def set_move_stop():
# Set left wheel and right wheel to no direction
gpio.output(pins.LEFT_CW, False)
gpio.output(pins.LEFT_CCW, False)
gpio.output(pins.RIGHT_CW, False)
gpio.output(pins.RIGHT_CCW, False)
# Set both motors to 0% duty cycle
LEFT_WHEEL.ChangeDutyCycle(0)
RIGHT_WHEEL.ChangeDutyCycle(0)
def set_move_reverse():
# Set left wheel counterclockwise, right wheel clockwise
gpio.output(pins.LEFT_CW, False)
gpio.output(pins.LEFT_CCW, True)
gpio.output(pins.RIGHT_CW, True)
gpio.output(pins.RIGHT_CCW, False)
# Set both motors running at 100% duty cycle
LEFT_WHEEL.ChangeDutyCycle(100)
RIGHT_WHEEL.ChangeDutyCycle(100)
def set_turn_right():
# Set left wheel and right wheel to counterclockwise
gpio.output(pins.LEFT_CW, False)
gpio.output(pins.LEFT_CCW, True)
gpio.output(pins.RIGHT_CW, False)
gpio.output(pins.RIGHT_CCW, True)
# Set both motors to 50% duty cycle
LEFT_WHEEL.ChangeDutyCycle(50)
RIGHT_WHEEL.ChangeDutyCycle(50)
# Delay then turn off wheels
time.sleep(TURN_DELAY)
set_move_stop()
import time
import paho.mqtt.client as mqtt
import RPi.gpio as gpio
pir = 23
gpio.setmode(gpio.BCM)
gpio.setup(pir, gpio.IN)
client = mqtt.Client()
broker = "broker.hivemq.com"
port = 1883
pub_topic = "IntruderDetector_Home"
def SendData():
client.publish(pub_topic, "WARNING : SOMEONE DETECTED AT YOUR PLACE")
def on_connect(client, userdata, flag, rc):
print("connection returned" + str(rc))
SendData()
while True:
client.connect(broker, port)
client.on_connect = on_connect
if gpio.output(pir) == gpio.HIGH:
SendData()
client.loop_forever()
# Variable setup
finished = False
left_lsw, right_lsw = False, False
def get_lsw_inputs():
left_lsw = gpio.input(pins.LSW_ONE)
right_lsw = gpio.input(pins.LSW_TWO)
while not finished:
if not gpio.input(pins.BTN_START):
continue
else:
# Start brushes
gpio.output(pins.BRUSH_ONE, True)
gpio.output(pins.BRUSH_TWO, True)
# Start water pump
gpio.output(pins.SOL_WATER, True)
time.sleep(1)
gpio.output(pins.PUMP_WATER, True)
# Add a short delay to make sure it works
time.sleep(1)
get_lsw_inputs()
movement.set_move_forward()
while not (left_lsw or right_lsw):
get_lsw_inputs()
else:
gpio.setup(18, gpio.OUT) gpio.setup(21, gpio.OUT) gpio.setup(23, gpio.OUT) gpio.setup(26, gpio.OUT) # secondary input pins to all motors in order from 1 to 8. gpio.setup(5, gpio.OUT) gpio.setup(11, gpio.OUT) gpio.setup(13, gpio.OUT) gpio.setup(16, gpio.OUT) gpio.setup(19, gpio.OUT) gpio.setup(22, gpio.OUT) gpio.setup(24, gpio.OUT) gpio.setup(29, gpio.OUT) gpio.output(3, False) gpio.output(5, False) gpio.output(7, False) gpio.output(11, False) gpio.output(12, False) gpio.output(13, False) gpio.output(15, False) gpio.output(16, False) gpio.output(18, False) gpio.output(19, False) gpio.output(21, False) gpio.output(22, False) gpio.output(23, False) gpio.output(24, False) gpio.output(26, False) gpio.output(29, False)