def go_Forward(speed, running_time):
global forward0, forward1
motor.setSpeed(speed)
motor.motor0(forward0)
motor.motor1(forward1)
time.sleep(running_time)
motor.stop()
def go_Backward(speed, running_time):
global backward0, backward1
motor.setSpeed(speed)
motor.motor0(backward0)
motor.motor1(backward1)
time.sleep(running_time)
motor.stop()
def _twist_callback(self, msg):
self._cmd_lin_vel = msg.linear.x
self._cmd_ang_vel = msg.angular.z
print "x: " + str(self._cmd_lin_vel)
print "yaw: " + str(self._cmd_ang_vel)
# Disable both motors
if self._cmd_lin_vel == 0 and self._cmd_ang_vel == 0:
motor.motorStop()
else:
# Forward driving
if self._cmd_lin_vel > 0:
self._left_motor_dir = 0
self._right_motor_dir = 0
# Reverse driving
elif self._cmd_lin_vel < 0:
self._left_motor_dir = 1
self._right_motor_dir = 1
# CCW Rotation
elif self._cmd_ang_vel < 0:
self._left_motor_dir = 1
self._right_motor_dir = 0
# CW Rotation
elif self._cmd_ang_vel > 0:
self._left_motor_dir = 0
self._right_motor_dir = 1
motor.motor1(1, self._left_motor_dir, 100)
motor.motor(1, self._right_motor_dir, 100)
def calibrate_motor_right_reverse(request): global forward1 if forward1 == "True": forward1 = "False" else: forward1 = "True" motor.motor1(forward1) text = 'Right motor reverse to ', forward1 return HttpResponse(text)
def loop():
global offset_x, offset_y, offset, forward0, forward1
while True:
print 'Waiting for connection...'
# Waiting for connection. Once receiving a connection, the function accept() returns a separate
# client socket for the subsequent communication. By default, the function accept() is a blocking
# one, which means it is suspended before the connection comes.
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr # Print the IP address of the client connected with the server.
while True:
data = tcpCliSock.recv(
BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
break
#--------Motor calibration----------
if data == 'motor_run':
print 'motor moving forward'
motor.setSpeed(50)
motor.motor0(forward0)
motor.motor1(forward1)
elif data[0:9] == 'leftmotor':
forward0 = data[9:]
motor.motor0(forward0)
elif data[0:10] == 'rightmotor':
forward1 = data[10:]
motor.motor1(forward1)
elif data == 'motor_stop':
print 'motor stop'
motor.stop()
#---------------------------------
#-------Turing calibration------
elif data[0:7] == 'offset=':
offset = int(data[7:])
car_dir.calibrate(offset)
#--------------------------------
#----------Mount calibration---------
elif data[0:8] == 'offsetx=':
offset_x = int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety=':
offset_y = int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
#----------------------------------------
else:
print 'cmd error !'
def loop(): global offset_x, offset_y, offset, forward0, forward1 while True: print 'Waiting for connection...' # Waiting for connection. Once receiving a connection, the function accept() returns a separate # client socket for the subsequent communication. By default, the function accept() is a blocking # one, which means it is suspended before the connection comes. tcpCliSock, addr = tcpSerSock.accept() print '...connected from :', addr # Print the IP address of the client connected with the server. while True: data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client. # Analyze the command received and control the car accordingly. if not data: break #--------Motor calibration---------- if data == 'motor_run': print 'motor moving forward' motor.setSpeed(50) motor.motor0(forward0) motor.motor1(forward1) elif data[0:9] == 'leftmotor': forward0 = data[9:] motor.motor0(forward0) elif data[0:10] == 'rightmotor': forward1 = data[10:] motor.motor1(forward1) elif data == 'motor_stop': print 'motor stop' motor.stop() #--------------------------------- #-------Turing calibration------ elif data[0:7] == 'offset=': offset = int(data[7:]) car_dir.calibrate(offset) #-------------------------------- #----------Mount calibration--------- elif data[0:8] == 'offsetx=': offset_x = int(data[8:]) print 'Mount offset x', offset_x video_dir.calibrate(offset_x, offset_y) elif data[0:8] == 'offsety=': offset_y = int(data[8:]) print 'Mount offset y', offset_y video_dir.calibrate(offset_x, offset_y) #---------------------------------------- else: print 'cmd error !'
def loop():
global offset_x, offset_y, offset, forward0, forward1
while True:
print 'Waiting for connection...'
