def setup():
	global offset_x,  offset_y, offset, forward0, forward1
	offset_x = 0
	offset_y = 0
	offset = 0
	forward0 = 'True'
	forward1 = 'False'
	try:
		for line in open('config'):
			if line[0:8] == 'offset_x':
				offset_x = int(line[11:-1])
				print 'offset_x =', offset_x
			if line[0:8] == 'offset_y':
				offset_y = int(line[11:-1])
				print 'offset_y =', offset_y
			if line[0:8] == 'offset =':
				offset = int(line[9:-1])
				print 'offset =', offset
			if line[0:8] == "forward0":
				forward0 = line[11:-1]
				print 'turning0 =', forward0
			if line[0:8] == "forward1":
				forward1 = line[11:-1]
				print 'turning1 =', forward1
	except:
		print 'no config file, set config to original'
	video_dir.setup(busnum=busnum)
	car_dir.setup(busnum=busnum)
	motor.setup(busnum=busnum) 
	video_dir.calibrate(offset_x, offset_y)
	car_dir.calibrate(offset)
Exemplo n.º 2
0
def setup():
    global offset_x, offset_y, offset, forward0, forward1
    offset_x = 0
    offset_y = 0
    offset = 0
    forward0 = 'True'
    forward1 = 'False'
    try:
        for line in open('config'):
            if line[0:8] == 'offset_x':
                offset_x = int(line[11:-1])
                print 'offset_x =', offset_x
            if line[0:8] == 'offset_y':
                offset_y = int(line[11:-1])
                print 'offset_y =', offset_y
            if line[0:8] == 'offset =':
                offset = int(line[9:-1])
                print 'offset =', offset
            if line[0:8] == "forward0":
                forward0 = line[11:-1]
                print 'turning0 =', forward0
            if line[0:8] == "forward1":
                forward1 = line[11:-1]
                print 'turning1 =', forward1
    except:
        print 'no config file, set config to original'
    video_dir.setup(busnum=busnum)
    car_dir.setup(busnum=busnum)
    motor.setup(busnum=busnum)
    video_dir.calibrate(offset_x, offset_y)
    car_dir.calibrate(offset)
Exemplo n.º 3
0
def run_mode(request):
	video_dir.setup()
	car_dir.setup()
	motor.setup()
	video_dir.home_x_y()
	car_dir.home()
	motor.setSpeed(50)
	return HttpResponse("Run mode start")
Exemplo n.º 4
0
def setup():
	# Setup and calibrate direction and motor
	car_dir.setup(busnum=busnum)
	motor.setup(busnum=busnum)
	car_dir.home()

	# Starting streamer thread for image processing
	mjpg_st_th = MJPGStreamerThread()
	mjpg_st_th.start()

	em_th = EmergencyModule()
	em_th.start()
Exemplo n.º 5
0
 def __init__(self):
     print('debug')
     busnum = 0
     logging.info('Creating an SDC object')
     steer_motor.setup()
     print('debug2')
     drive_motor.setup()
     drive_motor.ctrl(1)
     self.spd_cmd = 0
     self.spd_cur = self.spd_cmd
     self.str_cmd = 450
     self.str_cur = self.str_cmd
     steer_motor.home()
Exemplo n.º 6
0
def setup():
    global offset_x, offset_y, offset, forward0, forward1, backward0, backward1
    offset_x = 0
    offset_y = 0
    offset = 0
    forward0 = 'True'
    forward1 = 'False'

    # Read calibration value from config file
    try:
        for line in open('config'):
            if line[0:8] == 'offset_x':
                offset_x = int(line[11:-1])
                print
                'offset_x =', offset_x
            if line[0:8] == 'offset_y':
                offset_y = int(line[11:-1])
                print
                'offset_y =', offset_y
            if line[0:8] == 'offset =':
                offset = int(line[9:-1])
                print
                'offset =', offset
            if line[0:8] == "forward0":
                forward0 = line[11:-1]
                print
                'turning0 =', forward0
            if line[0:8] == "forward1":
                forward1 = line[11:-1]
                print
                'turning1 =', forward1
    except:
        print
        'no config file, set config to original'
    video_dir.setup(busnum=busnum)
    car_dir.setup(busnum=busnum)
    motor.setup(busnum=busnum)
    video_dir.calibrate(offset_x, offset_y)
    car_dir.calibrate(offset)

