def main():
print("Robo Sim v2 \n")
lSprite=sprite('../sprites/leverSprite.cfg')
gSprite=sprite('../sprites/genericSprite.cfg')
mSprite=sprite('../sprites/motorSprite.cfg')
config=(4,4,6,6)
link=gRobot.robot(config)
servo0=servos.servo(0)
servo1=servos.servo(1)
servo2=servos.servo(2)
servo3=servos.servo(3)
motor0=motors.motor(0,0,1000,0,mSprite)
motor1=motors.motor(1,0,1000,0,mSprite)
lMot=motors.motor(2,50,1000,0,mSprite)
rMot=motors.motor(3,50,1000,0,mSprite)
link.addMotors(motor0,motor1)
link.addServos(servo0,servo1,servo2,servo3)
link.addDriveMotors(lMot,rMot,10)
rScreen=interface.robotScreen()
print('')
try:
robot.draw()
except NameError:
print("Not a valid bot")
try:
link.enableServos()
except NameError:
print("Not a valid bot")
window=interface.simScreen(1600,900)
#
# while window.is_open:
# window.clear(window.color)
#
# for event in window.events:
# if type(event)==sfml.CloseEvent:
# window.close()
#
# window.draw(lSprite)
#
# window.display()
link.defineContext(window)
link.update()
print('')
def __init__(self, lMotor1, lMotor2, rMotor1, rMotor2, freq=100):
enable, aMotor, bMotor = lMotor1
self.left_motor1 = motor(enable, aMotor, bMotor, freq)
enable, aMotor, bMotor = lMotor1
self.left_motor2 = motor(enable, aMotor, bMotor, freq)
enable, aMotor, bMotor = rMotor1
self.right_motor1 = motor(enable, aMotor, bMotor, freq)
enable, aMotor, bMotor = rMotor2
self.right_motor2 = motor(enable, aMotor, bMotor, freq)
def main():
# test and run the the Robot
# motor GPIO Pins
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
StdByPin = 14 # this is the common pin
leftMotorPins = [12, 23, 24] # fill up with GPIO pins, PWMA, AIn1, AIn2
rightMotorPins = [13, 25, 26] # same as above
leftMotorPins.append(StdByPin)
rightMotorPins.append(StdByPin)
#Sensor GPIO Pins
trig = 4 # common trig pin
echo_left = 17 #left sensor echo pin
echo_fwd = 27 #forward sensor echo pin
echo_right = 22 #right sensor echo pin
#button pins
button_pin = 18
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
#set up motors and sensors
Motors = [
motors.motor(leftMotorPins, 'Left'),
motors.motor(rightMotorPins, 'Right')
]
Sensors = [
sensors.ultrasonic_sensor([trig, echo_left]),
sensors.ultrasonic_sensor([trig, echo_fwd]),
sensors.ultrasonic_sensor([trig, echo_right])
]
#set up robot
PiOde = RobotOne(Motors, Sensors)
signal.signal(signal.SIGINT, signal_handler)
GPIO.add_event_detect(button_pin, GPIO.RISING, bouncetime=200)
GPIO.add_event_callback(button_pin, button_handler)
#previous_button_state = False
while True: # do forever
#button,previous_button_state = buttons.button_pressed(button_pin,previous_button_state)
if roaming:
PiOde.roam()
print('roaming')
else:
PiOde.stop()
print('stopped')
GPIO.cleanup()
def main(HOST='', PORT=65432):
#HOST is localhost
#set up Ctrl C interrupt
signal.signal(signal.SIGINT, signal_handler)
#Initialise the Board
params = load(open('params.yaml').read(), Loader=Loader)
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
StdByPin = params['StdByPin'] # this is the common pin
leftMotorPins = params[
'leftMotorPins'] # fill up with GPIO pins, PWMA, AIn1, AIn2
rightMotorPins = params['rightMotorPins'] # same as above
leftMotorPins.append(StdByPin)
rightMotorPins.append(StdByPin)
#set up motors and sensors
Motors = [
motors.motor(leftMotorPins, 'Left'),
motors.motor(rightMotorPins, 'Right')
]
Sensors = [
sensors.ultrasonic_sensor([params['trig'], params['echo_left']]),
sensors.ultrasonic_sensor([params['trig'], params['echo_fwd']]),
sensors.ultrasonic_sensor([params['trig'], params['echo_right']])
]
#set up robot
PiOde = robots.RobotOne(Motors, Sensors)
PiOde.test()
#Buttons
button_pin = params['button_pin']
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
#set up button handling
GPIO.add_event_detect(button_pin, GPIO.RISING, bouncetime=200)
GPIO.add_event_callback(button_pin, PiOde.toggle_roaming)
