def motor(request):
left = request.args.get('l')
right = request.args.get('r')
if left and not cfg.chocks:
left = int(left)
if left >= -100 and left <= 100:
cfg.left_motor = int(left * cfg.left_motor_trim)
hw.motor_two_speed(cfg.left_motor)
if right and not cfg.chocks:
right = int(right)
if right >= -100 and right <= 100:
cfg.right_motor = int(right * cfg.right_motor_trim)
hw.motor_one_speed(cfg.right_motor)
return response.text('ok')
def motor():
left = request.args.get('l')
right = request.args.get('r')
if left and not cfg.chocks:
left = int(left)
if left >= -100 and left <= 100:
cfg.left_motor = left
hw.motor_two_speed(cfg.left_motor)
if right and not cfg.chocks:
right = int(right)
if right >= -100 and right <= 100:
cfg.right_motor = right
hw.motor_one_speed(cfg.right_motor)
return 'ok'
def joystick():
cfg.watchdog = 0
x_axis = int(request.args.get('x'))
y_axis = int(request.args.get('y'))
x_axis = -1 * max(min(x_axis, 100), -100)
y_axis = max(min(y_axis, 100), -100)
v = (100 - abs(x_axis)) * (y_axis / 100) + y_axis
w = (100 - abs(y_axis)) * (x_axis / 100) + x_axis
r = int((v + w) / 2)
l = int((v - w) / 2)
if not cfg.chocks:
cfg.right_motor = r
cfg.left_motor = l
hw.motor_one_speed(cfg.right_motor)
hw.motor_two_speed(cfg.left_motor)
return 'ok'
def brakes_on():
cfg.brakes = True
cfg.left_motor = 0
cfg.right_motor = 0
hw.motor_one_speed(cfg.right_motor)
hw.motor_two_speed(cfg.left_motor)
def moveRight():
hw.motor_one_speed(100)
hw.motor_two_speed(0)
def moveLeft():
hw.motor_one_speed(0)
hw.motor_two_speed(100)
def moveBackwards():
hw.motor_one_speed(-100)
hw.motor_two_speed(-100)
def moveForward():
hw.motor_one_speed(100)
hw.motor_two_speed(100)
import io_wrapper as hw
from picamera import PiCamera
from time import sleep
wheel = 0
camera = 0
if wheel == 0:
print("Move Wheel...")
while wheel != 1000:
hw.motor_one_speed(-100)
hw.motor_two_speed(-100)
wheel = wheel + 1
print(wheel)
camera = PiCamera()
camera.rotation = 180
camera.resolution = (2592, 1944)
camera.start_preview()
sleep(5)
camera.capture('/home/pi/Desktop/image.jpg')
camera.stop_preview()
print("Wheel Test Complete")
hw.motor_one_speed(0)
hw.motor_two_speed(0)
if camera == 0:
print("Camera Test...")
camera = PiCamera()
camera.rotation = 180
