def car_control(conn):
car = DRV8835() # if Pololulu Motoredriver is used
car.stop()
SPEED = 60
LEFT = 1.0
RIGHT = 1.0
car.forward(LEFT * SPEED * 1.0, RIGHT * SPEED * 1.0)
while True:
message = conn.recv()
dx_mm, dy_mm, total_x, total_y, elapsed, dt = map(
float, message.split())
if message == "END":
break
elif total_y >= 200: # Car is stopped when it moves 20 cm.
car.stop()
print("Vastaanotettu viesti {}, {}, {}, {}, {}, {}, {}, v_y={}".format(
dx_mm, dy_mm, total_x, total_y, elapsed, dt, 1 / dt, dy_mm / dt))
KERNEL_SIZE = 9 #default value 15
LOW_THRESHOLD = 50 #default value 40
HIGH_THRESHOLD = 150 #default value 120
RHO = 10 #default 10
THRESHOLD = 10 #default 15
THETA = np.pi / 180
MIN_LINE_LENGTH = 80 #default 10
MAX_LINE_GAP = 1
camera = picamera.PiCamera()
camera.vflip = True # Depending how picamera installed on the car
camera.hflip = True
camera.resolution = (640, 480)
car = DRV8835() # if Pololulu Motoredriver is used
car.stop()
SPEED = 45
LEFT = 1.0
RIGHT = 1.0
while True:
rawCapture = picamera.array.PiRGBArray(camera)
time.sleep(0.1)
camera.capture(rawCapture, format="bgr")
frame = rawCapture.array
#Convert to Grayscale
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
#Blur image to reduce noise. The bigger the KERNEL_SIZE, more blurry the image
from time import sleep
import RPi.GPIO as GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
from drv8835 import DRV8835
#import control_servos
import input_handling
from servos import SERVOS
CAR = DRV8835()
CAR.stop()
SPEED = 60
TURNING_SPEED = 30
SERVOS = SERVOS()
def drive_forward():
CAR.forward(SPEED, SPEED)
def drive_backward():
CAR.backward(SPEED, SPEED)
# TODO: miten kääntyy sujuvasti vasemmalle/oikealle
def drive_left():
CAR.forward(SPEED, TURNING_SPEED)
import iot
from time import sleep
# from l293d_pwm import L293DPWM
from drv8835 import DRV8835
# from testing_motor import TestingMotorDriver
# car = L293DPWM(17, 27, 26, 23, 24, 6)
# car = L293DPWM(24, 12, 26, 13, 5, 6)
car = DRV8835()
car.stop()
@iot.subscribe("automessages")
def new_message(message):
if (message == "moveforward"):
car.forward(100, 100)
sleep(2)
car.stop()
elif (message == "movebackward"):
car.backward(100, 100)
sleep(2)
car.stop()
elif (message == "moveright"):
car.backward(100, 25)
sleep(2)
car.stop()
elif (message == "moveleft"):
car.backward(25, 100)
sleep(2)
car.stop()
from threading import Thread
# Maariteellaan Arduinon merkkilaitteen sijainti
# testaa komennolla ls -l /deb/tty* microbitin usb-kytkennalla ja ilman!
laite = "/dev/ttyACM0"
# Luodaan Serial-olio
ser = serial.Serial(laite, baudrate=115200, timeout=1)
# Luodaan valmis Re-olio
# dataRe = re.compile(r"^(\d{1,4}),(\d{1,4}),([01])$")
dataRe = re.compile(r"^\s*(-?\d+[?:[.]\d+]?)\s+(-?\d+[?:[.]\d+]?)$")
# car = L293DPWM(17, 27, 26, 23, 24, 6)
# car = L293DPWM(24, 12, 26, 13, 5, 6)
car = DRV8835() # if Polulu motor driver for raspberry is used
def maxmin(arvo, maks, minn):
return max(min(arvo, maks), minn)
arvot = []
active = True
def serial_read():
print("Serial_thread kaynnistetty")
global arvot
while active:
# Luetaan sarjaliikennetta