def setup(): pi.set_mode(22,pigpio.OUTPUT) pi.write(22,0) pi.write(17,0) time.sleep(1) BMX055.bmx055_setup() GPS.openGPS()
def setup(): global phaseChk pi.write(22,1) pi.write(24,0) BME280.bme280_setup() BME280.bme280_calib_param() BMX055.bmx055_setup() TSL2561.tsl2561_setup() GPS.openGPS() with open(phaseLog, 'a') as f: pass
def setup():
global phaseChk
pi.set_mode(17, pigpio.OUTPUT)
pi.set_mode(22, pigpio.OUTPUT)
pi.write(22, 1)
pi.write(17, 0)
time.sleep(1)
BME280.bme280_setup()
BME280.bme280_calib_param()
BMX055.bmx055_setup()
GPS.openGPS()
with open(phaseLog, 'a') as f:
pass
phaseChk = int(Other.phaseCheck(phaseLog))
def stuck_confirm():
BMX055.bmx055_setup()
get_accdata()
accdata = np.array([[accx, accy, accz]])
global cond
#--- use Timer ---#
cond = True
thread = Thread(target=timer, args=([3]))
thread.start()
#--- note start time ---#
start = time.time()
time_base = start
global time_array
time_array = np.array([[0]])
try:
while cond:
#--- escape by run faster ---#
run = pwm_control.Run()
run.straight_h()
time_count = time.time() - time_base
if time_count >= 0.2:
get_accdata()
#--- multi dimention accdata matrix ---#
accdata = np.append(accdata, np.array([[accx, accy, accz]]))
#--- multi dimention time_array matrix ---#
passed_time = time.time() - start
time_array = np.append(time_array, np.array([[passed_time]]))
#--- initialize time_base ---#
time_base = time.time()
except KeyboardInterrupt:
run = pwm_control.Run()
run.stop()
finally:
run = pwm_control.Run()
run.stop()
global accx_data
accx_data = accdata[:, 0]
#--- escape detection ---#
move_judge = cor(accx_data, time_array)
print(move_judge)
return move_judge
def setup():
global phaseChk
pi.set_mode(17, pigpio.OUTPUT)
pi.set_mode(22, pigpio.OUTPUT)
pi.write(22, 1) #IM920 Turn On
pi.write(17, 0) #Outcasing Turn Off
time.sleep(1)
BME280.bme280_setup()
BME280.bme280_calib_param()
BMX055.bmx055_setup()
GPS.openGPS()
with open(phaseLog, 'a') as f:
pass
#if it is End to End Test, then
phaseChk = int(Other.phaseCheck(phaseLog))
#if it is debug
phaseChk = 8
def setup():
global phaseChk
global startPosStatus
pi.set_mode(17,pigpio.OUTPUT)
pi.set_mode(22,pigpio.OUTPUT)
pi.write(22,1) #IM920 Turn On
IM920.Strt("2") #distance mode
pi.write(17,0) #Outcasing Turn Off
time.sleep(1)
BME280.bme280_setup()
BME280.bme280_calib_param()
BMX055.bmx055_setup()
TSL2561.tsl2561_setup()
GPS.openGPS()
with open(phaseLog, 'a') as f:
pass
#if it is End to End Test, then
try:
phaseChk = int(Other.phaseCheck(phaseLog))
except:
phaseChk = 0
#if it is debug
#phaseChk = 8
if phaseChk == 0:
Other.saveLog(positionLog, "Goal", gLat, gLon, "\t")
startPosStatus = 1
else:
Other.saveLog(positionLog, "\t")
if(Other.positionCheck(positionLog) == [0.0, 0.0]):
print("Not Logged Start Position")
startPosStatus = 1
else:
rsLat, rsLon = Other.positionCheck(positionLog)
print(rsLat, rsLon)
startPosStatus = 0
#--- default module ---#
#import difflib
import time
import traceback
from threading import Thread
GPS_data = [0.0,0.0,0.0,0.0,0.0]
def timer(t):
global cond
time.sleep(t)
cond = False
if __name__ == "__main__":
BMX055.bmx055_setup()
GPS.openGPS()
print('Run Phase Start!')
#--- difine goal latitude and longitude ---#
lon2 = 139.9060815
lat2 = 35.9143235
#------------- program start -------------#
direction = Calibration.calculate_direction(lon2,lat2)
goal_distance = direction["distance"]
print('goal distance = '+str(goal_distance))
#------------- GPS navigate -------------#
while goal_distance >= 15:
#------------- Calibration -------------#
print('Calibration Start')
#--- calculate offset ---#
magdata = Calibration.magdata_matrix()
