def listen(self): c = self.stdscr.getch() #self.stdscr.addstr(str(c)) if c == 9: self.tab_pressed() else: self.clear_flags() if c >= 33 and c <= 126: self.stdscr.addch(c) self.current_command_str += chr(c) self.current_word += chr(c) elif c == 3: #terminate curses.nobreak(); stdscr.keypad(0); curses.echo(); curses.endwin() sys.exit(0) elif c == 10: self.enter_pressed() elif c == 127: self.stdscr.addstr('\r>') for i in range(0,len(self.current_command_str)): self.stdscr.addch(' ') self.current_command_str = self.current_command_str[:-1] self.current_word = self.current_word[:-1] self.stdscr.addstr('\r>%s' % self.current_command_str) elif c == 27: #debug key self.stdscr.addstr('\n' + self.current_command_str) self.stdscr.addstr('\n' + self.current_word) print self.tab_completion_list elif c == 32: self.space_pressed()
def getXTargetAxis(): while True: #getUpdatedCoordinates() print(x_position_front) if (x_position_front) > (8400): FR.ChangeDutyCycle(100) FL.ChangeDutyCycle(100) RR.ChangeDutyCycle(100) RL.ChangeDutyCycle(100) print('Arrived') break else: print(x_position_front) FR.ChangeDutyCycle(6.5) FL.ChangeDutyCycle(8) RR.ChangeDutyCycle(6.5) RL.ChangeDutyCycle(8) print("tada!") #cleanup GPIO.cleanup curses.nobreak() screen.keypad(0) curses.echo() curses.endwin()
def main(screen): screen = curses.initscr() curses.noecho() curses.cbreak() screen.keypad(True) screen.addstr("Hello World!!!") screen.addstr("PRESS THE ARROW KEYS TO MOVE THE CAR") while True: c = screen.getch() if c == curses.KEY_LEFT: screen.addstr(5, 10, 'left key pressed') Anticlockwise() screen.refresh() elif c == curses.KEY_RIGHT: screen.addstr(5, 50, 'right key pressed') Clockwise() screen.refresh() elif c == curses.KEY_UP: screen.addstr(2, 30, 'UP key pressed') Forward() screen.refresh() elif c == curses.KEY_DOWN: screen.addstr(9, 30, 'Down key pressed') Back() screen.refresh() curses.nobreak() screen.keypad(False) # Enable keypad Mode curses.echo() curses.endwin()
def controller(): #Initialize ROS stuff pub = rospy.Publisher('keyboard', Int32, queue_size=1) #publish to the keyboard topic rospy.init_node('controller') #name this node controller rate = rospy.Rate(10) #10hz #Initialize curses environment stdscr = curses.initscr() curses.noecho() curses.cbreak() stdscr.keypad(1) stdscr.nodelay(1) direction = 0 while not rospy.is_shutdown(): c = stdscr.getch() #0 = No action. 1 = forwards. 2 = left. 3 = backwards. 4 = right. 5 for break. Press q to quit if c == ord('w') or c == curses.KEY_UP: direction = 1 elif c == ord('a') or c == curses.KEY_LEFT: direction = 2 elif c == ord('s') or c == curses.KEY_UP: direction = 3 elif c == ord('d') or c == curses.KEY_DOWN: direction = 4 elif c == ord(' '): direction = 5 elif c == ord('q'): break; else: direction = 0 #curses has a delay before registering a key as being held. Not sure best way to handle it curses.flushinp() pub.publish(direction) rate.sleep() #Close curses environment curses.nobreak() stdscr.keypad(0) curses.echo() curses.endwin()
FR.ChangeDutyCycle(100) FL.ChangeDutyCycle(100) RR.ChangeDutyCycle(100) RL.ChangeDutyCycle(100) break while True: #getUpdatedCoordinates() print(x_position_front) if (x_position_front) > (1400): FR.ChangeDutyCycle(100) FL.ChangeDutyCycle(100) RR.ChangeDutyCycle(100) RL.ChangeDutyCycle(100) print('Arrived') break else: print(x_position_front) FR.ChangeDutyCycle(6.5) FL.ChangeDutyCycle(8) RR.ChangeDutyCycle(6.5) RL.ChangeDutyCycle(8) print("tada!") #cleanup GPIO.cleanup curses.nobreak() screen.keypad(0) curses.echo() curses.endwin()
def closeCurses(stdscr): stdscr.keypad(0) curses.nobreak() curses.echo() curses.endwin()
