def main(): imu = imu_sensor.IMU() enc = encoders.Encoders() fast_loop_freq = Config['pygame']['fast_loop_freq'] # 60 Hz loop speed print_lock = threading.Lock() state_vector_lock = threading.Lock() path_planning_lock = threading.Lock() fast_thread = threading.Thread(target=fast_loop, args=(print_lock, state_vector_lock, path_planning_lock, imu, enc, fast_loop_freq), name="fast_loop") fast_thread.start() slow_thread = threading.Thread(target=slow_loop, args=(print_lock, 'dummy_text'), name="slow_loop") slow_thread.start()
def __init__(self, startPos, startDirection):
self.cam = camera.Camera()
self.sens = sensors.Sensors()
self.enc = encoders.Encoders()
self.serv = servos.Servos()
self.centeredInSquareLength = 7.5
self.sideDistance = 7.05
self.distanceBetweenSquares = 18
self.speed = 7
self.detectWallDistance = 15
self.nav = navigate.Navigate(startPos, startDirection)
self.useColor = False
self.colorList = []
self.foundColorList = []
self.foundColorNorth = False
self.foundColorEast = False
self.foundColorSouth = False
self.foundColorWest = False
def main():
imu = imu_sensor.IMU()
enc = encoders.Encoders()
# lidar = lidar.Lidar() # add when written...
print_lock = threading.Lock()
state_vector_lock = threading.Lock()
path_planning_lock = threading.Lock()
fast_thread = threading.Thread(target=fast_loop,
args=(print_lock, state_vector_lock,
path_planning_lock, imu, enc,
fast_loop_freq),
name="fast_loop")
fast_thread.start()
slow_thread = threading.Thread(target=slow_loop,
args=(print_lock, 'dummy_text'),
name="slow_loop")
slow_thread.start()
# This program demonstrates usage of the digital encoders.
# After executing the program, manually spin the wheels and observe the output.
# See https://sourceforge.net/p/raspberry-gpio-python/wiki/Inputs/ for more details.
import encoders
import servos
import time
import RPi.GPIO as GPIO
import signal
# import pandas as pd
#objects for servos, encoders, sensors, and camera
enc = encoders.Encoders()
serv = servos.Servos()
# Pins that the encoders are connected to
LENCODER = 17
RENCODER = 18
def ctrlC(signum, frame):
print("Exiting")
serv.stopServos()
GPIO.cleanup()
exit()
def calibrateSpeeds(interval):
freq = 1.3
y = 1.3
while freq <= 1.7 and y <= 1.7:
serv.setSpeeds(freq, freq)
time.sleep(1)
speedTuple2 = enc.getSpeeds()
print(str((speedTuple2[0] + speedTuple2[1]) / 2) + " RPS")
def __init__(self):
self.interface = gtk.Builder()
self.interface.add_from_file(UI_DIR + "/sltv.ui")
self.main_window = self.interface.get_object("window1")
self.main_window.show_all()
self.about = about.About(self)
self.sltv = Sltv()
self.sltv.connect("stopped", self.stopped)
self.sltv.connect("playing", self.playing)
self.sltv.connect("error", self.error)
self.sltv.connect("pipeline-ready", self.on_pipeline_ready)
self.preview_frame = self.interface.get_object("preview_frame")
self.preview_box = self.interface.get_object("preview_vbox")
self.preview = preview.PreviewUI(self, self.sltv)
self.preview_box.pack_start(self.preview.get_widget(), False, False)
self.preview_area = PreviewArea()
self.preview_frame.add(self.preview_area)
self.preview_area.show()
self.box = self.interface.get_object("paned")
self.settings = settings.SettingsUI(self, self.sltv)
self.box.add(self.settings.get_widget())
self.play_button = self.interface.get_object("play_button")
self.stop_button = self.interface.get_object("stop_button")
self.settings_dialog = gtk.Dialog('Settings', self.main_window)
self.settings_dialog.set_default_size(400, 400)
self.encoders = self.sltv.encoders
self.videoconverters = self.sltv.videoconverters