    # Set the motor's true / false value to the opposite.
    backward0 = REVERSE(forward0)
    backward1 = REVERSE(forward1)
Exemplo n.º 7
0
def mover():

    sRobotDirection = Direction()

    rospy.init_node('mover', anonymous=True)

    rospy.Subscriber("motioncommand", String,
                     sRobotDirection.direction_callback)

    video_dir.setup(busnum=busnum)
    car_dir.setup(busnum=busnum)
    motor.setup(
        busnum=busnum
    )  # Initialize the Raspberry Pi GPIO connected to the DC motor.
    video_dir.home_x_y()
    car_dir.home()

    #data = sRobotDirection.directionMsg

    rospy.spin()
Exemplo n.º 8
0
def setup():
    global offset, offset_x, offset_y, forward0, forward1, backward0, backward1
    offset_x = 0
    offset_y = 0
    offset = 0
    forward0 = 'True'
    forward1 = 'False'

    # Read calibration value from config file
    try:
        for line in open('config'):
            find_line(offset_x, "offset_x", 'offset_x')

            find_line(offset_y, "offset_y", 'offset_y')

            find_line(forward0, "forward0", 'turning0')

            find_line(forward1, "forward1", 'turning1')

            if line[0:8] == 'offset =':
                offset = int(line[9:-1])
                print
                'offset =', offset

    except:
        print
        'no config file, set config to original'

    video_dir.setup(busnum=busnum)
    car_dir.setup(busnum=busnum)
    motor.setup(busnum=busnum)
    video_dir.calibrate(offset_x, offset_y)
    car_dir.calibrate(offset)

    # Set the motor's true / false value to the opposite.
    backward0 = REVERSE(forward0)
    backward1 = REVERSE(forward1)
Exemplo n.º 9
0
def drive(stops):
    # setup all devices and initialize values
    busnum = 1
    car_dir.setup(busnum=busnum)
    motor.setup(busnum=busnum)
    distance_detect.setup()
    car_dir.home()
    motor.setSpeed(30)

    video_capture = cv2.VideoCapture(-1)
    video_capture.set(3, 160)
    video_capture.set(4, 120)
    command = 0
    stopCount = 0
    stopFound = 0

    #drive until passed certain amount of stops
    while True:
        # capture video frames
        ret, frame = video_capture.read()

        # set color masking boundaries for red and mask image
        colorLower = np.array([0, 0, 100], dtype='uint8')
        colorUpper = np.array([50, 50, 255], dtype='uint8')
        colorMask = cv2.inRange(frame, colorLower, colorUpper)
        outMask = cv2.bitwise_and(frame, frame, mask=colorMask)

        # create mask image, convert to grayscale, and blur
        clonedImg = outMask.copy()
        clonedImg = cv2.cvtColor(clonedImg, cv2.COLOR_BGR2GRAY)
        clonedImg = cv2.GaussianBlur(clonedImg, (5, 5), 0)

        # show current image
        cv2.namedWindow('Gray color select', cv2.WINDOW_NORMAL)
        cv2.imshow('Gray color select', clonedImg)

        # calculate circles within image
        circles = cv2.HoughCircles(clonedImg,
                                   cv2.cv.CV_HOUGH_GRADIENT,
                                   1,
                                   20,
                                   param1=50,
                                   param2=30,
                                   minRadius=15,
                                   maxRadius=100)

        # if a circle was detected
        if circles != None:
            # if this is first time encountering this stop increase stop count
            if stopFound == 0:
                stopCount += 1
                stopFound = 1

            # map out circles for display
            circles = np.uint16(np.around(circles))

            for i in circles[0, :]:
                cv2.circle(clonedImg, (i[0], i[1]), i[2], (0, 255, 0), 2)
                cv2.circle(clonedImg, (i[0], i[1]), 2, (0, 255, 0), 3)
        elif (cv2.countNonZero(clonedImg) == 0):
            stopFound = 0

        # display camera feed and circles
        cv2.namedWindow('Circles', cv2.WINDOW_NORMAL)
        cv2.imshow('Circles', clonedImg)

