def rover_initialize():
global RMotor, LMotor, MotorWake, AtmoSensor, LeftEye, RightEye, Accelo, Gyro
# Initializing I2C for sensors
i2c = I2C(board.SCL, board.SDA)
# Initializing Gyro and Magnetometer
Accelo = FXOS8700(i2c)
Gyro = FXAS21002C(i2c)
# Initializing Atmo Sensor
AtmoSensor = SI7021(i2c)
# Annoyingly it looks like the HCSR04 Libary uses DPI Pin Numbering instead
# of Broadcom. Check here https://pinout.xyz/pinout/pin18_gpio24
# Read about speed of sound calibration in doc
# BCM 23 & 24 are DPI 19 and 20
LeftEye = Echo(23, 24)
RightEye = Echo(17, 27)
MotorWake = LED(17)
MotorWake.off()
# Args are GPIO Pins for forward, backward, and motor controller sleep
RMotor = Motor(20, 21) # Motor(19, 26, 13)
LMotor = Motor(19, 26) # Motor(20, 21, 13)
return True
class Sensor:
def __init__(self, trigger_pin, echo_pin, angle):
self._trigger_pin = trigger_pin
self._echo_pin = echo_pin
self._angle = angle
self._sr04 = Echo(self._trigger_pin, self._echo_pin)
def getDistance(self, samples = 1):
return self._sr04.read('cm', samples)
def getAngle(self):
return self._angle
def getTriggerPin(self):
return self._trigger_pin
def getEchoPin(self):
return self._echo_pin
def stop(self):
self._sr04.stop()
#!/usr/bin/env python3
from prometheus_client import start_http_server, Gauge
import signal,sys
import time
from Bluetin_Echo import Echo
trigger_pin = 23
echo_pin = 24
sensor = Echo(trigger_pin, echo_pin)
distanceMetric = Gauge('distance', 'Distance in cm')
start_http_server(8000)
def handle_sigterm(*args):
sensor.stop()
sys.exit()
signal.signal(signal.SIGTERM, handle_sigterm)
while True:
distance = sensor.read('cm', samples = 5)
distanceMetric.set(distance)
time.sleep(0.5)
# Import necessary libraries.
from time import sleep
from Bluetin_Echo import Echo # https://github.com/MarkAHeywood/Bluetin_Python_Echo
# Define pin constants
TRIGGER_PIN_1 = 27
ECHO_PIN_1 = 17
TRIGGER_PIN_2 = 22
ECHO_PIN_2 = 23
# Initialise two sensors.
echo = [Echo(TRIGGER_PIN_1, ECHO_PIN_1), Echo(TRIGGER_PIN_2, ECHO_PIN_2)]
def main():
sleep(0.1)
try:
while True:
result1 = echo[0].read('cm', 3)
result2 = echo[1].read('cm', 3)
print('C1: {}cm\tC2: {}cm'.format(round(result2, 1),
round(result1, 1)))
except KeyboardInterrupt:
echo[0].stop()
print("Measurement stopped by User")
if __name__ == '__main__':
# Import necessary libraries.
from time import sleep
from Bluetin_Echo import Echo
import paho.mqtt.publish as publish
MQTT_SERVER = "localhost"
MQTT_PATH = "test_channel"
# Define pin constants
TRIGGER_PIN_1 = 23
ECHO_PIN_1 = 24
# Initialise two sensors.
echo = [Echo(TRIGGER_PIN_1, ECHO_PIN_1)]
def main():
sleep(0.1)
for counter in range(1, 2):
for counter2 in range(0, len(echo)):
result = echo[counter2].read('cm', 3)
print(result)
result2 = int(result)
if result2 > 0:
publish.single(MQTT_PATH,
'coco distance:' + str(result2),
hostname=MQTT_SERVER)
# https://github.com/MarkAHeywood/Bluetin_Python_Echo
from Bluetin_Echo import Echo # HCSR04 Module Uses BCM Pins!
from time import sleep
# BCM 23 & 24 are DPI 19 and 20
DistSense = Echo(23, 24)
def report_dist():
samples = 4
try:
while True:
d = DistSense.read('cm', samples)
print(d, 'cm')
sleep(.5)
except KeyboardInterrupt:
pass
report_dist()
DistSense.stop()
print('End Of File.')