d = Driver(PiOde, HOST, PORT)
sense = threading.Thread(target=d.sense)
rx_commands = threading.Thread(target=d.rx_commands)
drive = threading.Thread(target=d.drive)
sense.start()
rx_commands.start()
drive.start()
def main():
#test and drive the the Robot with PS3 Controller
#set up Ctrl C interrupt
signal.signal(signal.SIGINT, signal_handler)
#Initialise the Board
params = load(open('params.yaml').read(), Loader=Loader)
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
StdByPin = params['StdByPin'] # this is the common pin
leftMotorPins = params[
'leftMotorPins'] # fill up with GPIO pins, PWMA, AIn1, AIn2
rightMotorPins = params['rightMotorPins'] # same as above
leftMotorPins.append(StdByPin)
rightMotorPins.append(StdByPin)
#set up motors and sensors
Motors = [
motors.motor(leftMotorPins, 'Left'),
motors.motor(rightMotorPins, 'Right')
]
Sensors = [
sensors.ultrasonic_sensor([params['trig'], params['echo_left']]),
sensors.ultrasonic_sensor([params['trig'], params['echo_fwd']]),
sensors.ultrasonic_sensor([params['trig'], params['echo_right']])
]
#set up robot
PiOde = robots.RobotOne(Motors, Sensors)
#PiOde.test()
#Buttons
button_pin = params['button_pin']
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
#set up button handling
#GPIO.add_event_detect(button_pin, GPIO.RISING,callback=lambda x: PiOde.toggle_roaming(), bouncetime = 200)
#GPIO.add_event_callback(button_pin, button_handler)
ps3drive(PiOde)
leftMotorPins.append(StdByPin)
rightMotorPins.append(StdByPin)
#Sensor GPIO Pins
trig = 19 # common trig pin
echo_left = 17 #left sensor echo pin
echo_fwd = 4 #forward sensor echo pin
echo_right = 16 #right sensor echo pin
#button pins
button_pin = 18
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
#set up motors and sensors
Motors = [
motors.motor(leftMotorPins, 'Left'),
motors.motor(rightMotorPins, 'Right')
]
Sensors = [
sensors.ultrasonic_sensor([trig, echo_left]),
sensors.ultrasonic_sensor([trig, echo_fwd]),
sensors.ultrasonic_sensor([trig, echo_right])
]
#set up robot
PiOde = robots.RobotOne(Motors, Sensors)
#set up Ctrl C interrupt
signal.signal(signal.SIGINT, signal_handler)
#set up button handling
from zumo_button import ZumoButton as btn
from motors import Motors as motor
from reflectance_sensors import ReflectanceSensors as scanner
button = btn()
m = motor()
def main():
button.wait_for_press()
m.forward(speed=0.5, dur=0.5)
m.backward(speed=0.5, dur=0.5)
main()
class MotorObj:
def __init__(self):
# definer funksjoner for alle sensorene i en dict
self.sensors = {
Camera: self.react_camera,
IRProximitySensor: self.react_IR,
ReflectanceSensors: self.react_reflect,
Ultrasonic: self.react_ultra
}
self.current_value = 0
def run(sensor, value):
# tar inn en tuppel med sensor, verdi
'''
feks:
kamera ser at et objekt dekker nesten hele field-of-view (objektet er nært)
får da inn en høy verdi i tuppelen, og må feks rygge lengre bak, enn om objektet hadde vært lengre unna
'''
def main():
#test and run the the Robot
parser = argparse.ArgumentParser(description='Driver for RoboKar')
parser.add_argument('--v', default=1.0)
parser.add_argument('--w', default=0)
parser.add_argument('--testing', default=False)
parser.add_argument('--time', default=10)
args = parser.parse_args()
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
StdByPin = 22 # this is the common pin
leftMotorPins = [12, 23, 24] # fill up with GPIO pins, PWMA, AIn1, AIn2
rightMotorPins = [13, 25, 5] # same as above
leftMotorPins.append(StdByPin)
rightMotorPins.append(StdByPin)
# Cleanup done at exit
@atexit.register
def cleanup_robot():
if args.testing != 'True':
print('EXITING')
PiOde.stop()
GPIO.cleanup()
pass
#Sensor GPIO Pins
trig = 19 # common trig pin
echo_left = 17 #left sensor echo pin
echo_fwd = 4 #forward sensor echo pin
echo_right = 16 #right sensor echo pin
#set up motors and sensors
Motors = [
motors.motor(leftMotorPins, 'Left'),