        # crop the image
        crop_img = frame[60:120, 0:160]

        # convert to grayscale
        gray = cv2.cvtColor(crop_img, cv2.COLOR_BGR2GRAY)

        # gaussian blur
        blur = cv2.GaussianBlur(gray, (5, 5), 0)

        # color thresholding
        ret, thresh = cv2.threshold(blur, 60, 255, cv2.THRESH_BINARY_INV)

        # find the contours of the frame
        contours, hierarchy = cv2.findContours(thresh.copy(), 1,
                                               cv2.CHAIN_APPROX_NONE)

        # detect distance to closes object
        dis = distance_detect.checkdis()
        print "distance: ", dis

        # find the biggest contour (if detected)
        if len(contours) > 0 and dis >= 15:
            c = max(contours, key=cv2.contourArea)
            M = cv2.moments(c)

            if M['m00'] != 0:
                cx = int(M['m10'] / M['m00'])
                cy = int(M['m01'] / M['m00'])

            cv2.line(crop_img, (cx, 0), (cx, 720), (255, 0, 0), 1)
            cv2.line(crop_img, (0, cy), (1280, cy), (255, 0, 0), 1)
            cv2.drawContours(crop_img, contours, -1, (0, 255, 0), 1)

            if cx >= 120:
                print "Turn Right ", cx
                car_dir.turn_right()
                motor.forward()

            if cx < 120 and cx > 50:
                print "On Track! ", cx
                car_dir.home()
                motor.forward()

            if cx <= 50:
                print "Turn Left! ", cx
                car_dir.turn_left()
                motor.forward()

        else:
            if dis < 15:
                print "something blocking me"
                car_dir.home()
                motor.stop()
            else:
                print "I don't see the line"
                car_dir.home()
                motor.backward()

        # display the resulting frame
        cv2.namedWindow('frame', cv2.WINDOW_NORMAL)
        cv2.imshow('frame', crop_img)

        # exit condition after passing certain amount of stops or 'q' is pressed
        if stopCount == stops or (cv2.waitKey(1) & 0xFF == ord('q')):
            # clean up
            motor.stop()
            distance_detect.cleanup()
            cv2.destroyAllWindows()
            break
from time import ctime          # Import necessary modules   

ctrl_cmd = ['forward', 'backward', 'left', 'right', 'stop', 'read cpu_temp', 'home', 'distance', 'x+', 'x-', 'y+', 'y-', 'xy_home']

HOST = ''           # The variable of HOST is null, so the function bind( ) can be bound to all valid addresses.
PORT = 21567
BUFSIZ = 1024       # Size of the buffer
ADDR = (HOST, PORT)

tcpSerSock = socket(AF_INET, SOCK_STREAM)    # Create a socket.
tcpSerSock.bind(ADDR)    # Bind the IP address and port number of the server. 
tcpSerSock.listen(5)     # The parameter of listen() defines the number of connections permitted at one time. Once the 
                         # connections are full, others will be rejected. 

video_dir.setup()
car_dir.setup()
motor.setup()     # Initialize the Raspberry Pi GPIO connected to the DC motor. 
video_dir.home_x_y()
car_dir.home()

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 = ''
		data = tcpCliSock.recv(BUFSIZ)    # Receive data sent from the client. 
Exemplo n.º 11
0
 def __init__(self):
     motor.setup(busnum=1)
     car_dir.setup()
Exemplo n.º 12
0
 def __init__(self):
     m.setup()  #Have to be done
     cd.setup()
ctrl_cmd = ['forward', 'backward', 'left', 'right', 'stop', 'read cpu_temp', 'home', 'distance', 'x+', 'x-', 'y+', 'y-', 'xy_home']

busnum = 1          # Edit busnum to 0, if you uses Raspberry Pi 1 or 0

HOST = ''           # The variable of HOST is null, so the function bind( ) can be bound to all valid addresses.
PORT = 21567
BUFSIZ = 1024       # Size of the buffer
ADDR = (HOST, PORT)

tcpSerSock = socket(AF_INET, SOCK_STREAM)    # Create a socket.
tcpSerSock.bind(ADDR)    # Bind the IP address and port number of the server. 
tcpSerSock.listen(5)     # The parameter of listen() defines the number of connections permitted at one time. Once the 
                         # connections are full, others will be rejected. 

video_dir.setup(busnum=busnum)
car_dir.setup(busnum=busnum)
motor.setup(busnum=busnum)     # Initialize the Raspberry Pi GPIO connected to the DC motor. 
video_dir.home_x_y()
car_dir.home()

