forward_speed = 70
turning_speed = 60
max_off_track_count = 1 # off track count
max_trick_count = 1 # tolerant tricked count
my_pismart = PiSmart()
tts = TTS()
stt = STT('command', dictionary_update=False)
led = LED()
lf = line_follower_module.Line_Follower(references=REFERENCES)
my_pismart.motor_switch(1)
my_pismart.speaker_switch(1)
left_motor = Motor('MotorB', forward=0)
right_motor = Motor('MotorA', forward=1)
left_motor.stop()
right_motor.stop()
my_pismart.power_type = '2S'
my_pismart.speaker_volume = 3
my_pismart.capture_volume = 100
def setup():
tts.say = "Hello, I can track black lines now, Do I need a calibration for the black and white colors?"
led.brightness = 60
while True: # 亮灯，开始接收指令。听到指令是yes和no时，分别给calibrate赋值True和False
stt.recognize()
#
import rospy
import rosnode
from geometry_msgs.msg import Vector3
from std_msgs.msg import Int32
from sensor_msgs.msg import Imu
from pismart.pismart import PiSmart
from pismart.motor import Motor
from pismart.led import LED
import threading
from mpu6050 import mpu6050
p = PiSmart()
motorA = Motor("MotorA")
motorB = Motor("MotorB")
p.motor_switch(1)
global time
def ledCallback(light):
leds = LED()
leds.brightness = light.data
def motorCallback(speed):
motorRight = max(min(speed.x,100),-100)
motorLeft = max(min(speed.y,100),-100)
motorA.speed = int(motorRight)
motorB.speed = int(motorLeft)
from pismart.stt import STT
from pismart.led import LED
import time
from Ultrasonic_Avoidance import Ultrasonic_Avoidance
my_pismart = PiSmart()
tts = TTS()
my_pismart.motor_switch(1)
my_pismart.speaker_switch(1)
UA_PIN = 17
left_motor = Motor('MotorB', forward=1)
right_motor = Motor('MotorA', forward=0)
stt = STT('command', dictionary_update=True)
led = LED()
ua = Ultrasonic_Avoidance(UA_PIN)
my_pismart.power_type = '2S'
my_pismart.speaker_volume = 100
dead_line = 10
safe_line = 18
check_stop_max = 50
turn_point = 25
max_count = 10 * turn_point
def motor_run(motor_chn, speed):
#pismart.motor_switch(1)
# motor库中有速度正负和限值的处理。
if motor_chn == "A":
MotorA = Motor(Motor.MotorA)
MotorA.speed = int(speed)
elif motor_chn == "B":
MotorB = Motor(Motor.MotorB)
MotorB.speed = int(speed)
elif motor_chn == "both":
MotorA = Motor(Motor.MotorA)
MotorA.speed = int(speed)
MotorB = Motor(Motor.MotorB)
MotorB.speed = int(speed)
msg = "[PiSmart] Set Motor %s at speed %d" % (motor_chn, speed)
print(msg)
''' ********************************************************************** * Filename : motor_test.py * Description : motor port test * Author : Dream * E-mail : [email protected] * Website : www.sunfounder.com * Update : Cavon 2016-08-09: Update debug_settings * Cavon 2016-09-27: Add " " cmd to reverse ********************************************************************** ''' from pismart.pismart import PiSmart from pismart.motor import Motor p = PiSmart() motorA = Motor("MotorA") motorB = Motor("MotorB") p.DEBUG = True motorA.DEBUG = True motorB.DEBUG = True p.motor_switch(1) def setup(): print "|==================================================|" print "| Motor port test |" print "|--------------------------------------------------|" print "| Motors connect to Motor A and Motor B port |" print "| |" print "| Input value(0, 100) to set motors speed |"