def kontrol2():
x = random.randrange(1,3)
if (x == 1):
print "sagabak"
servo(3)
kt(2)
time.sleep(0.05)
dis = distance('cm')
print dis
if dis < 15:
print "solabak"
servo(9)
kt(3)
dis = distance('cm')
if dis < 15:
print "cik"
servo(5.5)
kt(1)
geri(2.5)
kontrol()
else:
servo(5.5)
kt(1)
geri(0.5)
sol(1.1)
else:
servo(5.5)
kt(1)
geri(0.5)
sag(1.1)
if (x == 2):
print "solabak"
servo(9)
kt(3)
time.sleep(0.05)
dis = distance('cm')
print dis
if dis < 15:
print"sagabak"
servo(3)
kt(2)
dis = distance('cm')
if dis < 15:
print "cik"
servo(5.5)
kt(1)
geri(2.5)
kontrol()
else:
servo(5.5)
kt(1)
geri(0.5)
sag(1.1)
else:
servo(5.5)
kt(1)
geri(0.5)
sol(1.1)
def kontrol():
x = random.randrange(1, 3)
if (x == 1):
print "sagabak"
servo(3)
time.sleep(0.05)
dis = distance('cm')
print dis
if dis < 15:
print "solabak"
servo(9)
dis = distance('cm')
if dis < 15:
print "cik"
servo(6)
geri(2)
else:
servo(6)
geri(0.5)
sol(0.7)
else:
servo(6)
geri(0.5)
sag(0.7)
if (x == 2):
print "solabak"
servo(9)
time.sleep(0.05)
dis = distance('cm')
print dis
if dis < 15:
print "sagabak"
servo(3)
dis = distance('cm')
if dis < 15:
print "cik"
servo(6)
geri(2)
else:
servo(6)
geri(0.5)
sag(0.7)
else:
servo(6)
geri(0.5)
sol(0.7)
def kontrol():
x = random.randrange(1, 3)
if (x == 1):
print("sagabak")
servo(3)
time.sleep(0.05)
dis = distance('cm')
print(dis)
if dis < 15:
print("solabak")
servo(9)
dis = distance('cm')
if dis < 15:
print("cik")
servo(5.5)
geri(2, hiz)
else:
servo(5.5)
geri(0.5, hiz)
sol(0.7, hiz)
else:
servo(5.5)
geri(0.5, hiz)
sag(0.7, hiz)
if (x == 2):
print("solabak")
servo(9)
time.sleep(0.05)
dis = distance('cm')
print(dis)
if dis < 15:
print("sagabak")
servo(3)
dis = distance('cm')
if dis < 15:
print("cik")
servo(5.5)
geri(2, hiz)
else:
servo(5.5)
geri(0.5, hiz)
sag(0.7, hiz)
else:
servo(5.5)
geri(0.5, hiz)
sol(0.7, hiz)
def otomatikmod(sf):
print "Otomatik moda geciliyor!...cikis icin ctrl+c"
while (True):
dis = distance('cm')
init()
if (gpio.input(23) == 0 and gpio.input(24) == 0):
ileri(0.1)
elif (gpio.input(23) == 1 and gpio.input(24) == 0):
sol(0.1)
elif (gpio.input(23) == 0 and gpio.input(24) == 1):
sag(0.1)
else:
dur()
if (sf == 1):
print "kare icin bakiliyor"
karealma()
elif (sf == 2):
print "cisim birakiliyor"
servo4(7)
print "getirildi, gorev tamam"
uyari(1.5)
tersdon()
otomatikmod(1)
else:
pass
if dis < 15:
print "c*k dar",dis
if sf == 0:
geri(0.5)
servo(5.5)
kontrol()
else:
while True:
dis = distance('cm')
if dis < 20:
print "yon degistirilemez"
print "engelin kalkmasi icin bekleniyor"
time.sleep(0.5)
else:
print "engel kalkti, devam"
break
elif dis < 25:
print "dar",dis
else:
print "temiz",dis
def cizgi(rf):
for i in range(0, rf):
dis = distance('cm')
init()
if (gpio.input(23) == 0 and gpio.input(24) == 0):
ileri(0.1, hiz)
elif (gpio.input(23) == 1 and gpio.input(24) == 0):
sol(0.1, hiz)
elif (gpio.input(23) == 0 and gpio.input(24) == 1):
sag(0.1, hiz)
else:
pass
if dis < 15:
print("c*k dar", dis)
