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')
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")
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
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)