class Main:
def __init__(self):
print ("start main")
self.green_led = Led(GREEN)
self.yellow_led = Led(YELLOW)
self.red_led = Led(RED)
def run(self):
if 1 < 2:
self.red_led.blink()
def blink(self, led):
led.blink()
def __init__(self):
self.PWM = Motor()
self.servo = Servo()
self.led = Led()
self.ultrasonic = Ultrasonic()
self.buzzer = Buzzer()
self.adc = Adc()
self.light = Light()
self.infrared = Line_Tracking()
self.tcp_Flag = True
self.sonic = False
self.Light = False
self.Mode = 'one'
self.endChar = '\n'
self.intervalChar = '#'
def __init__(self, gpio, pin, ledPin):
# initialize class variables
self.gpio = gpio
self.pir = pin
self.led = Led.Led(gpio, ledPin)
self.led.setup()
def __init__(self):
self.tcp_flag = False
self.led = Led()
self.adc = ADS7830()
self.servo = Servo()
self.buzzer = Buzzer()
self.control = Control()
self.sonic = Ultrasonic()
self.control.Thread_conditiona.start()
def __init__(self):
self.headUpDownAngle = 90
self.headLeftRightAngle = 90
self.PWM = Motor()
self.servo = Servo()
self.horn = Buzzer()
self.speed = 1000
# corrected servo positions
# adjust these to suit your car
# so head is front and centre at start
self.headLRcorrect = -3
self.headUDcorrect = 4
self.reset_head()
self.selector = DefaultSelector()
# set true for mecanum wheels
self.mecanum = False
self.useLights = True
self.led = Led()
self.mouse = evdev.InputDevice('/dev/input/event1')
self.keybd = evdev.InputDevice('/dev/input/event0')
self.readingKeys = False
self.led.colorWipe(self.led.strip, Color(0,0,0),0)
self.brake = False
self.reverse = False
self.indicating = False
self.leftTurn = False
self.rightTurn = False
self.moving = False
self.indi_time = datetime.now()
self.indi_off = True
self.brake_time = datetime.now()
self.brake_off = True
atexit.register(self.keybd.ungrab) # Don't forget to ungrab the keyboard on exit!
atexit.register(self.mouse.ungrab)
self.keybd.grab() # Grab, i.e. prevent the keyboard from emitting original events.#
self.mouse.grab()
# This works because InputDevice has a `fileno()` method.
self.selector.register(self.mouse, EVENT_READ)
self.selector.register(self.keybd, EVENT_READ)
def __init__(self):
rospy.init_node('IO_Interface', anonymous=False)
# pub = rospy.Publisher('IO_Interface/', String, queue_size=10)
#create motors
self.motor_1 = Motors.Motor(motorID='t1', pin = 1, pwm_output = 0)
self.motor_2 = Motors.Motor(motorID='t2', pin = 2, pwm_output = 0)
self.motor_3 = Motors.Motor(motorID='t3', pin = 3, pwm_output = 0)
self.motor_4 = Motors.Motor(motorID='t4', pin = 4, pwm_output = 0)
#create inu sensors
self.mpu = IMU.Inertia_Measurement_Unit('mpu')
self.lsm = IMU.Inertia_Measurement_Unit('lsm')
#create led output
self.led = Led.Navio2_LED()
class Server:
def __init__(self):
self.PWM = Motor()
self.servo = Servo()
self.led = Led()
self.ultrasonic = Ultrasonic()
self.buzzer = Buzzer()
self.adc = Adc()
self.light = Light()
self.infrared = Line_Tracking()
self.tcp_Flag = True
self.sonic = False
self.Light = False
self.Mode = 'one'
self.endChar = '\n'
self.intervalChar = '#'
def get_interface_ip(self):
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
return socket.inet_ntoa(
fcntl.ioctl(s.fileno(), 0x8915, struct.pack('256s',
b'wlan0'[:15]))[20:24])
def StartTcpServer(self):