geri(0.5, hiz)
servo(5.5)
kontrol()
elif dis < 25:
print("dar", dis)
else:
print("temiz", dis)
dur()
def cizgi():
os.system("sudo pkill -9 -f main.py")
while (True):
dis = distance('cm')
init()
if (gpio.input(23) == 0 and gpio.input(24) == 0):
ileri(0.1, hiz)
elif (gpio.input(23) == 1 and gpio.input(24) == 0):
sol(0.1, hiz)
elif (gpio.input(23) == 0 and gpio.input(24) == 1):
sag(0.1, hiz)
else:
pass
if dis < 15:
print("c*k dar", dis)
geri(0.5, hiz)
servo(5.5)
kontrol()
elif dis < 25:
print("dar", dis)
else:
print("temiz", dis)
dur()
def otomatikmod():
print "Otomatik moda geciliyor!...cikis icin ctrl+c"
while (True):
dis = distance('cm')
init()
if (gpio.input(23) == 0 and gpio.input(24) == 0):
ileri(0.1)
elif (gpio.input(23) == 1 and gpio.input(24) == 0):
sol(0.1)
elif (gpio.input(23) == 0 and gpio.input(24) == 1):
sag(0.1)
else:
dur()
pass
if dis < 15:
print "c*k dar", dis
geri(0.5)
servo(6)
kontrol()
elif dis < 25:
print "dar", dis
else:
print "temiz", dis
print "cik"
servo(6)
geri(2.5)
kontrol()
else:
servo(6)
geri(0.5)
sag(1.1)
else:
servo(6)
geri(0.5)
sol(1.1)
while (True):
servo(6)
dis = distance('cm')
y = raw_input("yon:")
time.sleep(0.003)
if(y == "w"):
print "ileri"
ileri(0.7)
elif(y == "s"):
print "geri"
geri(0.7)
elif(y == "a"):
print "sol"
sol(0.7)
elif(y == "d"):
print "sag"
sag(0.7)
elif(y == "r"):
def main():
aci2 = aci3 = aci4 = 6
aci = 5.5
while (True):
print(" ")
dis = distance('cm')
print 'Mesafe: ', dis
y = raw_input("komut karakteri:")
time.sleep(0.03)
if (y == "w"):
# y = input("hiz(0-100): ")
print("ileri")
os.system("aplay -vv Turret_deploy.wav &")
ileri(300, 3.5)
elif (y == "s"):
# y = input("hiz(0-100): ")
print("geri")
os.system("aplay -vv Turret_deploy.wav &")
geri(300, 3.5)
elif (y == "d"):
# y = input("hiz(0-100): ")
print("sag")
os.system("aplay -vv Turret_deploy.wav &")
sag(300, 3.5)
elif (y == "a"):
# y = input("hiz(0-100): ")
print("sol")
os.system("aplay -vv Turret_deploy.wav &")
sol(300, 3.5)
elif (y == "q"):
os.system("aplay -vv Turret_turret_deploy_2.wav &")
cizgi()
elif (y == "c"):
print("hoscakal")
os.system("aplay -vv Turret_die.wav &")
break
elif (y == "j"):
print("duz bakiliyor aci = 5.5 aci2 =6")
os.system("aplay -vv Turret_turret_active_2.wav &")
servo(5.5)
servo2(6)
aci = 5.5
aci2 = 6
elif (y == "n"):
aci2 = aci2 + 0.5
print 'asagi bakiliyor,aci2 = ', aci2
servo2(aci2)
elif (y == "u"):
aci2 = aci2 - 0.5
print 'yukari bakiliyor,aci2 = ', aci2
servo2(aci2)
elif (y == "h"):
aci = aci + 0.5
print 'sola bakiliyor,aci = ', aci
servo(aci)
elif (y == "k"):
aci = aci - 0.5
print 'saga bakiliyor,aci = ', aci
servo(aci)
elif (y == "r"):
aci3 = aci3 + 0.5
print 'kanca yukari,aci = ', aci3
servo3(aci3)
elif (y == "f"):
aci3 = aci3 - 0.5
print 'kanca asagi,aci = ', aci3
servo3(aci3)
elif (y == "z"):
aci4 = aci4 + 0.5
print 'tutacak aciliyor,aci = ', aci4
servo4(aci4)
elif (y == "x"):
aci4 = aci4 - 0.5
print 'tutacak kapatiliyor,aci = ', aci4