motors.motor(rightMotorPins, 'Right')
]
Sensors = [
sensors.ultrasonic_sensor([trig, echo_left]),
sensors.ultrasonic_sensor([trig, echo_fwd]),
sensors.ultrasonic_sensor([trig, echo_right])
]
#set up robot
PiOde = RobotOne(Motors, Sensors)
#set up Ctrl C interrupt
signal.signal(signal.SIGINT, signal_handler)
#button pins
button_pin = 18
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
#set up button handling
#GPIO.add_event_detect(button_pin, GPIO.RISING,callback=lambda x: PiOde.toggle_roaming(), bouncetime = 200)
#GPIO.add_event_callback(button_pin, button_handler)
# Test the Robot
#PiOde.set_roaming_on()
#while PiOde.is_roaming():
# PiOde.roam()
PiOde.command_vel([float(args.v), float(args.w)])
time.sleep(float(args.time))
def __init__(self, tMotor, sMotor, freq=100):
enableT, bMotorT, aMotorT = tMotor
self.traction_motor = motor(enableT, aMotorT, bMotorT, freq)
enable, bMotor, aMotor = sMotor
self.steering_motor = motor(enable, aMotor, bMotor, freq)
lock_pin = 17
unlock_pin = 4
pwm_pin = 18
motor_pin = 23
counter = 0
lockid = 0
red_led = 26
blue_led = 20
green_led = 21
manual_button = 12
GPIO.setup(red_led, GPIO.OUT)
GPIO.setup(green_led, GPIO.OUT)
GPIO.setup(blue_led, GPIO.OUT)
db = Database_Connection()
manual = False
motor1 = motor()
def run_motor(channel):
global manual
manual = True
print ('ADASDFSDFASDFLJasdjkafnsdjklfh asjkld sdfhajkl hvzm,xcbvxc')
#set pins for input and output
GPIO.setup(lock_switch, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(unlock_switch, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(red_led, GPIO.OUT)
GPIO.setup(green_led, GPIO.OUT)
GPIO.setup(blue_led, GPIO.OUT)
GPIO.setup(manual_button, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.add_event_detect(manual_button, GPIO.RISING, callback = run_motor)
arduino = arduino_communication()
def main():
parser = argparse.ArgumentParser(description='Web Driver for RoboKar')
parser.add_argument('--hostname', default='0.0.0.0')
parser.add_argument('--port', default=5000)
parser.add_argument('--testing',default=False)
args = parser.parse_args()
# Cleanup done at exit
@atexit.register
def cleanup_robot():
if args.testing != 'True':
print('EXITING')
PiOde.stop()
GPIO.cleanup()
server.shutdown()
pass
if args.testing != 'True':
# Rpi Sepcific Commands - if not testing
import RPi.GPIO as GPIO
import sensors
import motors
import robots
params = load(open('params.yaml').read(), Loader=Loader)
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
StdByPin = params['StdByPin'] # this is the common pin
leftMotorPins = params['leftMotorPins'] # fill up with GPIO pins, PWMA, AIn1, AIn2
rightMotorPins = params['rightMotorPins'] # same as above
leftMotorPins.append(StdByPin)
rightMotorPins.append(StdByPin)
#set up motors and sensors
Motors = [motors.motor(leftMotorPins,'Left'),motors.motor(rightMotorPins,'Right')]
Sensors = [sensors.ultrasonic_sensor([params['trig'],params['echo_left']]), sensors.ultrasonic_sensor([params['trig'],params['echo_fwd']]), sensors.ultrasonic_sensor([params['trig'],params['echo_right']])]
#set up robot
PiOde = robots.RobotOne(Motors,Sensors)
#PiOde.test()
#Buttons
button_pin = params['button_pin']
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
#set up button handling
GPIO.add_event_detect(button_pin, GPIO.RISING, bouncetime = 200)
GPIO.add_event_callback(button_pin, PiOde.toggle_roaming)
print('PiOde Set Up Complete')
else:
PiOde = None
# driver instance
d = Driver(PiOde,args)
#start the threaded processes
threading.Thread(target=d.sense,daemon=True).start()
#start the flask server
app = Flask(__name__)
#app.add_url_rule('/','web_interface',d.web_interface)
#app.add_url_rule('/read_vel','read_vel',d.read_vel)
app.route("/")(d.web_interface)
app.route("/read_vel")(d.read_vel)
app.route("/stop")(d.stop)
app.route("/exit")(lambda:sys.exit(0))
server = ServerThread(app,args)
server.start()