# Waiting for connection. Once receiving a connection, the function accept() returns a separate
# client socket for the subsequent communication. By default, the function accept() is a blocking
# one, which means it is suspended before the connection comes.
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr # Print the IP address of the client connected with the server.
while True:
data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
break
#--------Motor calibration----------
if data == 'motor_run':
print 'motor moving forward'
motor.setSpeed(50)
motor.motor0(forward0)
motor.motor1(forward1)
elif data[0:9] == 'leftmotor':
forward0 = data[9:]
motor.motor0(forward0)
def loop():
global offset_x, offset_y, offset, forward0, forward1
while True:
print 'Waiting for connection...'
# Waiting for connection. Once receiving a connection, the function accept() returns a separate
# client socket for the subsequent communication. By default, the function accept() is a blocking
# one, which means it is suspended before the connection comes.
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr # Print the IP address of the client connected with the server.
while True:
data = tcpCliSock.recv(
BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
break
# --------Motor calibration----------
if data == 'motor_run':
print 'motor moving forward'
motor.setSpeed(50)
motor.motor0(forward0)
motor.motor1(forward1)
elif data[0:9] == 'leftmotor':
forward0 = data[9:]
motor.motor0(forward0)
elif data[0:10] == 'rightmotor':
forward1 = data[10:]
motor.motor1(forward1)
# -------------Added--------------
elif data == 'leftreverse':
if forward0 == "True":
forward0 = "False"
else:
forward0 = "True"
print "left motor reversed to", forward0
motor.motor0(forward0)
elif data == 'rightreverse':
if forward1 == "True":
forward1 = "False"
else:
forward1 = "True"
print "right motor reversed to", forward1
motor.motor1(forward1)
elif data == 'motor_stop':
print 'motor stop'
motor.stop()
# ---------------------------------
# -------Turing calibration------
elif data[0:7] == 'offset=':
offset = int(data[7:])
car_dir.calibrate(offset)
# --------------------------------
# ----------Mount calibration---------
elif data[0:8] == 'offsetx=':
offset_x = int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety=':
offset_y = int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
# ----------------------------------------
# -------Turing calibration 2------
elif data[0:7] == 'offset+':
offset = offset + int(data[7:])
print 'Turning offset', offset
car_dir.calibrate(offset)
elif data[0:7] == 'offset-':
offset = offset - int(data[7:])
print 'Turning offset', offset
car_dir.calibrate(offset)
# --------------------------------
# ----------Mount calibration 2---------
elif data[0:8] == 'offsetx+':
offset_x = offset_x + int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsetx-':
offset_x = offset_x - int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety+':
offset_y = offset_y + int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety-':
offset_y = offset_y - int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
# ----------------------------------------
# ----------Confirm--------------------
elif data == 'confirm':
config = 'offset_x = %s\noffset_y = %s\noffset = %s\nforward0 = %s\nforward1 = %s\n ' % (
offset_x, offset_y, offset, forward0, forward1)
print ''
print '*********************************'
print ' You are setting config file to:'
print '*********************************'
print config
print '*********************************'
print ''
fd = open('config', 'w')
fd.write(config)
fd.close()
motor.stop()
tcpCliSock.close()
quit()
else:
print 'Command Error! Cannot recognize command: ' + data
data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
break
#--------Motor calibration----------
if data == 'motor_run':
print 'motor moving forward'
motor.setSpeed(50)
motor.motor0(forward0)
motor.motor1(forward1)
elif data[0:9] == 'leftmotor':
forward0 = data[9:]
motor.motor0(forward0)
elif data[0:10] == 'rightmotor':
forward1 = data[10:]
motor.motor1(forward1)
# -------------Added--------------
elif data == 'leftreverse':
if forward0 == "True":
forward0 = "False"
else:
forward0 = "True"
print "left motor reversed to", forward0
motor.motor0(forward0)
elif data == 'rightreverse':
if forward1 == "True":
forward1 = "False"
else:
forward1 = "True"
print "right motor reversed to", forward1
def loop():
global offset_x, offset_y, offset, forward0, forward1
while True:
print 'Waiting for connection...'