servo4(aci4)
elif (y == "b"):
print("fren yapiliyor")
os.system("aplay -vv Turret_retract.wav &")
dur()
elif (y == "y"):
print("evet ifade ediliyor")
os.system("aplay -vv Turret_turret_shotat_1.wav &")
servo2(6)
servo2(5)
servo2(6)
elif (y == "t"):
print("hayir ifade ediliyor")
os.system("aplay -vv Turret_turret_search_2.wav &")
servo(6)
servo(5)
servo(7)
servo(6)
elif (y == "g"):
print(" :( ")
os.system("aplay -vv Turret_turret_tipped_4.wav &")
servo2(6.6)
servo(5.5)
servo(6.5)
servo(5.5)
servo(6.5)
servo(5.5)
servo(6.5)
servo2(6)
servo(6)
elif (y == "o"):
# y = input("sesfrekansi: ")
print("ses cikariliyor")
ses(1, 666)
else:
print("anlamadim tekrar dene")
os.system("aplay -vv Turret_sp_sabotage_factory_good_fail03.wav &")
dur()
pass
def main():
while (True):
dis = distance('cm')
y = raw_input("yon:")
time.sleep(0.003)
if(y == "w"):
print "ileri"
ileri(0.7)
elif(y == "s"):
print "geri"
geri(0.7)
elif(y == "a"):
print "sol"
sol(0.7)
elif(y == "d"):
print "sag"
sag(0.7)
elif(y == "e"):
print "serbest dolasma moduna gecildi!...cikis icin ctrl+c"
otomatikmod(0)
elif(y == "g"):
print "nesne getirme moduna gecildi!...cikis icin ctrl+c"
otomatikmod(1)
elif(y == "q"):
print "nesne takip moduna gecildi!...cikis icin ctrl+c"
uyari(0.7)
# while (True):
# daire = dairedurum()
# kare = karedurum()
# hare = hareket()
# time.sleep(0.1)
# if hare == 1:
# print 'hareket algilandi'
# else:
# print 'hareket yok'
# if daire == 1:
# print "daire algilandi"
# dt()
# else:
# print "daire yok"
# if kare == 1:
# print "kare algilandi"
# servo(6)
# servo2(6.5)
# kt(1)
# else:
# print "kare yok"
elif(y == "c"):
print "hoscakal"
break
elif (y == "j"):
print ("duz bakiliyor aci = 5.5 aci2 =6")
servo(5.5)
servo2(6)
aci = 5.5
aci2 = 6
elif (y == "n"):
aci2 = aci2 + 0.5
print 'asagi bakiliyor,aci2 = ',aci2
servo2(aci2)
elif (y == "u"):
aci2 = aci2 - 0.5
print 'yukari bakiliyor,aci2 = ',aci2
servo2(aci2)
elif (y == "h"):
aci = aci + 0.5
print 'sola bakiliyor,aci = ',aci
servo(aci)
elif (y == "k"):
aci = aci - 0.5
print 'saga bakiliyor,aci = ',aci
servo(aci)
elif (y == "r"):
aci3 = aci3 + 0.5
print 'kanca yukari,aci = ',aci3
servo3(aci3)
elif (y == "f"):
aci3 = aci3 - 0.5
print 'kanca asagi,aci = ',aci3
servo3(aci3)
elif (y == "z"):
aci4 = aci4 + 0.5
print 'tutacak aciliyor,aci = ',aci
servo4(aci4)
elif (y == "x"):
aci4 = aci4 - 0.5
print 'tutacak kapatiliyor,aci = ',aci4
servo4(aci4)
elif (y == "b"):
print ("fren yapiliyor")
dur()
elif (y == "y"):
print ("evet ifade ediliyor")
servo2(6)
servo2(5)
servo2(6)
elif (y == "t"):
print ("hayir ifade ediliyor")
servo(6)
servo(5)
servo(7)
servo(6)
elif (y == "v"):
print (" :( ")
servo2(6.6)
servo(5.5)
servo(6.5)
servo(5.5)
servo(6.5)
servo(5.5)
servo(6.5)
servo2(6)
servo(6)
elif (y == "o"):
# y = input("sesfrekansi: ")
print ("ses cikariliyor")
ses(1,666)
else:
print ("anlamadim tekrar dene")
dur()
pass
if dis < 15:
print "c*k dar",dis
geri(0.2)
kontrol()
elif dis < 25:
print "dar",dis
else:
print "temiz",dis
servo(5.5)
def tersdon():
init()
servo2(6)
x = random.randrange(1,3)
if (x == 1):
print "sagabak"
servo(3)
time.sleep(0.05)
dis = distance('cm')
print dis
if dis < 15:
print "solabak"
servo(9)
dis = distance('cm')
if dis < 15:
print "cik"
servo(5.5)
geri(1.5)
tersdon()
else:
servo(5.5)
sol(1)
while True:
init()
if (gpio.input(24) == 0):
sol(0.1)
else:
break
else:
servo(5.5)
sag(1)
while True:
init()
if (gpio.input(23) == 0):
sag(0.1)
else:
break
if (x == 2):
print "solabak"
servo(9)
time.sleep(0.05)
dis = distance('cm')
print dis
if dis < 15:
print"sagabak"
servo(3)
dis = distance('cm')
if dis < 15:
print "cik"
servo(5.5)
geri(1.5)
tersdon()
else:
servo(5.5)
sag(1)
while True:
init()
if (gpio.input(23) == 0):
sag(0.1)
else:
break
else:
servo(5.5)
sol(1)
while True:
init()
if (gpio.input(24) == 0):
sol(0.1)
else:
break
def main():
aci2 = aci3 = aci4 = 6
aci = 5.5
while (True):
dis = distance('cm')
print 'mesafe', dis
y = raw_input("komut karakteri:")
time.sleep(0.03)
if (y == "w"):
# p = input("hiz(0-10): ")
print("ileri")
ileri(0.2, 100)
elif (y == "s"):
# p = input("hiz(0-10): ")
print("geri")
geri(0.2, 100)
elif (y == "d"):
# p = input("hiz(0-10): ")
print("sag")
sag(0.2, 100)
elif (y == "a"):
# p = input("hiz(0-10): ")
print("sol")
sol(0.2, 100)
elif (y == "q"):
cizgi()
elif (y == "c"):
print("hoscakal")
break
elif (y == "j"):
print("duz bakiliyor aci = 5.5 aci2 =6")
servo(5.5)
servo2(6)
aci = 5.5
aci2 = 6
elif (y == "n"):
aci2 = aci2 + 0.5
print 'asagi bakiliyor,aci2 = ', aci2
servo2(aci2)
elif (y == "u"):
aci2 = aci2 - 0.5
print 'yukari bakiliyor,aci2 = ', aci2
servo2(aci2)
elif (y == "h"):
aci = aci + 0.5
print 'sola bakiliyor,aci = ', aci
servo(aci)
elif (y == "k"):
aci = aci - 0.5
print 'saga bakiliyor,aci = ', aci
servo(aci)
elif (y == "3"):
print 'kol sola donuyor'
stepper(30, 3, 1)
elif (y == "4"):
print 'kol saga donuyor'
stepper(30, 3, 0)
elif (y == "r"):
aci3 = aci3 + 0.5
print 'kol yukari,aci = ', aci3
servo3(aci3)
elif (y == "f"):
aci3 = aci3 - 0.5
print 'kol asagi,aci = ', aci3
servo3(aci3)
elif (y == "z"):
aci4 = aci4 + 0.5
print 'tutacak aciliyor,aci = ', aci4
servo4(aci4)
elif (y == "x"):
aci4 = aci4 - 0.5
print 'tutacak kapatiliyor,aci = ', aci4
servo4(aci4)
elif (y == "b"):
print("fren yapiliyor")
dur()
elif (y == "y"):
print("evet ifade ediliyor")
servo2(6)
servo2(5)
servo2(6)
elif (y == "t"):
print("hayir ifade ediliyor")
servo(6)
servo(5)
servo(7)
servo(6)
elif (y == "g"):
print(" :( ")
servo2(6.6)
servo(5.5)
servo(6.5)
servo(5.5)
servo(6.5)
servo(5.5)
servo(6.5)
servo2(6)
servo(6)
elif (y == "o"):
# y = input("sesfrekansi: ")
print("ses cikariliyor")
ses(1, 666)
elif (y == "v"):
led(100, 0.5, 0)
time.sleep(0.1)
led(100, 0.5, 1)
time.sleep(0.1)
led(100, 0.5, 2)
else:
print("anlamadim tekrar dene")
dur()
pass
def sesli(y):
dis = distance('cm')
print('mesafe', dis)
aci2 = aci3 = aci4 = 6
aci = 5.5