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 = ''
		data = tcpCliSock.recv(BUFSIZ)    # Receive data sent from the client. 
Exemplo n.º 14
0
def setup():
    car_dir.setup(busnum=busnum)
    motor.setup(busnum=busnum)
    car_dir.calibrate(0)

    motor.setSpeed(50)
Exemplo n.º 15
0
import numpy as np
import cv2
import matplotlib as mp
import motor
import car_dir as turn
import time
import video_dir as camTurn
from threading import Thread

cap = cv2.VideoCapture(0)
cascPath = "closed_frontal_palm.xml"
handCascade = cv2.CascadeClassifier(cascPath)

motor.setup()
turn.setup()
turn.home()

def forward():
	turn.home()
	print("go forward")
	motor.forwardWithSpeed(spd=100)
	time.sleep(1)
	motor.stop()

def right_forward():
	turn.home()
	print("turn right")
	turn.turn_right()
	motor.forwardWithSpeed(spd=100)
	time.sleep(1)
	motor.stop()
Exemplo n.º 16
0
 def __init__(self):
     self.busnum = 1 # See sunfounder's documentation, should be 1 for RPi3
     sfdriving.setup(busnum=self.busnum)
     sfsteering.setup(busnum=self.busnum)
     sfpantilt.setup(busnum=self.busnum)
Exemplo n.º 17
0
import socket
import car_dir
import motor
import time
import re
import pyttsx3

corpus = [
    "we just reached out first attractions, we will begin tour after 10 seconds",
    "we just reached out second attractions, we will begin tour after 10 seconds"
]

motor_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
motor_socket.connect(('192.168.25.9', 1325))

car_dir.setup(busnum=1)
motor.setup(busnum=1)
car_dir.home()

engine = pyttsx3.init()
rate = engine.getProperty('rate')
engine.setProperty('rate', rate - 30)


def tts_guide(text):
    engine.say(text)  # location corresponding text
    engine.runAndWait()


while True:
    data = ''
saver.restore(sess, "saved_networks6/2018-12-06_15_52")

ctrl_cmd = ['left', 'right']

busnum = 1
HOST = ''
PORT = 21567
BUFSIZ = 1024
ADDR = (HOST, PORT)

tcpSerSock = socket(AF_INET, SOCK_STREAM)
tcpSerSock.bind(ADDR)
tcpSerSock.listen(5)

# Centerize Servo Motor
car_dir.setup(busnum=busnum)
now = time.time()
for i in range(100):
    car_dir.home()
pwm = car_dir.setup()
# Stop DC Motor just in case
motor.setup(busnum=busnum)
motor.setSpeed(100)
motor.stop()

frames = 500000
def capture():
    #flag = True
    frame = 0
    stream = io.BytesIO()
    prev = 400
Exemplo n.º 19
0
def mover():
    #Init variables for the control loop
    counter = 1
    bDriving = False
    bEndLoops = False

    sRobotDirection = Direction()

    rospy.init_node('mover', anonymous=True)

    rospy.Subscriber("motioncommand", String,
                     sRobotDirection.direction_callback)

    scooper_dir.setup(busnum=busnum)
    car_dir.setup(busnum=busnum)

    # Initialize the Raspberry Pi GPIO connected to the DC motor.
    motor.setup(busnum=busnum)

    #video_dir.home_x_y()
    #scooper_dir.servo_test ()
    car_dir.home()

    # Loop to wait for received commands.
    while (bEndLoops == False):

        # Loop to perform movement controls while input received.
        while (bEndLoops == False):

            data = sRobotDirection.directionMsg

            # Analyze the command received and control the car accordingly.
            #doAction (data, counter)
            #counter += 1
            #print counter

            if not data:
                break

            if data == ctrl_cmd[0]:
                print 'ELFF WILL DRIVE'
                counter += 1
                print counter

                try:
                    spd = 20
                    #print "Moving forward with speed!"
                    motor.forwardWithSpeed(spd)
                except:
                    print 'Error speed =' + str(spd)

            elif data == ctrl_cmd[1]:
                print 'ELFF WILL REVERSE'
                counter += 1
                print counter

                try:
                    spd = 20
                    #print "Moving backward with speed!"
                    motor.backwardWithSpeed(spd)
                except:
                    print 'Error speed =' + str(spd)

            elif data == ctrl_cmd[2]:
                print 'ELFF WILL GO LEFT'
                counter += 1
                car_dir.turn_left()

            elif data == ctrl_cmd[3]:
                print 'ELFF WILL GO RIGHT'
                counter += 1
                car_dir.turn_right()

            elif data == ctrl_cmd[4]:
                print 'ELFF WILL SCOOP'

                scooper_dir.home_x_y()
                scooper_dir.doScoop()
                scooper_dir.home_x_y()