# Waiting for connection. Once receiving a connection, the function accept() returns a separate
# client socket for the subsequent communication. By default, the function accept() is a blocking
# one, which means it is suspended before the connection comes.
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr # Print the IP address of the client connected with the server.
while True:
data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client.
# Analyze the command received and control the car accordingly.
if not data:
break
#--------Motor calibration----------
if data == 'motor_run':
print 'motor moving forward'
motor.setSpeed(50)
motor.motor0(forward0)
motor.motor1(forward1)
elif data[0:9] == 'leftmotor':
forward0 = data[9:]
motor.motor0(forward0)
elif data[0:10] == 'rightmotor':
forward1 = data[10:]
motor.motor1(forward1)
# -------------Added--------------
elif data == 'leftreverse':
if forward0 == "True":
forward0 = "False"
else:
forward0 = "True"
print "left motor reversed to", forward0
motor.motor0(forward0)
elif data == 'rightreverse':
if forward1 == "True":
forward1 = "False"
else:
forward1 = "True"
print "right motor reversed to", forward1
motor.motor1(forward1)
elif data == 'motor_stop':
print 'motor stop'
motor.stop()
#---------------------------------
#-------Turing calibration------
elif data[0:7] == 'offset=':
offset = int(data[7:])
car_dir.calibrate(offset)
#--------------------------------
#----------Mount calibration---------
elif data[0:8] == 'offsetx=':
offset_x = int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety=':
offset_y = int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
#----------------------------------------
#-------Turing calibration 2------
elif data[0:7] == 'offset+':
offset = offset + int(data[7:])
print 'Turning offset', offset
car_dir.calibrate(offset)
elif data[0:7] == 'offset-':
offset = offset - int(data[7:])
print 'Turning offset', offset
car_dir.calibrate(offset)
#--------------------------------
#----------Mount calibration 2---------
elif data[0:8] == 'offsetx+':
offset_x = offset_x + int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsetx-':
offset_x = offset_x - int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety+':
offset_y = offset_y + int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety-':
offset_y = offset_y - int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
#----------------------------------------
#----------Confirm--------------------
elif data == 'confirm':
config = 'offset_x = %s\noffset_y = %s\noffset = %s\nforward0 = %s\nforward1 = %s\n ' % (offset_x, offset_y, offset, forward0, forward1)
print ''
print '*********************************'
print ' You are setting config file to:'
print '*********************************'
print config
print '*********************************'
print ''
fd = open('config', 'w')
fd.write(config)
fd.close()
motor.stop()
tcpCliSock.close()
quit()
else:
print 'Command Error! Cannot recognize command: ' + data
def backward(self, speed=50):
"""Similar to forward()"""
motor.setSpeed(speed)
motor.motor0('False')
motor.motor1('False')
def loop():
global offset_x, offset_y, offset, forward0, forward1
while True:
print 'Waiting for connection...'
tcpCliSock, addr = tcpSerSock.accept()
print '...connected from :', addr # Print the IP address of the client connected with the server.