# if (y == "w"):
# y = input("hiz(0-100): ")
# print ("ileri")
# ileri(0.2,100)
# elif (y == "s"):
# y = input("hiz(0-100): ")
# print ("geri")
# geri(0.2,100)
# elif (y == "d"):
# y = input("hiz(0-100): ")
# print ("sag")
# sag(0.2,100)
# elif (y == "a"):
# y = input("hiz(0-100): ")
# print ("sol")
# sol(0.2,100)
# elif (y == "q"):
# cizgi()
# elif (y == "c"):
# print ("hoscakal")
# break
if (y == 0):
print("duz bakiliyor aci = 5.5 aci2 =6")
os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &")
servo(5.5)
servo2(6)
aci = 5.5
aci2 = 6
elif (y == 1):
print('asagi bakiliyor,aci2 = ', aci2)
os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &")
aci2 = 7.5
servo2(aci2)
elif (y == 2):
print('asagi bakiliyor,aci2 = ', aci2)
os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &")
aci2 = 4.5
servo2(aci2)
elif (y == 3):
aci = 7
print('sola bakiliyor,aci = ', aci)
os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &")
servo(aci)
elif (y == 4):
aci = 4
print('saga bakiliyor,aci = ', aci)
os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &")
servo(aci)
elif (y == 13):
print('kol sola donuyor')
os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &")
stepper(30, 3, 1)
elif (y == 14):
print('kol saga donuyor')
os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &")
stepper(30, 3, 0)
elif (y == 5):
aci3 = 8
print('kol yukari,aci = ', aci3)
os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &")
servo3(aci3)
elif (y == 6):
aci3 = 6
print('kol asagi,aci = ', aci3)
os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &")
servo3(aci3)
elif (y == 7):
aci4 = 7.5
print('tutacak aciliyor,aci = ', aci4)
os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &")
servo4(aci4)
elif (y == 8):
aci4 = 4.5
print('tutacak kapatiliyor,aci = ', aci4)
os.system("aplay -vv /home/pi/Robotics/PortalTurret/Turret_ping.wav &")
servo4(aci4)
elif (y == 9):
print("fren yapiliyor")
os.system(
"aplay -vv /home/pi/Robotics/PortalTurret/Turret_retract.wav &")
dur()
elif (y == 10):
print("evet ifade ediliyor")
os.system(
"aplay -vv /home/pi/Robotics/PortalTurret/Turret_turretshotbylaser02.wav &"
)
servo2(6)
servo2(5)
servo2(6)
elif (y == 11):
print("hayir ifade ediliyor")
os.system(
"aplay -vv /home/pi/Robotics/PortalTurret/Turret_turretlaunched04.wav &"
)
servo(5.5)
servo(4.5)
servo(6.5)
servo(5.5)
elif (y == 12):
print(" :( ")
os.system(
"aplay -vv /home/pi/Robotics/PortalTurret/Turret_turretwitnessdeath11.wav &"
)
servo2(6.6)
servo(5.5)
servo(6.5)
servo(4.5)
servo(6.5)
servo(4.5)
servo(6.5)
servo2(6)
servo(5.5)
# elif (y == "o"):
# y = input("sesfrekansi: ")
# print ("ses cikariliyor")
# ses(1,666)
else:
print("anlamadim tekrar dene")
os.system(
"aplay -vv /home/pi/Robotics/PortalTurret/Turret_alert.wav &")
os.system(
"aplay -vv /home/pi/Robotics/PortalTurret/Turret_sp_sabotage_factory_good_fail03.wav &"
)
os.system(
"aplay -vv /home/pi/Robotics/PortalTurret/Turret_turret_tipped_4.wav &"
)
dur()
pass