            # Used with publisher.py only as a debug method.
            elif data == ctrl_cmd[5]:
                print 'ELFF WILL RESET POSITION'
                scooper_dir.home_x_y()
                car_dir.home()
                motor.ctrl(0)

                bEndLoops = True

            elif data == ctrl_cmd[6]:
                print 'ELFF WILL STOP'
                counter += 1
                print counter
                try:
                    spd = 0
                    motor.forwardWithSpeed(spd)
                except:
                    print 'Error speed =' + str(spd)

            else:
                print 'Waiting to receive a command...'
Exemplo n.º 20
0

def shutdown():
    global run
    print("Stopping")
    motor.setSpeed(0)
    port.closePort()
    run = False


if __name__ == "__main__":

    run = True
    port = serialPort()
    motor.setup(busnum=busnum)
    steer.setup(busnum=busnum)
    print 'motor moving forward'
    motor.setSpeed(speed)
    motor.motor0(forward0)
    motor.motor1(forward1)
    #    motor.setSpeed(0)
    #    motor.motor0(forward0)
    #    motor.motor1(forward1)
    steer.turn(0)
    port.openPort("/dev/ttyUSB1")
    #    open lidar with width, depth in cm, refresh rate in hz
    port.lidarStart(30, 200, 10)
    while run:
        try:
            data = port.lidarRead()
            print("distance: ", data[0])
Exemplo n.º 21
0
import car_dir

import motor
import time
import numpy as np
import cv2
from visionAlg.myFunctions import readyImage, splitImage, findCentroid, showRows, showCentroids, errorCalc

car_dir.setup()
motor.setup()
motor.setSpeed(0)


def Map(x, in_min, in_max, out_min, out_max):
    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min


def saturate(x, ub, lb):
    if x > ub:
        return (ub)
    elif x < lb:
        return (lb)
    else:
        return (x)


kp = 1
ki = 80
kd = 0

lbase = -70  # numeric values for the turn limits of the car (lbase = left rbase = right)
Exemplo n.º 22
0
def run_server(key):

    import RPi.GPIO as GPIO
    import video_dir
    import car_dir
    import motor
    from time import ctime  # Import necessary modules

    ctrl_cmd = [
        'forward', 'backward', 'left', 'right', 'stop', 'read cpu_temp',
        'home', 'distance', 'x+', 'x-', 'y+', 'y-', 'xy_home'
    ]

    busnum = 1  # Edit busnum to 0, if you uses Raspberry Pi 1 or 0

    HOST = ''  # The variable of HOST is null, so the function bind( ) can be bound to all valid addresses.
    PORT = 21567
    BUFSIZ = 1024  # Size of the buffer
    ADDR = (HOST, PORT)

    try:
        tcpSerSock = socket(AF_INET, SOCK_STREAM)  # Create a socket.
        tcpSerSock.bind(
            ADDR)  # Bind the IP address and port number of the server.
        tcpSerSock.listen(
            1
        )  # The parameter of listen() defines the number of connections permitted at one time. Once the
    except:
        print "#####\nTHE SOCKET ADDRESS IS ALREADY IN USE!\nPlease restart your device and run this program again"

    video_dir.setup(busnum=busnum)
    car_dir.setup(busnum=busnum)
    motor.setup(
        busnum=busnum
    )  # Initialize the Raspberry Pi GPIO connected to the DC motor.
    video_dir.home_x_y()
    car_dir.home()

    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:
            try:
                data = ''
                data = tcpCliSock.recv(
                    BUFSIZ)  # Receive data sent from the client.
                print "\nEncrypted command recieved from client = ,", eval(
                    data)[2]
                data = crypto.AES_decrypt(eval(data), key)
            except:
                print "INCOMPLETE PACKET ERROR - try to input the command again"
            # Analyze the command received and control the car accordingly.

