예제 #1
0
def move(d): # this is called from comms when a cmd is received
	if (d == "F") or (d == "W"):
		forwards()
		comms.sendToUI("Received Forwards")
		print colored("Received Forwards", 'yellow')

	if (d == "B") or (d == "X"):
		backwards()
                comms.sendToUI("Received Backwards")
                print colored("Received Backwards", 'yellow')

	if (d == "L") or (d == "A"):
		left()
                comms.sendToUI("Received Left")
                print colored("Received Left", 'yellow')

	if (d == "R") or (d == "D"):
		right()
                comms.sendToUI("Received Right")
                print colored("Received Right", 'yellow')

	if (d == "Stop") or (d == "S"):
		stop()
                comms.sendToUI("Received Stop")
                print colored("Received Stop", 'yellow')
예제 #2
0
파일: cam.py 프로젝트: jycr753/ReCoRVVA
def camera(status):
	if status == "CamOn":
		print colored("Starting camera stream", 'yellow')
		os.system('./startstream.sh &> /dev/null')
	if status == "CamOff":
		print colored("Stopping camera stream", 'yellow')
		os.system('sudo killall raspistill')
	
	if status == "HL":
		print colored("Switching off headlights", 'yellow')
		GPIO.output(headlights, False)
		comms.sendToUI("Headlights off")

	if status == "HH":
		print colored("Switching on headlights", 'yellow')
		GPIO.output(headlights, True)
		comms.sendToUI("Headlights on")
예제 #3
0
파일: cam.py 프로젝트: developius/ReCoRVVA
def servo(msg):
	global pan_var
	global tilt_var
	if msg == "pan_left":
		pan_var = pan_var + 100
		if pan_var < 2500 and pan_var > 500:
			print colored("Panning left " + str(pan_var), 'yellow')
			servo_mv(pan, pan_var) # pan left a bit
			comms.sendToUI("Panning left")
		else: # to stop trying to pan too far
			pan_var = pan_var - 100

	if msg == "pan_right":
		pan_var = pan_var - 100
		if pan_var < 2500 and pan_var > 500:
	                print colored("Panning right " + str(pan_var), 'yellow')
	                servo_mv(pan, pan_var) # pan right a bit
			comms.sendToUI("Panning right")
		else: # to stop trying to pan too far
                        pan_var = pan_var + 100

	if msg == "tilt_backwards":
		tilt_var = tilt_var + 100
		if tilt_var < 2500 and tilt_var > 500:
	                print colored("Tilting backwards " + str(tilt_var), 'yellow')
	                servo_mv(tilt, tilt_var) # tilt backwards a bit
	                comms.sendToUI("Tilting backwards")
		else: # to stop tilting too far
                        tilt_var = tilt_var + 100

        if msg == "tilt_forwards":
		tilt_var = tilt_var - 100
		if tilt_var < 2500 and tilt_var > 500:
	                print colored("Tilting forwards " + str(tilt_var), 'yellow')
	                servo_mv(tilt, tilt_var) # tilt forwards a bit
	                comms.sendToUI("Tilting forwards")
		else:
                        tilt_var = tilt_var + 100
예제 #4
0
파일: cam.py 프로젝트: jycr753/ReCoRVVA
def servo(direction):
	if direction == "pan_left":
		print colored("Panning left", 'yellow')
		comms.sendToUI("Panning left")
		pan.ChangeDutyCycle(servoLeft)
	if direction == "pan_right":
		print colored("Panning right", 'yellow')
		comms.sendToUI("Panning right")
		pan.ChangeDutyCycle(servoRight)
	if direction == "pan_center":
		print colored("Panning to center", 'yellow')
		comms.sendToUI("Panning to center")
		pan.ChangeDutyCycle(servoNeutral)
	if direction == "tilt_forwards":
		print colored("Tilting forwards", 'yellow')
		comms.sendToUI("Tiliting forwards")
		tilt.ChangeDutyCycle(servoForwards)
	if direction == "tilt_backwards":
		print colored("Tilting backwards", 'yellow')
		comms.sendToUI("Tiliting backwards")
		tilt.ChangeDutyCycle(servoBackwards)
	if direction == "tilt_up":
		print colored("Tilting to center", 'yellow')
		comms.sendToUI("Tiliting to center")
		tilt.ChangeDutyCycle(servoNeutral)