def __init__(self):
BrickPiSetup() # setup the serial port for communication
self._particles = [Particle(1.0/NUMBER_OF_PARTICLES) for i in range(NUMBER_OF_PARTICLES)]
self._motorA = Motor("PORT_A")
self._motorB = Motor("PORT_B")
BrickPiSetupSensors() #Send the properties of sensors to BrickPi
globals.init()
def run(self):
try:
self.adc = Adc()
self.PWM = Motor()
self.PWM.setMotorModel(0, 0, 0, 0)
while True:
L = self.adc.recvADC(0)
R = self.adc.recvADC(1)
print("The photoresistor voltage on the right is " + str(R) +
"V")
print("The photoresistor voltage on the left is " + str(L) +
"V")
if L < 2.99 and R < 2.99:
self.PWM.setMotorModel(600, 600, 600, 600)
elif abs(L - R) < 0.15:
self.PWM.setMotorModel(0, 0, 0, 0)
elif L > 3 or R > 3:
if L > R:
self.PWM.setMotorModel(-1200, -1200, 1400, 1400)
elif R > L:
self.PWM.setMotorModel(1400, 1400, -1200, -1200)
except KeyboardInterrupt:
led_Car.PWM.setMotorModel(0, 0, 0, 0)
def __init__(self, game, x, y,id,genes=None):
self.groups = game.all_sprites
pg.sprite.Sprite.__init__(self, self.groups)
self.game = game
self.image = pg.Surface((TILESIZE, TILESIZE))
self.image.fill(WHITE)
self.rect = self.image.get_rect()
self.vx, self.vy = 0, 0
self.x = x * TILESIZE
self.y = y * TILESIZE
self.logicX = x
self.logicY = y
if (genes == None):
self.behavior = DNA()
else:
self.behavior = DNA(genes)
self.camera = None
self.motor = Motor(self,self.behavior.array[4][0],self.behavior.array[4][1])
self.possibleMoves = []
self.currentTile = None
self.cameraLvl = self.behavior.array[4][2]
self.nxtMove = "top"
self.pastMove = ""
self.moveThread = threading.Thread(target = self.movement)
self.batteryThread = threading.Thread(target = self.consume)
self.id = id
self.fitness = 0
self.won = False
self.Parents = [['None'],['None']]
def __init__(self):
# Callibrate the Servo
self.pwm_S = Servo()
self.pwm_S.setServoPwm('0', SERVO_ORIZON)
self.pwm_S.setServoPwm('1', SERVO_VERTIC)
self.PWM = Motor()
def BMXstuckDetection(mP, bmxThd, measureCount, countThd, mode=0):
global aveinit, stuckCount
returnVal = 0
if mode == 0:
for i in range(5):
bmxinit = BMX055.bmx055_read()
print(i, "init:", bmxinit[0:6])
aveinit = aveinit + bmxinit[5]
aveinit = aveinit / 5
#print('aveinit', aveinit)
Motor.motor(-mP, mP, 0.5)
for i in range(measureCount):
bmxnow = BMX055.bmx055_read()
print(i, "now:", bmxnow[5])
if math.fabs(bmxnow[5] - aveinit) < bmxThd:
stuckCount = stuckCount + 1
#print('stuckCount', stuckCount)
if stuckCount > countThd:
print("stuck DA YO NE ?")