while True:
data = tcpCliSock.recv(BUFSIZ) # Reception données du client
# Analyser les commandes reçues et contrôler VirJo
if not data:
break
#--------Motor calibration----------
if data == 'motor_run':
print 'motor moving forward'
motor.setSpeed(50)
motor.motor0(forward0)
motor.motor1(forward1)
elif data[0:9] == 'leftmotor':
forward0 = data[9:]
motor.motor0(forward0)
elif data[0:10] == 'rightmotor':
forward1 = data[10:]
motor.motor1(forward1)
# -------------Added--------------
elif data == 'leftreverse':
if forward0 == "True":
forward0 = "False"
else:
forward0 = "True"
print "left motor reversed to", forward0
motor.motor0(forward0)
elif data == 'rightreverse':
if forward1 == "True":
forward1 = "False"
else:
forward1 = "True"
print "right motor reversed to", forward1
motor.motor1(forward1)
elif data == 'motor_stop':
print 'motor stop'
motor.stop()
#---------------------------------
#-------Turing calibration------
elif data[0:7] == 'offset=':
offset = int(data[7:])
car_dir.calibrate(offset)
#--------------------------------
#----------Mount calibration---------
elif data[0:8] == 'offsetx=':
offset_x = int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety=':
offset_y = int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
#----------------------------------------
#-------Turing calibration 2------
elif data[0:7] == 'offset+':
offset = offset + int(data[7:])
print 'Turning offset', offset
car_dir.calibrate(offset)
elif data[0:7] == 'offset-':
offset = offset - int(data[7:])
print 'Turning offset', offset
car_dir.calibrate(offset)
#--------------------------------
#----------Mount calibration 2---------
elif data[0:8] == 'offsetx+':
offset_x = offset_x + int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsetx-':
offset_x = offset_x - int(data[8:])
print 'Mount offset x', offset_x
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety+':
offset_y = offset_y + int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
elif data[0:8] == 'offsety-':
offset_y = offset_y - int(data[8:])
print 'Mount offset y', offset_y
video_dir.calibrate(offset_x, offset_y)
#----------------------------------------
#----------Confirm--------------------
elif data == 'confirm':
config = 'offset_x = %s\noffset_y = %s\noffset = %s\nforward0 = %s\nforward1 = %s\n ' % (
offset_x, offset_y, offset, forward0, forward1)
print ''
print '*********************************'
print ' You are setting config file to:'
print '*********************************'
print config
print '*********************************'
print ''
fd = open('config', 'w')
fd.write(config)
fd.close()
motor.stop()
tcpCliSock.close()
quit()
else:
print 'Command Error! Cannot recognize command: ' + data
import motor
import car_dir
import time
motor.setup(busnum=1)
car_dir.setup()
motor.setSpeed(50)
motor.motor0('True')
motor.motor1('True')
t = time.time()
while time.time() < t + 1:
pass
car_dir.turn_left()
while time.time() < t + 1.5:
pass
car_dir.home()
while time.time() < t + 2.5:
pass
motor.stop()
def loop():
car_dir.dis_home(pwm1) #Ultrasound initial position
time.sleep(0.5)
a = ultrasonic.checkdist() #Get the ultrasonic detection distance
b = ultrasonic.checkdist() #Get the ultrasonic detection distance