class MultitagPositioning(object): """Continuously performs multitag positioning""" def nicksThing(): def __init__(self, pozyx, osc_udp_client, tag_ids, anchors, algorithm=PozyxConstants.POSITIONING_ALGORITHM_UWB_ONLY, dimension=PozyxConstants.DIMENSION_3D, height=1000): self.pozyx = pozyx self.osc_udp_client = osc_udp_client self.tag_ids = tag_ids self.anchors = anchors self.algorithm = algorithm self.dimension = dimension self.height = height def setup(self): """Sets up the Pozyx for positioning by calibrating its anchor list.""" print("------------POZYX MULTITAG POSITIONING V{} -------------". format(version)) print("") print(" - System will manually calibrate the tags") print("") print(" - System will then auto start positioning") print("") if None in self.tag_ids: for device_id in self.tag_ids: self.pozyx.printDeviceInfo(device_id) else: for device_id in [None] + self.tag_ids: self.pozyx.printDeviceInfo(device_id) print("") print("------------POZYX MULTITAG POSITIONING V{} -------------". format(version)) print("") self.setAnchorsManual() self.printPublishAnchorConfiguration() def loop(self): """Performs positioning and prints the results.""" for tag_id in self.tag_ids: position = Coordinates() status = self.pozyx.doPositioning(position, self.dimension, self.height, self.algorithm, remote_id=tag_id) if status == POZYX_SUCCESS: self.printPublishPosition(position, tag_id) else: self.printPublishErrorCode("positioning", tag_id) # WORK IN PROGRESS: First attempt at making a function to collect and store the x, y, and z coordinates globally """def giveUsDemCoordyBois(self, position, network_id): #hopefully gives us the coordinates to be able to access outside of the class x_position = position.x; y_position = position.y; z_position = position.z; print(x_position); print(y_position); print(z_position);""" def printPublishPosition(self, position, network_id): """Prints the Pozyx's position and possibly sends it as a OSC packet""" if network_id is None: network_id = 0 s = "POS ID: {}, x(mm): {}, y(mm): {}, z(mm): {}".format( "0x%0.4x" % network_id, position.x, position.y, position.z) print(s) if self.osc_udp_client is not None: self.osc_udp_client.send_message( "/position", [network_id, position.x, position.y, position.z]) #NOTE: front tag is the tag connected to the Pi(0x673c/0x0000) and back tag is connected to external power source if network_id == 0x0000: #if the tag that is having its coordinates measured is the one connected to the Pi global x_position_front #indicate to program that the global variable for the front tag's x-position is to be used global y_position_front #indicate to program that the global variable for the front tag's y-position is to be used global z_position_front #indicate to program that the global variable for the front tag's z-position is to be used x_position_front = position.x #set the x-position of the front tag to the x-value output by the Pozyx y_position_front = position.y #set the y-position of the front tag to the y-value output by the Pozyx z_position_front = position.z #set the z-position of the front tag to the z-value output by the Pozyx print(x_position_front) #output the front tag's x-position print(y_position_front) #output the front tag's y-position print(z_position_front) #output the front tag's z-position else: #otherwise, if the tag that is having its coordinates measured is the one connected to the external power source global x_position_back #indicate to program that the global variable for the back tag's x-position is to be used global