HOST = str(self.get_interface_ip())
self.server_socket1 = socket.socket()
self.server_socket1.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEPORT,
1)
self.server_socket1.bind((HOST, 5000))
self.server_socket1.listen(1)
self.server_socket = socket.socket()
self.server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEPORT,
1)
self.server_socket.bind((HOST, 8000))
self.server_socket.listen(1)
print('Server address: ' + HOST)
def StopTcpServer(self):
try:
self.connection.close()
self.connection1.close()
except Exception as e:
print('\n' + "No client connection")
def Reset(self):
self.StopTcpServer()
self.StartTcpServer()
self.SendVideo = Thread(target=self.sendvideo)
self.ReadData = Thread(target=self.readdata)
self.SendVideo.start()
self.ReadData.start()
def send(self, data):
self.connection1.send(data.encode('utf-8'))
def sendvideo(self):
try:
self.connection, self.client_address = self.server_socket.accept()
self.connection = self.connection.makefile('wb')
except:
pass
self.server_socket.close()
try:
with picamera.PiCamera() as camera:
camera.resolution = (400, 300) # pi camera resolution
camera.framerate = 15 # 15 frames/sec
time.sleep(2) # give 2 secs for camera to initilize
start = time.time()
stream = io.BytesIO()
# send jpeg format video stream
print("Start transmit ... ")
for foo in camera.capture_continuous(stream,
'jpeg',
use_video_port=True):
try:
self.connection.flush()
stream.seek(0)
b = stream.read()
length = len(b)
if length > 5120000:
continue
lengthBin = struct.pack('L', length)
self.connection.write(lengthBin)
self.connection.write(b)
stream.seek(0)
stream.truncate()
except Exception as e:
print(e)
print("End transmit ... ")
break
except:
#print "Camera unintall"
pass
def stopMode(self):
try:
stop_thread(self.infraredRun)
self.PWM.setMotorModel(0, 0, 0, 0)
except:
pass
try:
stop_thread(self.lightRun)
self.PWM.setMotorModel(0, 0, 0, 0)
except:
pass
try:
stop_thread(self.ultrasonicRun)
self.PWM.setMotorModel(0, 0, 0, 0)
self.servo.setServoPwm('0', 90)
self.servo.setServoPwm('1', 90)
except:
pass
def readdata(self):
try:
try:
self.connection1, self.client_address1 = self.server_socket1.accept(
)
print("Client connection successful ! ---- SURE?")
except:
print("Client connect failed")
restCmd = ""
self.server_socket1.close()
while True:
try:
AllData = restCmd + self.connection1.recv(1024).decode(
'utf-8')
except:
if self.tcp_Flag:
self.Reset()
break
print('AllData is', AllData)
if len(AllData) < 5:
restCmd = AllData
if restCmd == '' and self.tcp_Flag:
self.Reset()
break
restCmd = ""
if AllData == '':
break
else:
cmdArray = AllData.split("\n")
if (cmdArray[-1] != ""):
restCmd = cmdArray[-1]
cmdArray = cmdArray[:-1]
for oneCmd in cmdArray:
data = oneCmd.split("#")
if data == None:
continue
elif cmd.CMD_MODE in data:
if data[1] == 'one':
self.stopMode()
self.Mode = 'one'
elif data[1] == 'two':
self.stopMode()
self.Mode = 'two'
self.lightRun = Thread(target=self.light.run)
self.lightRun.start()
elif data[1] == 'three':
self.stopMode()
self.Mode = 'three'
self.ultrasonicRun = threading.Thread(
target=self.ultrasonic.run)
self.ultrasonicRun.start()
elif data[1] == 'four':
self.stopMode()
self.Mode = 'four'
self.infraredRun = threading.Thread(
target=self.infrared.run)