c = ultrasonic.checkdist() #Get the ultrasonic detection distance
homedis = min(a, b, c) #Get the ultrasonic detection distance
print('homedis = %0.2f m' % homedis)
motor.motorStop() #Stop the car
if homedis > dis: #No obstacles
motor.motor(status, forward, b_spd)
motor.motor1(status, forward, t_spd)
elif homedis < dis: #Obstacles
car_dir.dis_left(pwm1)
time.sleep(1)
a = ultrasonic.checkdist()
b = ultrasonic.checkdist()
c = ultrasonic.checkdist()
leftdis = min(a, b, c)
print('leftdis = %0.2f m' % leftdis)
car_dir.dis_right(pwm1)
time.sleep(1)
a = ultrasonic.checkdist()
b = ultrasonic.checkdist()
c = ultrasonic.checkdist()
rightdis = min(a, b, c)
print('rightdis = %0.2f m' % rightdis)
if leftdis < dis and rightdis < dis: #Judgment left and right
if leftdis >= rightdis: #There are obstacles on the right
motor.motor(status, backward, b_spd)
#motor.motor(status,backward,left)
#motor.motor1(status,backward,t_spd)
motor.motor1(status, backward, right)
time.sleep(1)
motor.motor(status, forward, left)
motor.motor1(status, forward, b_spd)
time.sleep(0.5)
else: #There are obstacles on the left
motor.motor(status, backward, left)
motor.motor1(status, backward, t_spd)
time.sleep(1)
motor.motor(status, forward, b_spd)
motor.motor1(status, forward, right)
time.sleep(0.5)
elif leftdis > dis and rightdis <= dis: #There are obstacles on the right
if homedis < mindis: #Obstacle ahead
motor.motor(status, backward, b_spd)
motor.motor1(status, backward, t_spd)
time.sleep(1)
motor.motor(status, forward, left)
motor.motor1(status, forward, b_spd)
time.sleep(0.5)
else: #No obstacle ahead
motor.motor(status, forward, left)
motor.motor1(status, forward, b_spd)
time.sleep(0.5)
elif rightdis > dis and leftdis <= dis: #There are obstacles on the left
if homedis < mindis: #Obstacle ahead
motor.motor(status, backward, b_spd)
motor.motor1(status, backward, t_spd)
time.sleep(1)
motor.motor(status, forward, b_spd)
motor.motor1(status, forward, right)
time.sleep(0.5)
else: #No obstacle ahead
motor.motor(status, forward, b_spd)
motor.motor1(status, forward, right)
time.sleep(0.5)
elif rightdis > dis and leftdis > dis: #There are no obstacles
if rightdis > leftdis: #The distance to the right is greater than the left
if homedis < mindis: #Obstacle ahead
motor.motor(status, backward, b_spd)
motor.motor1(status, backward, t_spd)
time.sleep(1)
motor.motor(status, forward, b_spd)
motor.motor1(status, forward, right)
time.sleep(0.5)
else: #No obstacle ahead
motor.motor(status, forward, b_spd)
motor.motor1(status, forward, right)
time.sleep(0.5)
elif rightdis < leftdis: #The distance to the left is greater than the right
if homedis < mindis: #Obstacle ahead
motor.motor(status, backward, b_spd)
motor.motor1(status, backward, t_spd)
time.sleep(1)
motor.motor(status, forward, left)
motor.motor1(status, forward, b_spd)
time.sleep(0.5)
else: #NO Obstacle ahead
motor.motor(status, forward, left)
motor.motor1(status, forward, b_spd)
time.sleep(0.5)
elif leftdis == rightdis:
motor.motor(status, backward, b_spd)
motor.motor1(status, backward, t_spd)
time.sleep(1)
def run(): #Main function
global ip_con
while True:
#print('SET %s'%dir_mid+' %s'%dis_mid+' %s'%b_spd+' %s'%t_spd+' %s'%left+' %s'%right)
print('waiting for connection...')