y_position_back #indicate to program that the global variable for the back tag's y-position is to be used global z_position_back #indicate to program that the global variable for the back tag's z-position is to be used x_position_back = position.x #set the x-position of the back tag to the x-value output by the Pozyx y_position_back = position.y #set the y-position of the back tag to the y-value output by the Pozyx z_position_back = position.z #set the z-position of the back tag to the z-value output by the Pozyx print(x_position_back) #output the back tag's x-position print(y_position_back) #output the back tag's y-position print(z_position_back) #output the back tag's z-position #print("THE LOOP HAS BEEN EXITED"); FOR TESTING: print a statement that will allow us to see how exactly the loop # running the main body is working and where it is at in its execution '''NOTE: The following print statements were used previously to check if the global variables for x, y, and z were being set to the Pozyx's outputs: print(x_position); print(y_position); print(z_position);''' def setAnchorsManual(self): """Adds the manually measured anchors to the Pozyx's device list one for one.""" for tag_id in self.tag_ids: status = self.pozyx.clearDevices(tag_id) for anchor in self.anchors: status &= self.pozyx.addDevice(anchor, tag_id) if len(anchors) > 4: status &= self.pozyx.setSelectionOfAnchors( PozyxConstants.ANCHOR_SELECT_AUTO, len(anchors)) # enable these if you want to save the configuration to the devices. def printPublishConfigurationResult(self, status, tag_id): """Prints the configuration explicit result, prints and publishes error if one occurs""" if tag_id is None: tag_id = 0 if status == POZYX_SUCCESS: print("Configuration of tag %s: success" % tag_id) else: self.printPublishErrorCode("configuration", tag_id) def printPublishErrorCode(self, operation, network_id): """Prints the Pozyx's error and possibly sends it as a OSC packet""" error_code = SingleRegister() status = self.pozyx.getErrorCode(error_code, network_id) if network_id is None: network_id = 0 if status == POZYX_SUCCESS: print("Error %s on ID %s, %s" % (operation, "0x%0.4x" % network_id, self.pozyx.getErrorMessage(error_code))) if self.osc_udp_client is not None: self.osc_udp_client.send_message( "/error_%s" % operation, [network_id, error_code[0]]) else: # should only happen when not being able to communicate with a remote Pozyx. self.pozyx.getErrorCode(error_code) print("Error % s, local error code %s" % (operation, str(error_code))) if self.osc_udp_client is not None: self.osc_udp_client.send_message("/error_%s" % operation, [0, error_code[0]]) def printPublishAnchorConfiguration(self): for anchor in self.anchors: print("ANCHOR,0x%0.4x,%s" % (anchor.network_id, str(anchor.pos))) if self.osc_udp_client is not None: self.osc_udp_client.send_message("/anchor", [ anchor.network_id, anchor.pos.x, anchor.pos.y, anchor.pos.z ]) sleep(0.025) if __name__ == "__main__": # Check for the latest PyPozyx version. Skip if this takes too long or is not needed by setting to False. check_pypozyx_version = True if check_pypozyx_version: perform_latest_version_check() # shortcut to not have to find out the port yourself. serial_port = get_first_pozyx_serial_port() if serial_port is None: print("No Pozyx connected. Check your USB cable or your driver!") quit() # enable to send position data through OSC use_processing = True # configure if you want to route OSC to outside your localhost. Networking knowledge is required. ip = "127.0.0.1" network_port = 8888 # IDs of the tags to position, add