def ultra_tester(severity=0.5): #just controlling distance with the ultrasonic
dist = checkdist(exact=True)
if dist < (severity - 0.1):
move.move_backward(60)
elif dist > (severity + 0.1):
move.move_forward(60)
elif dist >= (severity - 0.1) and dist <= (severity + 0.1):
move.motorStop()
def stuck():
"""
This function is called when the rover has not moved 0.5 meters from
its last position
"""
motor.move_backward(100)
time.sleep(2)
motor.stop()
motor.stationary_turn(100, 1)
time.sleep(2)
motor.stop()
return
def do_GET(self):
if self.path == '/':
self.path += 'index.html'
if self.path.endswith(".html") or self.path.endswith(
".js") or self.path.endswith(".svg") or self.path.endswith(
".css"):
self.send_response(200)
self.end_headers()
try:
f = open(curdir + sep + self.path)
self.wfile.write(bytes(f.read(), 'utf-8'))
f.close()
except IOError as e:
self.send_error(404, str(e))
elif self.path == '/stream.mjpg':
self.close_connection = False
self.send_response(200)
self.send_header('Age', 0)
self.send_header('Cache-Control', 'no-cache, private')
self.send_header('Pragma', 'no-cache')
self.send_header('Content-Type',
'multipart/x-mixed-replace; boundary=--FRAME')
self.end_headers()
output.add_client(self)
if 'cmd=' in self.path:
self.send_response(200)
self.end_headers()
cmd = self.path.split('cmd=')[1][0]
if cmd == 'a':
global mode_auto
mode_auto = not mode_auto
database.write_mode(mode_auto)
elif cmd == 'l':
motor.rotate_camera(15)
elif cmd == 'r':
motor.rotate_camera(-15)
elif cmd == 'w':
motor.move_forward(1)
elif cmd == 's':
motor.move_backward(1)
elif cmd == 'd':
self.wfile.write(bytes(database.read_last(13), 'utf-8'))
elif cmd == 'c':
self.wfile.write(bytes(str(-motor.camera_angle), 'utf-8'))
elif cmd == 'b':
self.wfile.write(
bytes("%.1fM" % sensors.altitude_baro(), 'utf-8'))