#Motor.motor(0, 0, 2)
returnVal = 1
break
else:
stuckCount = 0
if mode == 0:
Motor.motor(0, 0, 2)
return returnVal
def ParaAvoidance():
n = 0
#GPS.openGPS()
#GPS_init = GPS.readGPS()
#GPS.closeGPS()
#GPS_now = GPS_init
dist = 0
try:
while dist <= 0.020:
Capture.Capture(n)
img = cv2.imread('photo/photo' + n + '.jpg')
flug = ParaDetection.ParaDetection(img)
if flug == 0:
Motor.motor(50, 50, 2)
#GPS_now = GPS.readGPS()
#dist = Cal_rho(GPS_now[2], GPS_now[1], GPS_init[2], GPS_init[1])
Motor.motor_stop()
dist += 0.02
else:
Motor.motor(-30, 30, 1)
Motor.motor_stop()
except KeyboardInterrupt:
Motor.motor_stop()
def setup_motors():
left_wheel = Motor(0)
right_wheel = None#Motor(1)
dome = None#Motor(2)
left_wheel.init()
return (left_wheel,right_wheel,dome)
def __init__(self):
self.initialize_brick_pi()
self.__motors = []
self.__sensors = []
self.__standard_motor_power = SettingsParser.get_value(
"robot", "standard_motor_power")
right_motor = Motor.Motor(PORT_B, "right")
left_motor = Motor.Motor(PORT_C, "left")
self.set_motors([left_motor, right_motor])
def cmps_correct(curr_heading, trim = 15):
#print("cmps crct now")
if 90 < curr_heading < curr180:
#print("spinning left")
motors.spinLeft(0.1)
elif curr180 < curr_heading < 225:
#print("spinning right")
motors.spinRight(0.1)
else:
#print("in range")
pass
def cmps_correct(trim=15):
print("cmps crct now")
if 90 < curr_heading < curr180:
print("spinning left----c")
motors.spinRight()
elif curr180 < curr_heading < 225:
print("spinning right---c")
motors.spinLeft()
else:
print("in range")
pass
def readCalData(filepath):
count = 0
while count <= 100:
bmx055data = BMX055.bmx055_read()
with open(filepath, 'a') as f:
for i in range(6, 8):
#print(str(bmx055data[i]) + "\t", end="")
f.write(str(bmx055data[i]) + "\t")
#print()
f.write("\n")
count = count + 1
time.sleep(0.1)
Motor.motor(0, 0, 1)
def test():
motorA = Motor.Motor(22, 24, 23)
motorB = Motor.Motor(27, 20, 21)
motorA.stop = False
motorB.stop = False
motorA.speed = 40
motorB.speed = 40
time.sleep(2)
motorA.direction = "backward"
motorB.direction = "backward"
time.sleep(2)
motorA.stop = True
motorB.stop = True
def setup():
global rightMotor, leftMotor
rightMotor = Motor(7, 11, True)
leftMotor = Motor(13, 15, True)
rightMotor.gpioSetup()
leftMotor.gpioSetup()
def setup():
global rightMotor, leftMotor
rightMotor = Motor(11, 12, 13, True)
leftMotor = Motor(15, 16, 18, True)
rightMotor.gpioSetup()
leftMotor.gpioSetup()
def time_boundaries_backward():
