def main():
# test and run the the Robot
# motor GPIO Pins
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
StdByPin = 14 # this is the common pin
leftMotorPins = [12, 23, 24] # fill up with GPIO pins, PWMA, AIn1, AIn2
rightMotorPins = [13, 25, 26] # same as above
leftMotorPins.append(StdByPin)
rightMotorPins.append(StdByPin)
#Sensor GPIO Pins
trig = 4 # common trig pin
echo_left = 17 #left sensor echo pin
echo_fwd = 27 #forward sensor echo pin
echo_right = 22 #right sensor echo pin
#button pins
button_pin = 18
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
#set up motors and sensors
Motors = [
motors.motor(leftMotorPins, 'Left'),
motors.motor(rightMotorPins, 'Right')
]
Sensors = [
sensors.ultrasonic_sensor([trig, echo_left]),
sensors.ultrasonic_sensor([trig, echo_fwd]),
sensors.ultrasonic_sensor([trig, echo_right])
]
#set up robot
PiOde = RobotOne(Motors, Sensors)
signal.signal(signal.SIGINT, signal_handler)
GPIO.add_event_detect(button_pin, GPIO.RISING, bouncetime=200)
GPIO.add_event_callback(button_pin, button_handler)
#previous_button_state = False
while True: # do forever
#button,previous_button_state = buttons.button_pressed(button_pin,previous_button_state)
if roaming:
PiOde.roam()
print('roaming')
else:
PiOde.stop()
print('stopped')
GPIO.cleanup()
def main(HOST='', PORT=65432):
#HOST is localhost
#set up Ctrl C interrupt
signal.signal(signal.SIGINT, signal_handler)
#Initialise the Board
params = load(open('params.yaml').read(), Loader=Loader)
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
StdByPin = params['StdByPin'] # this is the common pin
leftMotorPins = params[
'leftMotorPins'] # fill up with GPIO pins, PWMA, AIn1, AIn2
rightMotorPins = params['rightMotorPins'] # same as above
leftMotorPins.append(StdByPin)
rightMotorPins.append(StdByPin)
#set up motors and sensors
Motors = [
motors.motor(leftMotorPins, 'Left'),
motors.motor(rightMotorPins, 'Right')
]
Sensors = [
sensors.ultrasonic_sensor([params['trig'], params['echo_left']]),
sensors.ultrasonic_sensor([params['trig'], params['echo_fwd']]),
sensors.ultrasonic_sensor([params['trig'], params['echo_right']])
]
#set up robot
PiOde = robots.RobotOne(Motors, Sensors)
PiOde.test()
#Buttons
button_pin = params['button_pin']
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
#set up button handling
GPIO.add_event_detect(button_pin, GPIO.RISING, bouncetime=200)
GPIO.add_event_callback(button_pin, PiOde.toggle_roaming)
d = Driver(PiOde, HOST, PORT)
sense = threading.Thread(target=d.sense)
rx_commands = threading.Thread(target=d.rx_commands)
drive = threading.Thread(target=d.drive)
sense.start()
rx_commands.start()
drive.start()
def main():
#test and drive the the Robot with PS3 Controller
#set up Ctrl C interrupt
signal.signal(signal.SIGINT, signal_handler)
#Initialise the Board
params = load(open('params.yaml').read(), Loader=Loader)
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
StdByPin = params['StdByPin'] # this is the common pin
leftMotorPins = params[
'leftMotorPins'] # fill up with GPIO pins, PWMA, AIn1, AIn2
rightMotorPins = params['rightMotorPins'] # same as above
leftMotorPins.append(StdByPin)
rightMotorPins.append(StdByPin)
#set up motors and sensors
Motors = [
motors.motor(leftMotorPins, 'Left'),
motors.motor(rightMotorPins, 'Right')
]
Sensors = [
sensors.ultrasonic_sensor([params['trig'], params['echo_left']]),
sensors.ultrasonic_sensor([params['trig'], params['echo_fwd']]),
sensors.ultrasonic_sensor([params['trig'], params['echo_right']])
]
#set up robot
PiOde = robots.RobotOne(Motors, Sensors)
#PiOde.test()
#Buttons
button_pin = params['button_pin']
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
#set up button handling
#GPIO.add_event_detect(button_pin, GPIO.RISING,callback=lambda x: PiOde.toggle_roaming(), bouncetime = 200)
#GPIO.add_event_callback(button_pin, button_handler)
ps3drive(PiOde)
trig = 19 # common trig pin
echo_left = 17 #left sensor echo pin
echo_fwd = 4 #forward sensor echo pin
echo_right = 16 #right sensor echo pin
#button pins
button_pin = 18
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
#set up motors and sensors
Motors = [
motors.motor(leftMotorPins, 'Left'),
motors.motor(rightMotorPins, 'Right')