None to position the local tag as well. tag_ids = [None, 0x6728] # necessary data for calibration anchors = [ DeviceCoordinates(0x6e09, 1, Coordinates(0, 0, 0)), DeviceCoordinates(0x674c, 1, Coordinates(1650, 0, 0)), DeviceCoordinates(0x6729, 1, Coordinates(0, 480, 0)), DeviceCoordinates(0x6765, 1, Coordinates(1650, 480, 0)) ] # positioning algorithm to use, other is PozyxConstants.POSITIONING_ALGORITHM_TRACKING algorithm = PozyxConstants.POSITIONING_ALGORITHM_UWB_ONLY # positioning dimension. Others are PozyxConstants.DIMENSION_2D, PozyxConstants.DIMENSION_2_5D dimension = PozyxConstants.DIMENSION_2D # height of device, required in 2.5D positioning height = 1000 osc_udp_client = None if use_processing: osc_udp_client = SimpleUDPClient(ip, network_port) pozyx = PozyxSerial(serial_port) r = MultitagPositioning(pozyx, osc_udp_client, tag_ids, anchors, algorithm, dimension, height) r.setup() while True: r.loop() print("THE FRONT X POSITION IS:" + str(x_position_front)) #used to see if the x-positions of the front tag were correct print("THE FRONT Y POSITION IS:" + str(y_position_front)) #used to see if the y-positions of the front tag were correct print("THE FRONT Z POSITION IS:" + str(z_position_front)) #used to see if the z-positions of the front tag were correct print("THE BACK X POSITION IS:" + str(x_position_front)) #used to see if the x-positions of the back tag were correct print("THE BACK Y POSITION IS:" + str(y_position_front)) #used to see if the y-positions of the back tag were correct print("THE BACK Z POSITION IS:" + str(z_position_front)) #used to see if the z-positions of the back tag were correct y = int(y_position_front) x = int(x_position_front) #break; #NOTE: this was previously used to end the execution of the Pozyx measuring to see if the new variables were working #Previously used to check if the global variables for the x, y, and z coordinates were functioning properly: #print(x_position); #print(y_position); #print(z_position);''' import RPi.GPIO as GPIO #Pin setup for Entire Pi import time import curses #User Interface import serial #pin setup GPIO.setmode(GPIO.BOARD) GPIO.setup(13, GPIO.OUT) GPIO.setup(22, GPIO.OUT) GPIO.setup(15, GPIO.OUT) GPIO.setup(18, GPIO.OUT) #motor varibles FR = GPIO.PWM(13, 50) #Front Right Motor #The value 50 is the Frequency FL = GPIO.PWM(22, 50) #Front Left Motor #The value 12 is the GPIO pin RR = GPIO.PWM(15, 50) #Rear Right Motor RL = GPIO.PWM(18, 50) #Rear Left Motor FR.start(100) FL.start(100) RR.start(100) RL.start(100) #curses setup #screen = curses.initscr() #curses.noecho() #curses.cbreak() #screen.keypad(True) #User Interface print('...Loading...') while True: #getUpdatedCoordinates() print(y_position_front) nicksThing() if int(y_position_front) > 1400: FR.ChangeDutyCycle(100) FL.ChangeDutyCycle(100) RR.ChangeDutyCycle(100) RL.ChangeDutyCycle(100) print('Almost there') break else: print(y_position_front) FR.ChangeDutyCycle(6.5) FL.ChangeDutyCycle(8) RR.ChangeDutyCycle(6.5) RL.ChangeDutyCycle(8) while True: print("turning 90 degrees left") FR.ChangeDutyCycle(5) FL.ChangeDutyCycle(5) RR.ChangeDutyCycle(5) RL.ChangeDutyCycle(5) time.sleep(.68) FR.ChangeDutyCycle(100) FL.ChangeDutyCycle(100) RR.ChangeDutyCycle(100) RL.ChangeDutyCycle(100) break while True: #getUpdatedCoordinates() print(x_position_front) nicksThing() if (x_position_front) > (1400): FR.ChangeDutyCycle(100) FL.ChangeDutyCycle(100) RR.ChangeDutyCycle(100) RL.ChangeDutyCycle(100) print('Arrived') break else: print(x_position_front) FR.ChangeDutyCycle(6.5) FL.ChangeDutyCycle(8) RR.ChangeDutyCycle(6.5) RL.ChangeDutyCycle(8) print("tada!") #cleanup GPIO.cleanup curses.nobreak() screen.keypad(0) curses.echo() curses.endwin()