def __init__(self, trigger_pin, echo_pin, angle): self._trigger_pin = trigger_pin self._echo_pin = echo_pin self._angle = angle self._sr04 = Echo(self._trigger_pin, self._echo_pin)
ent_trig_pin = 23
ent_echo_pin = 24
trig_pin = [7, 16, 25]
echo_pin = [1, 20, 8]
led = 21
GPIO.setmode(GPIO.BCM)
GPIO.setup(led, GPIO.OUT)
GPIO.setwarnings(False)
status = [0] * len(trig_pin)
prev_status = [0] * len(trig_pin)
ent_status = 0
echo = []
ent_echo = Echo(ent_trig_pin, ent_echo_pin, speed_of_sound)
for i in range(len(trig_pin)):
echo.append(Echo(trig_pin[i], echo_pin[i], speed_of_sound))
def led_blink():
for x in range(0, 2):
GPIO.output(led, True)
time.sleep(0.3)
GPIO.output(led, False)
time.sleep(0.1)
def log_event(event, event_detail):
client.publish(pub_topic, str(event) + ";" + event_detail)
cur = mdb.cursor()
from quart import websocket, Quart, render_template
from functools import wraps
from Bluetin_Echo import Echo
import time
import asyncio
app = Quart(__name__)
Pins = ((17, 18), (23, 22))
speed = 320
samples = 5
Distance = [Echo(*pin, speed) for pin in Pins]
print(Distance[0].read('cm'))
clients = set()
class Dummy:
def done(self):
return True
task = Dummy()
async def SendtoWebsocket():
while clients: #while clients are connected (if 0 < websockets in the clients set)
reads = [round(d.read('cm', samples), 1)
for d in Distance] #read data from the two sensors
[
await websocket.send(str(reads)) for websocket in clients
] #loops through all webscokets open and sends the data from the sensors
await asyncio.sleep(
# video fc = 0 # tolerance count is the minimum number of frames a face can be absent from # center tc = 5 # Create display object s = ST7920() # Initialize mlx90614 address thermometer_address = 0x5a # Create temperature sensor instance temp = MLX90614(thermometer_address) #defining values for ultrasonic sensor TRIGGER_PIN = 8 ECHO_PIN = 7 speed_of_sound = 340 echo = Echo(TRIGGER_PIN, ECHO_PIN, speed_of_sound) # Initializing servo motor GPIO.setmode(GPIO.BOARD) servo = 4 # Pin to which servo is connected GPIO.setup(servo, GPIO.OUT) pwm = GPIO.PWM(servo, 50) pwm.start(0) # Initializing dc pump GPIO.setmode(GPIO.BOARD) pump_pin = 21 GPIO.setup(pump_pin, GPIO.OUT) GPIO.output(pump_pin, False) # Initializing ir sensor GPIO.setmode(GPIO.BOARD) ir_sensor = 26 GPIO.setup(ir_sensor, GPIO.IN)
gapmin = 20
gapmax = 30
# Vitesse du robot
speed = 100
# Le robot ne suis pas encore un mur au depart
onTrack = False
#time.sleep(30)
pz.init()
try:
while True:
# recuperation ultrson
capteurDevant = Echo(TRIGGER_PIN1, ECHO_PIN1, speed_of_sound)
front = capteurDevant.read('cm', samples)
capteurDevant.stop()
capteurGauche = Echo(TRIGGER_PIN2, ECHO_PIN2, speed_of_sound)
side = capteurGauche.read('cm', samples)
capteurGauche.stop()
print("devant = ", front, " gauche = ", side)
#correction erreur distance > a 4metres
while front > 1000 or side > 1000:
print("Erreur du capteur, nouvelle prise de donnees")
pz.stop()
samples = 3
capteurDevant = Echo(TRIGGER_PIN1, ECHO_PIN1, speed_of_sound)
front = capteurDevant.read('cm', samples)
#!/usr/bin/env python3
from time import sleep
from Bluetin_Echo import Echo
""" Define GPIO pin constants """
TRIGGER_PIN = 17
ECHO_PIN = 18
""" Calibrate sensor with initial speed of sound m/s value """
SPEED_OF_SOUND = 343
""" Initialise Sensor with pins, speed of sound. """
echo = Echo(TRIGGER_PIN, ECHO_PIN, SPEED_OF_SOUND)
def main():
"""
Test class properties and methods.
"""
print('\n+++++ Properties +++++\n')
"""
Check that the sensor is ready to operate.
"""
print('Sensor ready? {}'.format(echo.is_ready))
sleep(0.06)
print('Sensor ready? {}'.format(echo.is_ready))
"""
You can adjust the speed of sound to fit environmental conditions.