self.infraredRun.start()
elif (cmd.CMD_MOTOR in data) and self.Mode == 'one':
print('Data is', data)
try:
data1 = int(data[1])
data2 = int(data[2])
data3 = int(data[3])
data4 = int(data[4])
if data1 == None or data2 == None or data2 == None or data3 == None:
continue
self.PWM.setMotorModel(data1, data2, data3, data4)
except:
pass
elif cmd.CMD_SERVO in data:
try:
data1 = data[1]
data2 = int(data[2])
if data1 == None or data2 == None:
continue
self.servo.setServoPwm(data1, data2)
except:
pass
elif cmd.CMD_LED in data:
try:
data1 = int(data[1])
data2 = int(data[2])
data3 = int(data[3])
data4 = int(data[4])
if data1 == None or data2 == None or data2 == None or data3 == None:
continue
self.led.ledIndex(data1, data2, data3, data4)
except:
pass
elif cmd.CMD_LED_MOD in data:
self.LedMoD = data[1]
if self.LedMoD == '0':
try:
stop_thread(Led_Mode)
except:
pass
self.led.ledMode(self.LedMoD)
time.sleep(0.1)
self.led.ledMode(self.LedMoD)
else:
try:
stop_thread(Led_Mode)
except:
pass
time.sleep(0.1)
Led_Mode = Thread(target=self.led.ledMode,
args=(data[1], ))
Led_Mode.start()
elif cmd.CMD_SONIC in data:
if data[1] == '1':
self.sonic = True
self.ultrasonicTimer = threading.Timer(
0.5, self.sendUltrasonic)
self.ultrasonicTimer.start()
else:
self.sonic = False
elif cmd.CMD_BUZZER in data:
try:
self.buzzer.run(data[1])
except:
pass
elif cmd.CMD_LIGHT in data:
if data[1] == '1':
self.Light = True
self.lightTimer = threading.Timer(
0.3, self.sendLight)
self.lightTimer.start()
else:
self.Light = False
elif cmd.CMD_POWER in data:
ADC_Power = self.adc.recvADC(2) * 3
try:
self.send(cmd.CMD_POWER + '#' + str(ADC_Power) +
'\n')
except:
pass
except Exception as e:
print(e)
self.StopTcpServer()
def sendUltrasonic(self):
if self.sonic == True:
ADC_Ultrasonic = self.ultrasonic.get_distance()
if ADC_Ultrasonic == self.ultrasonic.get_distance():
try:
self.send(cmd.CMD_SONIC + "#" + str(ADC_Ultrasonic) + '\n')
except:
self.sonic = False
self.ultrasonicTimer = threading.Timer(0.13, self.sendUltrasonic)
self.ultrasonicTimer.start()
def sendLight(self):
if self.Light == True:
ADC_Light1 = self.adc.recvADC(0)
ADC_Light2 = self.adc.recvADC(1)
try:
self.send(cmd.CMD_LIGHT + '#' + str(ADC_Light1) + '#' +
str(ADC_Light2) + '\n')
except:
self.Light = False
self.lightTimer = threading.Timer(0.17, self.sendLight)
self.lightTimer.start()
def Power(self):
while True:
ADC_Power = self.adc.recvADC(2) * 3
time.sleep(3)
if ADC_Power < 6.8:
for i in range(4):
self.buzzer.run('1')
time.sleep(0.1)
self.buzzer.run('0')
time.sleep(0.1)
elif ADC_Power < 7:
for i in range(2):
self.buzzer.run('1')
time.sleep(0.1)
self.buzzer.run('0')
time.sleep(0.1)
else:
self.buzzer.run('0')
import time
from Led import *
led=Led()
try:
led.ledIndex(0x01,255,0,0) #Red
led.ledIndex(0x02,255,125,0) #orange
led.ledIndex(0x04,255,255,0) #yellow
led.ledIndex(0x08,0,255,0) #green
led.ledIndex(0x10,0,255,255) #cyan-blue
led.ledIndex(0x20,0,0,255) #blue
led.ledIndex(0x40,128,0,128) #purple
led.ledIndex(0x80,255,255,255) #white'''
print ("The LED has been lit, the color is red orange yellow green cyan-blue blue white")
time.sleep(10) #wait 3s
led.colorWipe(led.strip, Color(0,0,0)) #turn off the light
print ("\nEnd of program")
except KeyboardInterrupt:
led.colorWipe(led.strip, Color(0,0,0)) #turn off the light
print ("\nEnd of program")
from datetime import datetime
import pytz
import time #For time.sleep()
#Log Data
from logData import logData
#24Hours Format
flag =1
while True:
location_india=pytz.timezone('Asia/Kolkata')
time_india=datetime.now(location_india)
timestamp='{:%H:%M}'.format(time_india)
if timestamp>=("6:00") && flag=0:
led_on=Led.LedOn()
air_on=AirPump.AirPumpOn()
flag=1 #LED ON
#logData()
if timestamp==("22:00"):
led_off=Led.LedOff()
air_off=AirPumpOff()
flag=0
#Put if(s) and check time for LED and AirPump
#Add a while loop to hit the sensors and get value
#Call the Display function from Display_oled with time, to display this data. 5 sec each. 20 Seconds gap between every data update
#1
co2ppm=mh_z14.co2()
display("CO2 ppm is",co2ppm,5)
print("CO2 ppm is",co2ppm)
import CmdMessenger
import CmdManager
import Motors
import Gripper
import Led
import SpeedControl
if __name__ == '__main__':
cMes = CmdMessenger.CmdMessenger()
cMes.start()
cMan = CmdManager.CmdManager(cMes)
cMotor = Motors.Motors(cMes, 5)
cMotor.start()
cSpeed = SpeedControl.SpeedControl(cMotor)
gripper = Gripper.Gripper(cMes)
led = Led.Led(cMes)
def Run_Cart4(self):
#------------------------------------------Ultrasonic sensor and Servo Motor Class
self.Ultrasonic = Ultrasonic()
self.LED = Led()
self.Buzzer = Buzzer()
self.Junction = 0
#--------------------------------------------------------------------------------------
while True:
self.Movement_Type = 0
Distance = self.Ultrasonic.get_distance()
IR_Left = GPIO.input(IR01)
IR_Mid = GPIO.input(IR02)
IR_Right = GPIO.input(IR03)
if (Distance > 15.0):
if ((IR_Left == 0) and (IR_Mid == 1) and (IR_Right == 0)):
if (self.Moved_Reverse_New != self.Moved_Reverse_Old):
self.Movement_Type = 11 #Move Reverse
else:
self.Movement_Type = 5 #Move Forward
self.Junction = 0 #Clear the Junction Variable
elif ((IR_Left == 1) and (IR_Mid == 0) and (IR_Right == 0)):
self.Movement_Type = 3 #Take Slight Left
elif ((IR_Left == 1) and (IR_Mid == 1) and (IR_Right == 0)):
self.Movement_Type = 3 #Take Slight Left
elif ((IR_Left == 0) and (IR_Mid == 0) and (IR_Right == 1)):
self.Movement_Type = 7 #Take Slight Right
elif ((IR_Left == 0) and (IR_Mid == 1) and (IR_Right == 1)):
self.Movement_Type = 7 #Take Slight Right
elif ((IR_Mid == 1) and (IR_Left == 1) and (IR_Right == 1)):
if (self.Junction == 0):
self.Movement_Type = self.Mov_According_To_Specified_position(
)
self.Junction = 1
else:
pass
else:
self.Movement_Type = 0 #Stop Movement
self.LED.ledIndex(0x20, 255, 125, 0) #Orange
self.LED.ledIndex(0x40, 255, 125, 0) #Orange
time.sleep(1)
self.LED.ledIndex(0x60, 0, 0, 0)
#Actuate the motors to move cart to the specific Coordinate
self.Move_Cart(self.Movement_Type)
if (self.Is_Intermediate_DestinTion_Reached()):
break
#Number of readings to take. If set to 0 then an infinite number of reeds will be taken
readsToTake = 0
#Delay between reads (seconds)
delay = 60
#get time spamp
timeStamp = datetime.datetime.fromtimestamp(time.time()).strftime('%Y%m%d%H%M%S')
#open log file for writing
#logFile = open("templog-"+timeStamp, "w")
logFileName = "templog-continuous"
#Live Log Path is the ip address and port where the temp_WebServer.py is running.
