]], [[70, 141, 255], [23, 44, 138]]] ERODE = 1
#!/usr/bin/python3.5 #-*- coding: utf-8 -*- #Standard imports : import time #Specific imports : from robotBasics.constants import gpiodef as GPIODEF import Adafruit_BBIO.GPIO as GPIO import Adafruit_BBIO.PWM as PWM """ #################################################### # Simulator setup # #################################################### GPIO.pin_association(GPIODEF.ENGINES["left"]["PWM"], 'left motor\'s PWM') GPIO.pin_association(GPIODEF.ENGINES["right"]["PWM"], 'right motor\'s PWM') PWM.pin_association(GPIODEF.ENGINES["left"]["forward"], 'left motor\'s forward pin') PWM.pin_association(GPIODEF.ENGINES["right"]["forward"], 'right motor\'s forward pin') PWM.pin_association(GPIODEF.ENGINES["left"]["backward"], 'left motor\'s backward pin') PWM.pin_association(GPIODEF.ENGINES["right"]["backward"], 'right motor\'s backward pin') GPIO.setup_behavior('print') PWM.setup_behavior('print') """ ####################################################
##Adafruit_BBIO: import Adafruit_BBIO.GPIO as GPIO elif path.isfile(path.expanduser('~/.robotConf')): #If we're not on an actual robot, check if we have #a working environment set for robot debugging: CONFIG_FILE = open(path.expanduser('~/.robotConf'), 'r') ROBOT_ROOT = CONFIG_FILE.read().strip() CONFIG_FILE.close() import Adafruit_BBIO_SIM.GPIO as GPIO #Simulator setup for name, pin in LEDS_GPIO.items(): GPIO.pin_association(pin, name+' blinker') GPIO.setup_behavior('print') else: ROBOT_ROOT = '' print('It seems like you are NOT working on an actual robot. \ You should set up a debugging environment before running any code (see documentation)') #Logging Initialization : LOGGER = robotLogger("FL > led", ROBOT_ROOT+'logs/fl/') ########################################################################### # I/O Initialization : # ########################################################################### for LED in LEDS_PINS: #Declare motor enabling pins as outputs