# TODO: Seek to top first?
Motor.sleep(False)
Motor.backward()
Motor.speed(100)
start = time.time()
next = len(interp_values) - 1
safety = collections.deque([0] * 10, 15)
try:
while True:
cur = chan0.value // 64
if cur <= interp_values[next]:
print("%3d: %4d --> %.3f\x1b[K" %
(next * 10, cur, time.time() - start))
next -= 1
if next < 0: break
else:
print("%3d: %4d ... %.3f\x1b[K" %
(next * 10, cur, time.time() - start))
safety.append(cur)
if max(safety) - min(safety) < 2:
break # Guard against getting stuck
time.sleep(1 / 1000)
finally:
Motor.sleep(True)
def dealdata():
set_temp_hum={}
set_temp_hum['min_temp']=input("please input min start temp:\n")
set_temp_hum['min_hum']=input("please input min start hum:\n")
#设置温度值更新
con=mc.mysqlconnect()
cursor=con.cursor()
cursor.execute('update sensorinfo set set_temp=%s,set_hum=%s where id=0',(set_temp_hum['min_temp'],set_temp_hum['min_hum']))
con.commit()
cursor.close()
con.close()
flag=True
sleep_flag=False
ser=ci.CoorConnectPc()
while 1 :
data=ci.ReadPort(ser)
if data[8:10]!='aa':
#温湿度模块
if data[6:8]=='03':
now_temp_hum=th.temp_hum_store(data)
print 'now temp hum:',now_temp_hum['temp'],now_temp_hum['hum']
print 'set temp hum:',set_temp_hum['min_temp'],set_temp_hum['min_hum']
if flag==True:
th.judge_temp_hum(ser,now_temp_hum,set_temp_hum)
#光敏模块
if data[6:8]=='02':
light=pr.photores_store(data)
#智能开关打开且不是睡眠模式
if flag==True and sleep_flag==False:
pr.dimming(ser,light)
#触摸模块
#有触摸时
if flag==True and data[6:8]=='0e' and data[10:12]=='01':
tc.touch(ser,data[8:10],flag,sleep_flag)
if sleep_flag==True:
#关闭全部灯
pwm.led_light(ser,'00')
#关棚帘
mt.time_motor(ser,'03',3)
#电机模块
if flag==True and data[6:8]=='09':
if data[8:9]=='dd':
mt.status_motor(ser,data)
def __init__(self):
self.PWM = Motor()
self.servo = Servo()
self.led = Led()
self.ultrasonic = Ultrasonic()
self.buzzer = Buzzer()
self.adc = Adc()
self.light = Light()
self.infrared = Line_Tracking()
self.tcp_Flag = True
self.sonic = False
self.Light = False
self.Mode = 'one'
self.endChar = '\n'
self.intervalChar = '#'
def take_command_actions(audio_answer, motor_answer):
if 'none' not in audio_answer:
reproduce_audio.play_audio(motor_answer)
if 'none' not in motor_answer:
Motor.Commands(motor_answer, 2)
def main():
maxX = -10000
maxY = -10000
minX = 10000
minY = 10000
t_end = time.time() + 30
setspeed = 100
motor = Motor.Motor(18, 25, 24,13, 27, 17)
#time.sleep(5)
while time.time() < t_end:
magnet = mpu92_test.get_magnet()
print(magnet)
if(maxX < magnet[0]):
maxX = magnet[0]
if(minX > magnet[0]):
minX = magnet[0]
if(maxY < magnet[1]):
maxY = magnet[1]
if(minY > magnet[1]):
minY = magnet[1]
# print("maxx",maxX)
# print("minx",minX)
# print()
# print("maxy",maxY)
# print("miny",minY)
# print()
motor.set_speed(setspeed,setspeed)
time.sleep(1)
def run(self):
self.PWM = Motor()
self.pwm_S = Servo()
self.pwm_S.setServoPwm('1', 70)
deg = 30
for i in range(deg, deg * 5 + 1, deg * 2):
self.pwm_S.setServoPwm('0', i)
time.sleep(0.2)
if i == deg:
L = self.get_distance()
elif i == deg * 3:
M = self.get_distance()
else:
R = self.get_distance()
while True:
for i in range(deg * 3, deg, -deg * 2):
self.pwm_S.setServoPwm('0', i)
time.sleep(0.2)
if i == deg:
L = self.get_distance()
elif i == deg * 3:
M = self.get_distance()
else:
R = self.get_distance()
