def __init__(self, emulate = False):
if not emulate:
self.m1 = motor.MotorController('/dev/ttyACM0')
self.m2 = motor.MotorController('/dev/ttyACM1')
self.Reset()
else:
self.m1 = MotorEmulate()
self.m2 = MotorEmulate()
self.speed = [0,0]
self.accel = 1500
self.cycle_time = 200 #ms
self.speed_steps = 800
self.speed_steps_stop = 100
self.state = "STOP"
self.new_state = None
return
def __init__(self): # initialize controlls self.camera = camera.CameraController() self.inferface = interface.InterfaceController() self.motor = motor.MotorController() self.joystick = joystick.JoystickController() self.ai = jetson_ai.JetsonAI() self.ultrasonic = ultrasonic.UltrasonicController()
import motor as m motor = m.MotorController() motor.initialize() motor.right(2.5)
from picamera.array import PiRGBArray from picamera import PiCamera import time import classifier import range import motor GPIO.setmode(GPIO.BCM) trig_pin = 23 echo_pin = 24 led_pin = 16 minimum_feature_size = 500 motor = motor.MotorController() def clamp(n, minn, maxn): return max(min(maxn, n), minn) try: GPIO.setup(led_pin,GPIO.OUT) GPIO.output(led_pin, GPIO.HIGH) range_sensor = range.RangeSensor(trig_pin, echo_pin) # Initialize distance sensor camera = PiCamera() camera.resolution = (640, 480) camera.framerate = 32
# emulated camera
#from camera import Camera
# Raspberry Pi camera module (requires picamera package)
from camera_pi import Camera
app = Flask(__name__)
pan = servo.ServoController(25)
pan.setAngle(0)
tilt = servo.ServoController(24)
tilt.setAngle(0)
motorA = motor.MotorController(8, 7)
motorB = motor.MotorController(10, 9)
@app.route('/')
def index():
"""Video streaming home page."""
return render_template('index.html')
def gen(camera):
"""Video streaming generator function."""
while True:
frame = camera.get_frame()
yield (b'--frame\r\n'
b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n')