self.encoders_ui = encoders.Encoders(self, self.encoders,
self.videoconverters)
self.metadata_ui = metadata.MetadataUI(self.sltv, self.settings_dialog)
self.hbuttonbox = self.interface.get_object("hbuttonbox1")
self.volume = volume.VolumeUI(self, self.sltv)
self.volume_button = self.volume.get_widget()
self.volume_button.show()
self.hbuttonbox.pack_start(self.volume_button)
self.sltv.vus = []
meter = fvumeter.FVUMeter()
meter.only_draw_peak = True
self.sltv.vus.append(meter)
meter = fvumeter.FVUMeter()
self.sltv.vus.append(meter)
self.sltv.vus[0].show()
self.sltv.vus[1].show()
self.vumeter_box = self.interface.get_object("vumeter_box")
if self.vumeter_box:
self.vumeter_box.add(self.sltv.vus[0])
self.vumeter_box.add(self.sltv.vus[1])
# pip
pip_box = self.interface.get_object("pip_box")
self.pip_selector = pip_widget.PIPSelector()
self.pip_selector.connect("changed", self.on_pip_changed)
pip_box.add(self.pip_selector)
pip_box.show_all()
# sources
self.sources = self.sltv.sources
self.audioconvs = self.sltv.audioconvs
self.sources_ui = sources.Sources(self, self.sources, self.audioconvs)
self.video_source_box = self.interface.get_object("video_source_box")
self.sources_view = sources_view.SourcesView(self.sltv, self.sources)
self.sources_view.show_all()
self.video_source_box.pack_start(self.sources_view, False, False)
# audio combobox
self.audio_sources_combobox = self.interface.get_object(
"audio_sources_combobox")
self.audio_sources_combobox.set_model(
sources.AudioModel(self.sources).model)
cell = gtk.CellRendererText()
self.audio_sources_combobox.pack_start(cell, True)
self.audio_sources_combobox.add_attribute(cell, "text", 0)
self.audio_sources_combobox.connect("changed",
self.on_select_audio_source)
self.audio_sources_combobox.set_active(0)
# outputs
self.outputs = self.sltv.outputs
self.outputs_ui = outputs.Outputs(self, self.outputs, self.encoders)
self.outputs_box = self.interface.get_object("outputs_box")
self.outputs_view = outputs_view.OutputsView(self.sltv, self.outputs)
self.outputs_view.show_all()
self.outputs_box.pack_start(self.outputs_view, False, False)
# settings dialog
self.settings_dialog.set_has_separator(False)
self.settings_dialog.add_button(gtk.STOCK_CLOSE, gtk.RESPONSE_CLOSE)
self.settings_dialog.connect('delete-event', self.hide_settings)
self.settings_dialog.connect('response', self.hide_settings)
vbox = self.settings_dialog.get_content_area()
vbox.set_border_width(12)
notebook = gtk.Notebook()
self.settings_notebook = notebook
vbox.add(notebook)
vbox = gtk.VBox()
vbox.set_border_width(12)
vbox.pack_start(self.sources_ui.get_widget())
notebook.append_page(vbox, gtk.Label('Sources'))
vbox = gtk.VBox()
vbox.set_border_width(12)
vbox.pack_start(self.encoders_ui.get_widget())
notebook.append_page(vbox, gtk.Label('Encoders'))
vbox = gtk.VBox()
vbox.set_border_width(12)
vbox.pack_start(self.outputs_ui.get_widget())
notebook.append_page(vbox, gtk.Label('Outputs'))
vbox = gtk.VBox()
vbox.set_border_width(12)
vbox.pack_start(self.metadata_ui.get_widget())
notebook.append_page(vbox, gtk.Label('Metadata'))
#menu
self.settings_menuitem = self.interface.get_object("settings_menuitem")
self.quit_menuitem = self.interface.get_object("quit_menuitem")
self.about_menu = self.interface.get_object("about_menu")
self.play_button.connect("clicked", self.on_play_press)
self.stop_button.connect("clicked", self.on_stop_press)
self.main_window.connect("delete_event", self.on_window_closed)
self.settings_menuitem.connect("activate", self.show_settings)
self.quit_menuitem.connect("activate", gtk.main_quit)
self.about_menu.connect("activate", self.show_about)