tcpCliSock, addr = tcpSerSock.accept()#Determine whether to connect
print('...connected from :', addr)
tcpCliSock.send('SET %s'%dir_mid+' %s'%dis_mid+' %s'%b_spd+' %s'%t_spd+' %s'%left+' %s'%right)
break
vn=threading.Thread(target=video_net) #Define a thread for connection
vn.setDaemon(True) #'True' means it is a front thread,it would close when the mainloop() closes
vn.start() #Thread starts
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ).decode()#Get instructions
#print(data)
if not data:
continue
elif 'spdset' in data:
global spd_ad
try:
spd_ad=float((str(data))[7:]) #Speed Adjustment
except:
print('wrong speed value')
elif 'EC1set' in data: #Camera Adjustment
try:
new_EC1=int((str(data))[7:])
replace_num('E_C1:',new_EC1)
except:
pass
elif 'EC2set' in data: #Ultrasonic Adjustment
try:
new_EC2=int((str(data))[7:])
replace_num('E_C2:',new_EC2)
except:
pass
elif 'EM1set' in data: #Motor A Speed Adjustment
try:
new_EM1=int((str(data))[7:])
replace_num('E_M1:',new_EM1)
except:
pass
elif 'EM2set' in data: #Motor B Speed Adjustment
try:
new_EM2=int((str(data))[7:])
replace_num('E_M2:',new_EM2)
except:
pass
elif 'ET1set' in data: #Motor A Turningf Speed Adjustment
try:
new_ET1=int((str(data))[7:])
replace_num('E_T1:',new_ET1)
except:
pass
elif 'ET2set' in data: #Motor B Turningf Speed Adjustment
try:
new_ET2=int((str(data))[7:])
replace_num('E_T2:',new_ET2)
except:
pass
elif 'scan' in data:
dis_can=scan() #Start Scanning
str_list_1=dis_can[0:100] #Divide the list to make it samller to send
str_index=' ' #Separate the values by space
str_send_1=str_index.join(str_list_1)+' '
tcpCliSock.send(str(str_send_1)) #Send Part 1
#print(str_send_1)
time.sleep(0.3)
str_list_2=dis_can[101:200]
str_send_2=str_index.join(str_list_2)+' '
tcpCliSock.send(str(str_send_2)) #Send Part 2
#print(str_send_2)
time.sleep(0.3)
str_list_3=dis_can[201:300]
str_send_3=str_index.join(str_list_3)+' '
tcpCliSock.send(str(str_send_3)) #Send Part 3
#print(str_send_3)
time.sleep(0.3)
str_list_4=dis_can[301:408]
str_send_4=str_index.join(str_list_4)
tcpCliSock.send(str(str_send_4)) #Send Part 4
#print(str_send_4)
time.sleep(0.3)
tcpCliSock.send('finished') #Send 'finished' tell the client to stop receiving the list of dis_can
#print(dis_can)
#print(len(dis_can))
elif 'forward' in data: #When server receive "forward" from client,car moves forward
global b_spd
global t_spd
tcpCliSock.send('1')
motor.motor(status, forward, b_spd*spd_ad)
motor.motor1(status,forward,t_spd*spd_ad)
direction = forward
elif 'backward' in data: #When server receive "backward" from client,car moves backward
tcpCliSock.send('2')
motor.motor(status, backward, b_spd*spd_ad)
motor.motor1(status, backward, t_spd*spd_ad)
direction = backward
elif 'left' in data: #When server receive "left" from client,camera turns left
tcpCliSock.send('7')
car_dir.dir_left(pwm1)
continue
elif 'right' in data: #When server receive "right" from client,camera turns right
tcpCliSock.send('8')
car_dir.dir_right(pwm1)
continue
elif 'on' in data: #When server receive "on" from client,camera looks up
tcpCliSock.send('5')
car_dir.dir_Left(pwm0)
continue
elif 'under' in data: #When server receive "under" from client,camera looks down
tcpCliSock.send('6')
car_dir.dir_Right(pwm0)
continue
elif 'Left' in data: #When server receive "Left" from client,car turns left
tcpCliSock.send('3')
motor.motor(status, forward, left*spd_ad)
motor.motor1(status, forward, b_spd*spd_ad)
#print('LLL')
continue