"""
speed = echo.speed
print('Speed of sound Setting: {}m/s'.format(speed))
echo.speed = speed
from math import *
from Bluetin_Echo import Echo
TRIGGER_PIN_1 = 5
ECHO_PIN_1 = 6
TRIGGER_PIN_2 = 20
ECHO_PIN_2 = 21
TRIGGER_PIN_3 = 23
ECHO_PIN_3 = 24
TRIGGER_PIN_4 = 26
ECHO_PIN_4 = 25
TRIGGER_PIN_5 = 22
ECHO_PIN_5 = 27
echo = [
Echo(TRIGGER_PIN_1, ECHO_PIN_1),
Echo(TRIGGER_PIN_2, ECHO_PIN_2),
Echo(TRIGGER_PIN_3, ECHO_PIN_3),
Echo(TRIGGER_PIN_4, ECHO_PIN_4),
Echo(TRIGGER_PIN_5, ECHO_PIN_5)
]
distance = [0, 0, 0, 0, 0]
for sensor in range(0, len(echo)):
distance[sensor] = echo[sensor].read('cm', 3)
pi_hw = pigpio.pi()
pi_hw.set_mode(13, pigpio.OUTPUT)
pi_hw.set_mode(18, pigpio.OUTPUT)
LEFT_MOTOR_PIN = 13
import RPi.GPIO as GPIO
import paho.mqtt.publish as publish
import json
GPIO.setwarnings(False)
from Bluetin_Echo import Echo
# Define pin constants
TRIGGER_PIN_1 = 26
ECHO_PIN_1 = 13
TRIGGER_PIN_2 = 18
ECHO_PIN_2 = 24
# Initialise two sensors.
echo = {
ECHO_PIN_1: Echo(TRIGGER_PIN_1, ECHO_PIN_1),
ECHO_PIN_2: Echo(TRIGGER_PIN_2, ECHO_PIN_2)
}
def main():
sleep(0.1)
while True:
publishData = {}
sleep(5)
for counter2 in echo:
result = echo[counter2].read('cm', 3)
publishData[counter2] = round(result, 2)
def back():
GPIO.output(12, True)
GPIO.output(16, False)
GPIO.output(20, True)
GPIO.output(21, False)
time.sleep(1)
def go():
GPIO.output(16, True)
GPIO.output(12, False)
GPIO.output(21, True)
GPIO.output(20, False)
time.sleep(1)
def stop():
GPIO.output(16, False)
GPIO.output(12, False)
GPIO.output(21, False)
GPIO.output(20, False)
data = Echo(23, 24, 315)
ret = data.read('cm', 3)
print(ret)
"""File: echo_simple_once.py"""
# Import necessary libraries.
from Bluetin_Echo import Echo
# Define GPIO pin constants.
TRIGGER_PIN = 16
ECHO_PIN = 12
# Initialise Sensor with pins, speed of sound.
speed_of_sound = 315
echo = Echo(TRIGGER_PIN, ECHO_PIN, speed_of_sound)
# Measure Distance 5 times, return average.
samples = 5
result = echo.read('cm', samples)
# Print result.
print(result, 'cm')
# Reset GPIO Pins.
echo.stop()
#DEVANT ; trig 27 echo 22 // gauche : echo 17 trigger 18
"""File: echo_multi_sensor.py"""
# Import necessary libraries.
from time import sleep
from Bluetin_Echo import Echo
# Define pin constants
TRIGGER_PIN_1 = 27
ECHO_PIN_1 = 22
TRIGGER_PIN_2 = 18
ECHO_PIN_2 = 17
speed_of_sound = 315
while True:
capteurDevant = Echo(TRIGGER_PIN1, ECHO_PIN1, speed_of_sound)
samples = 5
result = capteurDevant.read('cm', samples)
print(result, 'cm')
capteurDevant.stop()
capteurGauche = Echo(TRIGGER_PIN2, ECHO_PIN2, speed_of_sound)
samples = 5
result = capteurGauche.read('cm', samples)
print(result, 'cm')
capteurGauche.stop()
time.sleep(1)
import os #importing os library so as to communicate with the system
import time #importing time library to make Rpi wait because its too impatient
os.system("sudo pigpiod") #Launching GPIO library
time.sleep(
1
) # As i said it is too impatient and so if this delay is removed you will get an error
import pigpio #importing GPIO library
from Bluetin_Echo import Echo
ESC = 4 #Connect the ESC in this GPIO pin
triggerPin = 27
echoPin = 17
pi = pigpio.pi()
pi.set_servo_pulsewidth(ESC, 0)
echo = Echo(triggerPin, echoPin, 340)
max_value = 2000 #change this if your ESC's max value is different or leave it be
min_value = 700 #change this if your ESC's min value is different or leave it be
#print ("For first time launch, select calibrate")
#print ("Type the exact word for the function you want")
#print ("calibrate OR manual OR control OR arm OR stop")
def manual_drive(
): #You will use this function to program your ESC if required
print(
"You have selected manual option so give a value between 0 and you max value"
)
while True:
inp = input()