def subplot(val1,val2):
fig = plt.figure()
sb1 = fig.add_subplot(1,2,1)
x = np.arange(len(val1))
sb1.plot(x, val1, c='r')
sb1.set_title('Encoder Data')
sb1.set_xlabel('Time')
sb1.set_ylabel('State')
sb2 = fig.add_subplot(1,2,2)
x = np.arange(len(val2))
sb2.plot(x, val1, c='r')
sb2.set_title('Encoder Data')
sb2.set_xlabel('Time')
sb2.set_ylabel('State')
# Display all plots
########### Main Code #########
init()
counterBR = np.uint64(0)
counterFL = np.uint64(0)
buttonBR = int(0)
buttonFL = int(0)
# Initialize pwm signal to control motor
pwm1 = gpio.PWM(31,50) # BackRight
pwm2 = gpio.PWM(37,50) # FrontLeft
val = 22
pwm1.start(val)
pwm2.start(val)
time.sleep(0.1)
for i in range(0, wheelRev): # from 0 to wheelrevs for 10 meters which is 48.97
print("counterBR = ", counterBR,
"counterFL = ", counterFL,
"BR state: ", gpio.input(12),
"FL state: ", gpio.input(7))
if int(gpio.input(12) != int(buttonBR)):
button = int(gpio.input(12)) #holds the state
statesRight.append(button)
counter += 1
if int(gpio.input(7) != int(buttonFL)):
button = int(gpio.input(7)) #holds the state
statesLeft.append(button)
counter += 1
pwm1.stop()
pwm2.stop()
gameover()
saveToFile("enc03Right.txt", statesRight)
saveToFile("enc03Left.txt" statesLeft)
subplot(statesRight, statesLeft)
print("Thanks for playing !")
def __init__(self, pinDir, pinPWM):
self.dirPin = pinDir
self.pwmPin = pinPWM
GPIO.setup(self.dirPin, GPIO.OUT)
GPIO.output(self.dirPin, GPIO.LOW)
GPIO.setup(self.pwmPin, GPIO.OUT)
self.pwmControl = GPIO.PWM(self.pwmPin, 10000)
self.pwmControl.start(0)
#variable to keep track of whether the user entered in Fahrenheit
isF = sys.argv[2]
#The desired temperature entered by the user
destTemp = sys.argv[1]
#--------------------------------------------------------------------------------------------------------------------------------
NORM_FONT = ("Helvetica", 10)
#p is the pin that uses pwm to control the relay. Currently set to GPIO 18 at 100 Hz
p = GPIO.PWM(18, 100)
#write the pump relay pin to high to activate the pump
GPIO.output(17, GPIO.HIGH)
#A variable for the current temperature
curTemp = 0
#A variable for the previous temperature
prevTemp = 0
#A variable for the current duty cycle. Starts at 100
DC = 100
#starts p with 100% duty cycle
p.start(DC)
def setupPi(frequency):
GPIO.setmode(GPIO.BOARD) #uses board pins
GPIO.setup(12, GPIO.OUT) #sets pin 18 as the output (rudder motor)
pinsetup = GPIO.PWM(12, frequency) #rudder is set to straight
pin.start(1) #sets initial position of rudder
return pinsetup
def setupPi():
GPIO.setmode(GPIO.BOARD) # define use of Board mode.
GPIO.setup(11, GPIO.OUT) # Set pin 11(gpio 17) to be an output.
pinsetup = GPIO.PWM(11, 50) # Pin and frequency of PWM.
return pinsetup
import numpy as np
import cv2
import Rpi.GPIO as GPIO
from PID import PIDController
GPIO.setmode(GPIO.BOARD)
GPIO.setup(11,GPIO.OUT)
pwm = GPIO.PWM(11,50)
pwm.start(5)#change so that it becomes 90
face_cascade = cv2.CascadeClassifier('C:\\Users\\ataata107\\Downloads\\opencv\\build\\etc\\haarcascades\\haarcascade_frontalface_default.xml')
cap = cv2.VideoCapture(1)
val=90
Center_x=0
#-----------------------------------PID------------------------------------------
pid = PIDController(proportional = 0.015, derivative_time = 0, integral_time=0)
pid.vmin, pid.vmax = -10, 10
pid.setpoint = 0.0 #aTargetDifference(m)
TDifference = pid.setpoint
baseAngle = 90
pidout = 0
while 1:
center_x=[]
center_y=[]
ret, img = cap.read()
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
faces = face_cascade.detectMultiScale(gray, 1.3, 5)
CENTER=img.shape[0]/2
for (x,y,w,h) in faces:
cv2.rectangle(img,(x,y),(x+w,y+h),(255,0,0),2)
plt.plot(x,data)
plt.show()
########### Main Code #########
init()
counterBR = np.uint64(0)
counterFL = np.uint64(0)
buttonBR = int(0)
buttonFL = int(0)
# Initialize pwm signal to control motor
pwm = gpio.PWM(37,50)
val = 16
pwm.start(val) # pwm input through pin 14
time.sleep(0.1)
for i in range(0, 200000):
print("counterBR = ", counterBR,
"counterFL = ", counterFL,
"BR state: ", gpio.input(12),
"FL state: ", gpio.input(7))
if int(gpio.input(12) != int(buttonBR)):
button = int(gpio.input(12)) #holds the state
statesRight.append(button)
counter += 1
m21 = 21
m22 = 20
en1 = 2
en2 = 3
GPIO.setup(TRIG, GPIO.OUT)
GPIO.setup(ECHO, GPIO.IN)
GPIO.setup(led, GPIO.OUT)
GPIO.setup(m11, GPIO.OUT)
GPIO.setup(m12, GPIO.OUT)
GPIO.setup(m22, GPIO.OUT)
GPIO.setup(en1, GPIO.OUT)
GPIO.setup(en2, GPIO.OUT)
p1 = GPIO.PWM(en1, 100)
p2 = GPIO.PWM(en2, 100)
GPIO.output(led, 1)
time.sleep(5)
p1.start(100)
p2.start(100)
def stop :
print('STOP')
GPIO.output(m11, 0)
GPIO.output(m12, 0)
GPIO.output(m21, 0)
GPIO.output(m22, 0)
# return Response(gen(Camera()),
return Response(gen(appCam),
mimetype='multipart/x-mixed-replace; boundary=frame')
if __name__ == '__main__':
app.run(host='0.0.0.0', threaded=True)
# setup GPIO
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
pins = [19, 21, 23, 11]
for p in pins:
GPIO.setup(p, PIN.OUT)
rgb = [GPIO.PWM(19, 50), GPIO.PWM(23, 50), GPIO.PWM(21, 50)]
for c in rgb:
c.start(0)
c.ChangeDutyCycle(100)
quitEvent = threading.Event()
beepEvent = threading.Event()
beepThread = BeepThread([beepEvent, quitEvent, [11], 3])
beepThread.start()
color = Queue()
ledEvent = threading.Event()
ledThread = LedThread([ledEvent, quitEvent, rgb, 3, color])
ledThread.start()