            if not data:
                print "Session closed by client"
                break
            if data == ctrl_cmd[0]:
                print 'motor moving forward'
                motor.forward()
            elif data == ctrl_cmd[1]:
                print 'recv backward cmd'
                motor.backward()
            elif data == ctrl_cmd[2]:
                print 'recv left cmd'
                car_dir.turn_left()
            elif data == ctrl_cmd[3]:
                print 'recv right cmd'
                car_dir.turn_right()
            elif data == ctrl_cmd[6]:
                print 'recv home cmd'
                car_dir.home()
            elif data == ctrl_cmd[4]:
                print 'recv stop cmd'
                motor.ctrl(0)
            elif data == ctrl_cmd[5]:
                print 'read cpu temp...'
                temp = cpu_temp.read()
                tcpCliSock.send('[%s] %0.2f' % (ctime(), temp))
            elif data == ctrl_cmd[8]:
                print 'recv x+ cmd'
                video_dir.move_increase_x()
            elif data == ctrl_cmd[9]:
                print 'recv x- cmd'
                video_dir.move_decrease_x()
            elif data == ctrl_cmd[10]:
                print 'recv y+ cmd'
                video_dir.move_increase_y()
            elif data == ctrl_cmd[11]:
                print 'recv y- cmd'
                video_dir.move_decrease_y()
            elif data == ctrl_cmd[12]:
                print 'home_x_y'
                video_dir.home_x_y()
            elif data[0:5] == 'speed':  # Change the speed
                print data
                numLen = len(data) - len('speed')
                if numLen == 1 or numLen == 2 or numLen == 3:
                    tmp = data[-numLen:]
                    print 'tmp(str) = %s' % tmp
                    spd = int(tmp)
                    print 'spd(int) = %d' % spd
                    if spd < 24:
                        spd = 24
                    motor.setSpeed(spd)
            elif data[0:5] == 'turn=':  #Turning Angle
                print 'data =', data
                angle = data.split('=')[1]
                try:
                    angle = int(angle)
                    car_dir.turn(angle)
                except:
                    print 'Error: angle =', angle
            elif data[0:8] == 'forward=':
                print 'data =', data
                spd = data[8:]
                try:
                    spd = int(spd)
                    motor.forward(spd)
                except:
                    print 'Error speed =', spd

            elif data[0:9] == 'backward=':
                print 'data =', data
                spd = data.split('=')[1]
                try:
                    spd = int(spd)
                    motor.backward(spd)
                except:
                    print 'ERROR, speed =', spd

            else:
                #print 'Command Error! Cannot recognize command: ' + data
                print "COMMAND ERROR - Unable to interpret recieved command"
    tcpSerSock.close()
Exemplo n.º 23
0
ctrl_cmd = ['forward', 'backward', 'left', 'right', 'stop', 'read cpu_temp', 'home', 'distance', 'x+', 'x-', 'y+', 'y-', 'xy_home']

busnum = 1          # Edit busnum to 0, if you uses Raspberry Pi 1 or 0

HOST = ''           # The variable of HOST is null, so the function bind( ) can be bound to all valid addresses.
PORT = 21565
BUFSIZ = 1024       # Size of the buffer
ADDR = (HOST, PORT)

tcpSerSock = socket(AF_INET, SOCK_STREAM)    # Create a socket.
tcpSerSock.bind(ADDR)    # Bind the IP address and port number of the server. 
tcpSerSock.listen(5)     # The parameter of listen() defines the number of connections permitted at one time. Once the 
                         # connections are full, others will be rejected. 

video_dir.setup(busnum=busnum)
car_dir.setup(busnum=busnum)
motor.setup(busnum=busnum)     # Initialize the Raspberry Pi GPIO connected to the DC motor. 
video_dir.home_x_y()
car_dir.home()

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 :'+ str(addr))     # Print the IP address of the client connected with the server.

	while True:
		data = ''
		data = tcpCliSock.recv(BUFSIZ)    # Receive data sent from the client. 
Exemplo n.º 24
0
 def setup(self):
     car_dir.setup(busnum=1)
     motor.setup(busnum=1)
     self.servo_home()
     self.motor_stop()