self.run_motor(L, M, R)
for i in range(deg, (deg * 5) + 1, deg * 2):
self.pwm_S.setServoPwm('0', i)
time.sleep(0.2)
if i == deg:
L = self.get_distance()
elif i == deg * 3:
M = self.get_distance()
else:
R = self.get_distance()
self.run_motor(L, M, R)
def run(self):
self.PWM = Motor()
self.pwm_S = Servo()
for i in range(30, 151, 60):
self.pwm_S.setServoPwm('0', i)
time.sleep(0.2)
if i == 30:
L = self.get_distance()
elif i == 90:
M = self.get_distance()
else:
R = self.get_distance()
while True:
for i in range(90, 30, -60):
self.pwm_S.setServoPwm('0', i)
time.sleep(0.2)
if i == 30:
L = self.get_distance()
elif i == 90:
M = self.get_distance()
else:
R = self.get_distance()
self.run_motor(L, M, R)
for i in range(30, 151, 60):
self.pwm_S.setServoPwm('0', i)
time.sleep(0.2)
if i == 30:
L = self.get_distance()
elif i == 90:
M = self.get_distance()
else:
R = self.get_distance()
self.run_motor(L, M, R)
def __init__(self, leftMotorOutA, leftMotorOutB, leftPwm, rightMotorOutA, rightMotorOutB, rightPwm, liftServoPin, pinchServoPin):
print 'create robot'
self.leftMotor = Motor.motor(leftMotorOutA, leftMotorOutB, leftPwm)
self.rightMotor = Motor.motor(rightMotorOutA, rightMotorOutB, rightPwm)
self.claw = Claw.claw(liftServoPin, pinchServoPin)
self.irSensors = IrSensor.irSensor()
self.encoders = Encoders.easy_encoders()
self.leftPid = pid_control.easy_PID(P_GAIN, I_GAIN, D_GAIN)
self.rightPid = pid_control.easy_PID(P_GAIN, I_GAIN, D_GAIN)
self.pixyObj = easy_pixy_test.easy_pixy()
def Start_Bot():
M = Motor.Stepper()
while True:
#Getting the command from Adafruit IO
command = cloud.getCommand()
command = command.lower()
if command == "forward":
M.Move_Forward()
elif command == "backward":
M.Move_Backward()
elif command == "left":
M.Turn_Left()
elif command == "right":
M.Turn_Right()
elif command == "stop":
M.STOP()
else:
print('No Match')
def calc():
maxX = -100
maxY = -100
minX = 100
minY = 100
t_end = time.time() + 10
setspeed = 100
motor = Motor.Motor(18, 25, 24, 13, 27, 17)
time.sleep(5)
while time.time() < t_end:
magnet = mpu92_test.get_magnet()
if (maxX < magnet[0]):
maxX = magnet[0]
if (minX > magnet[0]):
minX = magnet[0]
if (maxY < magnet[1]):
maxY = magnet[1]
if (minY > magnet[1]):
minY = magnet[1]
#print("magnet[%+4.2f, %+4.2f, %+4.2f]" % (magnet[0], magnet[1], magnet[2]), end="\t")
print("maxx", maxX)
print("minx", minX)
print()
print("maxy", maxY)
print("miny", minY)
print()
motor.set_speed(-100, 100)
time.sleep(1)
def run(self):
global freq_botao
inicio = time.time()
while True:
fim = time.time()
if fim - inicio > 6:
Motor.Parar()
message, address = serverSocketMotor.recvfrom(1024)
message = str(message).replace("b'", '')
message = message.replace("'", '')
if message == "1":
inicio = time.time()
if message == "STOP":
print('parar')
serverSocketMotor.sendto(B'1', address)
Motor.Parar()
elif message == "ping":
print('p')
serverSocketMotor.sendto(B'ping', address)
elif message[0:2] == 'fb':
print('fb')
string, freqfb = message.split(':')
Motor.freq_botao = float(freqfb)
elif message[0:3] == 'SeD':
print('SeD')
serverSocketMotor.sendto(B'1', address)
string, vel, freq, controle, deslocamento = message.split(':')
Motor.Subir_descer(float(vel), float(freq), int(controle),
float(deslocamento))
elif message[0:3] == 'Cal':