def getUpdatedCoordinates(): # while True: r.loop() print("THE FRONT X POSITION IS:" + str(x_position_front)) #used to see if the x-positions of the front tag were correct print("THE FRONT Y POSITION IS:" + str(y_position_front)) #used to see if the y-positions of the front tag were correct print("THE FRONT Z POSITION IS:" + str(z_position_front)) #used to see if the z-positions of the front tag were correct print("THE BACK X POSITION IS:" + str(x_position_front)) #used to see if the x-positions of the back tag were correct print("THE BACK Y POSITION IS:" + str(y_position_front)) #used to see if the y-positions of the back tag were correct print("THE BACK Z POSITION IS:" + str(z_position_front)) #used to see if the z-positions of the back tag were correct y = int(y_position_front) x = int(x_position_front) #break; #NOTE: this was previously used to end the execution of the Pozyx measuring to see if the new variables were working #Previously used to check if the global variables for the x, y, and z coordinates were functioning properly: #print(x_position); #print(y_position); #print(z_position); import RPi.GPIO as GPIO #Pin setup for Entire Pi import time import curses #User Interface import serial #pin setup GPIO.setmode(GPIO.BOARD) GPIO.setup(13, GPIO.OUT) GPIO.setup(22, GPIO.OUT) GPIO.setup(15, GPIO.OUT) GPIO.setup(18, GPIO.OUT) #motor varibles FR = GPIO.PWM(13, 50) #Front Right Motor #The value 50 is the Frequency FL = GPIO.PWM(22, 50) #Front Left Motor #The value 12 is the GPIO pin RR = GPIO.PWM(15, 50) #Rear Right Motor RL = GPIO.PWM(18, 50) #Rear Left Motor FR.start(100) FL.start(100) RR.start(100) RL.start(100) #curses setup #screen = curses.initscr() #curses.noecho() #curses.cbreak() #screen.keypad(True) #User Interface print('...Loading...') while True: getUpdatedCoordinates() print(y_position_front) if int(y_position_front) > 1400: FR.ChangeDutyCycle(100) FL.ChangeDutyCycle(100) RR.ChangeDutyCycle(100) RL.ChangeDutyCycle(100) print('Almost there') break else: #getUpdatedCoordinates() print(y_position_front) FR.ChangeDutyCycle(6.5) FL.ChangeDutyCycle(8) RR.ChangeDutyCycle(6.5) RL.ChangeDutyCycle(8) while True: print("turning 90 degrees left") FR.ChangeDutyCycle(5) FL.ChangeDutyCycle(5) RR.ChangeDutyCycle(5) RL.ChangeDutyCycle(5) time.sleep(.68) FR.ChangeDutyCycle(100) FL.ChangeDutyCycle(100) RR.ChangeDutyCycle(100) RL.ChangeDutyCycle(100) break while True: getUpdatedCoordinates() print(x_position_front) if (x_position_front) > (1400): FR.ChangeDutyCycle(100) FL.ChangeDutyCycle(100) RR.ChangeDutyCycle(100) RL.ChangeDutyCycle(100) print('Arrived') break else: #getUpdatedCoordinates() print(x_position_front) FR.ChangeDutyCycle(6.5) FL.ChangeDutyCycle(8) RR.ChangeDutyCycle(6.5) RL.ChangeDutyCycle(8) print("tada!") #cleanup GPIO.cleanup curses.nobreak() screen.keypad(0) curses.echo() curses.endwin()
GPIO.output(33, False) GPIO.output(11, True) GPIO.output(13, False) GPIO.output(15, True) elif char == curses.KEY_RIGHT: print("Right") GPIO.output(33, True) GPIO.output(11, False) GPIO.output(13, False) GPIO.output(15, True) elif char == curses.KEY_LEFT: print("Left") GPIO.output(33, False) GPIO.output(11, True) GPIO.output(13, True) GPIO.output(15, False) elif char == 10: print("Stop") GPIO.output(33, False) GPIO.output(11, False) GPIO.output(13, False) GPIO.output(15, False) finally: #Close down curses properly, inc turn echo back on! curses.nobreak(); screen.keypad(0); curses.echo() curses.endwin()