]
Sensors = [
sensors.ultrasonic_sensor([trig, echo_left]),
sensors.ultrasonic_sensor([trig, echo_fwd]),
sensors.ultrasonic_sensor([trig, echo_right])
]
#set up robot
PiOde = robots.RobotOne(Motors, Sensors)
#set up Ctrl C interrupt
signal.signal(signal.SIGINT, signal_handler)
#set up button handling
GPIO.add_event_detect(button_pin, GPIO.RISING, bouncetime=200)
GPIO.add_event_callback(button_pin, button_handler)
time.sleep(1)
PiOde.sense()
def main():
#test and run the the Robot
parser = argparse.ArgumentParser(description='Driver for RoboKar')
parser.add_argument('--v', default=1.0)
parser.add_argument('--w', default=0)
parser.add_argument('--testing', default=False)
parser.add_argument('--time', default=10)
args = parser.parse_args()
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
StdByPin = 22 # this is the common pin
leftMotorPins = [12, 23, 24] # fill up with GPIO pins, PWMA, AIn1, AIn2
rightMotorPins = [13, 25, 5] # same as above
leftMotorPins.append(StdByPin)
rightMotorPins.append(StdByPin)
# Cleanup done at exit
@atexit.register
def cleanup_robot():
if args.testing != 'True':
print('EXITING')
PiOde.stop()
GPIO.cleanup()
pass
#Sensor GPIO Pins
trig = 19 # common trig pin
echo_left = 17 #left sensor echo pin
echo_fwd = 4 #forward sensor echo pin
echo_right = 16 #right sensor echo pin
#set up motors and sensors
Motors = [
motors.motor(leftMotorPins, 'Left'),
motors.motor(rightMotorPins, 'Right')
]
Sensors = [
sensors.ultrasonic_sensor([trig, echo_left]),
sensors.ultrasonic_sensor([trig, echo_fwd]),
sensors.ultrasonic_sensor([trig, echo_right])
]
#set up robot
PiOde = RobotOne(Motors, Sensors)
#set up Ctrl C interrupt
signal.signal(signal.SIGINT, signal_handler)
#button pins
button_pin = 18
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
#set up button handling
#GPIO.add_event_detect(button_pin, GPIO.RISING,callback=lambda x: PiOde.toggle_roaming(), bouncetime = 200)
#GPIO.add_event_callback(button_pin, button_handler)
# Test the Robot
#PiOde.set_roaming_on()
#while PiOde.is_roaming():
# PiOde.roam()
PiOde.command_vel([float(args.v), float(args.w)])
time.sleep(float(args.time))
def main():
parser = argparse.ArgumentParser(description='Web Driver for RoboKar')
parser.add_argument('--hostname', default='0.0.0.0')
parser.add_argument('--port', default=5000)
parser.add_argument('--testing',default=False)
args = parser.parse_args()
# Cleanup done at exit
@atexit.register
def cleanup_robot():
if args.testing != 'True':
print('EXITING')
PiOde.stop()
GPIO.cleanup()
server.shutdown()
pass
if args.testing != 'True':
# Rpi Sepcific Commands - if not testing
import RPi.GPIO as GPIO
import sensors
import motors
import robots
params = load(open('params.yaml').read(), Loader=Loader)
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
StdByPin = params['StdByPin'] # this is the common pin
leftMotorPins = params['leftMotorPins'] # fill up with GPIO pins, PWMA, AIn1, AIn2
rightMotorPins = params['rightMotorPins'] # same as above
leftMotorPins.append(StdByPin)
rightMotorPins.append(StdByPin)
#set up motors and sensors
Motors = [motors.motor(leftMotorPins,'Left'),motors.motor(rightMotorPins,'Right')]
Sensors = [sensors.ultrasonic_sensor([params['trig'],params['echo_left']]), sensors.ultrasonic_sensor([params['trig'],params['echo_fwd']]), sensors.ultrasonic_sensor([params['trig'],params['echo_right']])]
#set up robot
PiOde = robots.RobotOne(Motors,Sensors)
#PiOde.test()
#Buttons
button_pin = params['button_pin']
GPIO.setup(button_pin, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
#set up button handling
GPIO.add_event_detect(button_pin, GPIO.RISING, bouncetime = 200)
GPIO.add_event_callback(button_pin, PiOde.toggle_roaming)
print('PiOde Set Up Complete')
else:
PiOde = None
# driver instance
d = Driver(PiOde,args)
#start the threaded processes
threading.Thread(target=d.sense,daemon=True).start()
#start the flask server
app = Flask(__name__)
#app.add_url_rule('/','web_interface',d.web_interface)
#app.add_url_rule('/read_vel','read_vel',d.read_vel)
app.route("/")(d.web_interface)
app.route("/read_vel")(d.read_vel)
app.route("/stop")(d.stop)
app.route("/exit")(lambda:sys.exit(0))
server = ServerThread(app,args)
server.start()