print('cal')
serverSocketMotor.sendto(B'1', address)
cmd, valor, freq = message.split(':')
Motor.calcular(float(valor), float(freq))
elif message == "SUBIR":
print('Subir')
serverSocketMotor.sendto(B'1', address)
Motor.subir()
elif message == "BAIXAR":
print('Baixar')
####print(message)
serverSocketMotor.sendto(B'1', address)
Motor.baixar()
def main():
setspeed = 100
motor = Motor.Motor(18, 25, 24, 13, 27, 17)
motor.set_speed(-setspeed, setspeed)
time.sleep(10) #10秒動かす
GPIO.cleanup()
def initialization():
print("Auto-Cat initializing")
email = Email(465,'*****@*****.**','AutoCatProject')
motor = Motor(21,50,5)
#schedule.every(1).minutes.do(email.sendEmail,'*****@*****.**','This is a test')
#schedule.every().day.at("22:19").do(email.sendEmail,'*****@*****.**','hey :)')
schedule.every(1).minutes.do(motor.feed,10,5)
#Add any other initializing components here
print("Auto-Cat initializing complete")
def judge_temp_hum(ser,now_temp_hum,set_temp_hum):
#开空调
if now_temp_hum['temp'] > set_temp_hum['min_temp']:
mt.opp_motor(ser,'open','02')
else:
mt.opp_motor(ser,'close','02')
#开加湿器
if now_temp_hum['hum'] < set_temp_hum['min_hum']:
mt.opp_motor(ser,'open','01')
else:
mt.opp_motor(ser,'close','01')
def test_slider():
Motor.sleep(False)
Motor.forward()
Motor.speed(10)
start = chan0.value
while chan0.value < 36800:
print(chan0.value, chan0.value - start)
start = chan0.value
time.sleep(1 / 32)
print(chan0.value, chan0.value - start)
Motor.sleep(True)
def __init__(self, leftMotorOutA, leftMotorOutB, leftPwm, rightMotorOutA, rightMotorOutB, rightPwm, liftServoPin, pinchServoPin):
#Set up colorized logger
self.logger = logging.getLogger('maze_run')
coloredlogs.install(level='DEBUG')
#Create objects related to robot
self.logger.info('create robot')
self.leftMotor = Motor.motor(leftMotorOutA, leftMotorOutB, leftPwm)
self.rightMotor = Motor.motor(rightMotorOutA, rightMotorOutB, rightPwm)
self.claw = Claw.claw(liftServoPin, pinchServoPin)
self.irSensors = IrSensor.irSensor()
self.encoders = Encoders.easy_encoders()
self.leftPid = pid_control.easy_PID(P_GAIN, I_GAIN, D_GAIN)
self.rightPid = pid_control.easy_PID(P_GAIN, I_GAIN, D_GAIN)
self.pixyObj = easy_pixy_test.easy_pixy()
self.PREVIOUS_CORRECTION_VALUE = 0
self.pickedup = False
def __init__(self, hostname, port=1883):
client = mqtt.Client()
client.on_connect = self.on_connect
client.on_message = self.on_message
client.connect(hostname, port, 60)
self.motor = Motor.Motor(client)
self.motor.start()
self.motor.setup()
self.manual = True
client.loop_forever()
def InicializaAscensor():
global Estado
global PlantaActual
global PlantaDestino
iEstado.Inicializa()
Motor.Inicializa()
Display.Inicializa()
Entradas.Inicializa()
Estado = 'Ocupado'
iEstado.ActivaLeds('Bajando')
Display.Enciende(10)
while not LeerEntrada('FCBajo'):
Motor.step(1, 100, 1, 0.001)
Estado = 'Libre'
iEstado.ActivaLeds(Estado)
PlantaActual = 0
PlantaDestino = 0
Display.Enciende(PlantaActual)
def __init__(self, parent):
Frame.__init__(self, parent)
self.parent = parent
# size
self.width = 250
self.height = 120
# screen size
self.sw = self.parent.winfo_screenwidth()
self.sh = self.parent.winfo_screenheight()
# create a Motor object
self.motor = Motor()
# init UI and centering in the screen
self.initUI()
self.centering()