elif 'BLe' in data: #When server receive "BLeft" from client,car move back and left
tcpCliSock.send('3')
motor.motor(status, 1, left*spd_ad)
motor.motor1(status, 1, b_spd*spd_ad)
#print("BL")
continue
elif 'Right' in data: #When server receive "Right" from client,car turns right
tcpCliSock.send('4')
motor.motor(status, forward, b_spd*spd_ad)
motor.motor1(status, forward, right*spd_ad)
continue
elif 'BRi' in data: #When server receive "BRight" from client,car move back and right
tcpCliSock.send('4')
motor.motor(status, backward, b_spd*spd_ad)
motor.motor1(status, backward, right*spd_ad)
continue
elif 'exit' in data: #When server receive "exit" from client,server shuts down
GPIO.cleanup()
tcpSerSock.close()
os.system('sudo init 0')
continue
elif 'stop' in data: #When server receive "stop" from client,car stops moving
tcpCliSock.send('9')
#setup()
motor.motorStop()
#GPIO.cleanup()
#setup()
continue
elif 'home' in data: #When server receive "home" from client,camera looks forward
car_dir.dir_home(pwm0)
car_dir.dir_home(pwm1)
continue
elif 'Stop' in data: #When server receive "Stop" from client,Auto Mode switches off
tcpCliSock.send('9')
try:
st.stop()
except:
pass
motor.motorStop()
elif 'auto' in data: #When server receive "auto" from client,start Auto Mode
tcpCliSock.send('0')
st = Job()
st.start()
continue
elif 'IPCON' in data:
try:
data=str(data)
ip_var=data.split()
ip_con=ip_var[1]
print(ip_con)
vi=threading.Thread(target=video_net) #Define a thread for data receiving
vi.setDaemon(True) #'True' means it is a front thread,it would close when the mainloop() closes
vi.start() #Thread starts
print('start thread')
except:
pass
else:
print 'Command Error! Cannot recongnize command: ' +data
def calibrate_motor_run(request):
motor.setSpeed(50)
motor.motor0(forward0)
motor.motor1(forward1)
return HttpResponse('Motors Runing')
def run(): #Main function
global ip_con, addr
st_s = 0
while True:
#print('SET %s'%dir_mid+' %s'%dis_mid+' %s'%b_spd+' %s'%t_spd+' %s'%left+' %s'%right)
print('waiting for connection...')
tcpCliSock, addr = tcpSerSock.accept() #Determine whether to connect
print('...connected from :', addr)
tcpCliSock.send(
('SET %s' % dir_mid + ' %s' % dis_mid + ' %s' % b_spd +
' %s' % t_spd + ' %s' % left + ' %s' % right).encode())
break
fps_threading = threading.Thread(
target=FPV_thread) #Define a thread for FPV and OpenCV
fps_threading.setDaemon(
True
) #'True' means it is a front thread,it would close when the mainloop() closes
fps_threading.start() #Thread starts
st = Job()
while True:
data = ''
data = tcpCliSock.recv(BUFSIZ).decode() #Get instructions
#print(data)
if not data:
continue
elif 'spdset' in data:
global spd_ad
try:
spd_ad = float((str(data))[7:]) #Speed Adjustment
except:
print('wrong speed value')
elif 'EC1set' in data: #Camera Adjustment
try:
new_EC1 = int((str(data))[7:])
replace_num('E_C1:', new_EC1)
except:
pass
elif 'EC2set' in data: #Ultrasonic Adjustment
try:
new_EC2 = int((str(data))[7:])
replace_num('E_C2:', new_EC2)
except:
pass
elif 'EM1set' in data: #Motor A Speed Adjustment
try:
new_EM1 = int((str(data))[7:])
replace_num('E_M1:', new_EM1)
except:
pass
elif 'EM2set' in data: #Motor B Speed Adjustment
try:
new_EM2 = int((str(data))[7:])
replace_num('E_M2:', new_EM2)
except:
pass
elif 'ET1set' in data: #Motor A Turningf Speed Adjustment
try:
new_ET1 = int((str(data))[7:])
replace_num('E_T1:', new_ET1)
except:
pass
elif 'ET2set' in data: #Motor B Turningf Speed Adjustment
try:
new_ET2 = int((str(data))[7:])
replace_num('E_T2:', new_ET2)
except:
pass
elif 'scan' in data:
dis_can = scan() #Start Scanning
str_list_1 = dis_can #Divide the list to make it samller to send
str_index = ' ' #Separate the values by space
str_send_1 = str_index.join(str_list_1) + ' '
tcpCliSock.sendall((str(str_send_1)).encode()) #Send Data
tcpCliSock.send(
'finished'.encode()
) #Sending 'finished' tell the client to stop receiving the list of dis_can
elif 'forward' in data: #When server receive "forward" from client,car moves forward
tcpCliSock.send('1'.encode())
motor.motor(status, forward, b_spd * spd_ad)
motor.motor1(status, forward, t_spd * spd_ad)
direction = forward
elif 'backward' in data: #When server receive "backward" from client,car moves backward
tcpCliSock.send('2'.encode())
motor.motor(status, backward, b_spd * spd_ad)
motor.motor1(status, backward, t_spd * spd_ad)
direction = backward
elif 'left' in data: #When server receive "left" from client,camera turns left
tcpCliSock.send('7'.encode())
car_dir.dir_left(pwm1)
#car_dir.dir_right(pwm1)
continue
elif 'right' in data: #When server receive "right" from client,camera turns right
tcpCliSock.send('8'.encode())
car_dir.dir_right(pwm1)
#car_dir.dir_left(pwm1)
continue
elif 'on' in data: #When server receive "on" from client,camera looks up
tcpCliSock.send('5'.encode())
car_dir.dir_Left(pwm0)
#car_dir.dir_Right(pwm0)
continue
elif 'under' in data: #When server receive "under" from client,camera looks down
tcpCliSock.send('6'.encode())
car_dir.dir_Right(pwm0)
#car_dir.dir_Left(pwm0)
continue
elif 'Left' in data: #When server receive "Left" from client,car turns left
tcpCliSock.send('3'.encode())
motor.motor(0, forward, left * spd_ad)
motor.motor1(status, forward, b_spd * spd_ad)
#print('LLL')
continue
elif 'BLe' in data: #When server receive "BLeft" from client,car move back and left
tcpCliSock.send('3'.encode())
motor.motor(0, backward, left * spd_ad)
motor.motor1(status, backward, b_spd * spd_ad)
#print("BL")
continue
elif 'Right' in data: #When server receive "Right" from client,car turns right
tcpCliSock.send('4'.encode())
motor.motor(status, forward, b_spd * spd_ad)
motor.motor1(0, forward, right * spd_ad)
continue
elif 'BRi' in data: #When server receive "BRight" from client,car move back and right
tcpCliSock.send('4'.encode())
motor.motor(status, backward, b_spd * spd_ad)
motor.motor1(0, backward, right * spd_ad)
continue
elif 'exit' in data: #When server receive "exit" from client,server shuts down
GPIO.cleanup()
tcpSerSock.close()
os.system('sudo init 0')
continue
elif 'stop' in data: #When server receive "stop" from client,car stops moving
tcpCliSock.send('9'.encode())
#setup()
motor.motorStop()
#GPIO.cleanup()
#setup()
continue
elif 'home' in data: #When server receive "home" from client,camera looks forward
car_dir.dir_home(pwm0)
car_dir.dir_home(pwm1)
continue
elif 'Stop' in data: #When server receive "Stop" from client,Auto Mode switches off
tcpCliSock.send('9'.encode())
try:
st.pause()
except:
pass
motor.motorStop()
time.sleep(0.4)
motor.motorStop()
elif 'auto' in data: #When server receive "auto" from client,start Auto Mode
tcpCliSock.send('0'.encode())
if st_s == 0:
st.start()
st_s = 1
else:
st.resume()
continue
else:
pass
def forward(self, speed=50):
"""Will cause the car to start moving forward.
Car will not stop until stop() is called"""
motor.setSpeed(speed)
motor.motor0('True')
motor.motor1('True')