#Live Log Path is in the format http://127.0.0.1:8000/tempMonitor?"
liveLogPath = "http://server.host.com:8080/tempMonitor?"
redLed = Led(23)
redLed.ledOff()
#####***END CONSTANTS SECTION***#####
"""
Function used to load webpage that records data.
Uses liveLogPath and appends data read in from the sensors.
"""
def writeLiveData(liveLogPath, sensor1, sensor2):
data = "sensor1=" + sensor1 + "&sensor2=" + sensor2
try:
urllib2.urlopen(liveLogPath + data)
except Exception:
return
#####***BEGIN PROGRAM***#####
def __init__(self):
self.led = Led.Led()
self.player = Player2.Player()
self.btManager = BluetoothManager.BluetoothManager(
self.onConnect, self.onDisconnect, self.player.on_property_changed)
self.apds = Apds.Apds()
def test_Led():
led = Led()
try:
#Red wipe
print("\nRed wipe")
led.colorWipe(led.strip, Color(255, 0, 0))
time.sleep(1)
#Green wipe
print("\nGreen wipe")
led.colorWipe(led.strip, Color(0, 255, 0))
time.sleep(1)
#Blue wipe
print("\nBlue wipe")
led.colorWipe(led.strip, Color(0, 0, 255))
time.sleep(1)
#White wipe
print("\nWhite wipe")
led.colorWipe(led.strip, Color(255, 255, 255))
time.sleep(1)
led.colorWipe(led.strip, Color(0, 0, 0)) #turn off the light
print("\nEnd of program")
except KeyboardInterrupt:
led.colorWipe(led.strip, Color(0, 0, 0)) #turn off the light
print("\nEnd of program")
def __init__(self):
self.led = Led()
def led():
Led.LedLamp(26).flikker_bg(5)
return redirect('/')
#Una vez se haya colocado el objeto en el centro, se pulsara el boton para iniciar el escaneo.
def makeScan(code):
#Aqui ira la logica del movimiento del motor 1/8 de la vuelta y tomara una foto.
ThunderBorg_moveStepper.MoveStep(SPR / config.numSteps) #Llama a la libreria de la shield con el controlador de motor y le pasa el parametro de cuanto se tiene que mover.
global actualStep #Declara una variable global que es el paso actual en el que va.
actualStep += 1 #Suma uno a la variable del paso acutal en el que va.
print(actualStep) #Imprime por terminal el paso actual en el que va.
takePicture.takePicture(code,config.loc,actualStep) #Toma una foto con la PiCamera, pasandole el codigo para poner nombre a la imagen, la localizacion de guardado y el paso actual.
print("Starting...") #Al inicio de todo imprime por terminal que la maquina se esta inicializando...
#Aqui inicia el proceso del scanner para detectar el codigo QR
Led.setup()
while True:
if state == 'QR':
#Una vez se detecte el QR se encendera una luz para avisar que fue registrado el QR
# led 1 on, led 2 off
Led.ledOn(1)
Led.ledOff(2)
Led.ledOff(3)
print("Waiting for QR code")
# limpia el buffer de input
tcflush(sys.stdin, TCIFLUSH)
#ESTO HAY QUE CAMBIARLO PARA QUE NO SEA UN NUMERO, SEA UNA URL.
def __init__(self):
print("start main")
self.green_led = Led(GREEN)
self.yellow_led = Led(YELLOW)
self.red_led = Led(RED)
self.detected = False
class FaceLock:
def __init__(self):
print("start main")
self.green_led = Led(GREEN)
self.yellow_led = Led(YELLOW)
self.red_led = Led(RED)
self.detected = False
def run(self):
if self.detect() == True:
self.unlock()
self.green_led.on()
else:
self.lock()
self.red_led.on()
def detect(self):
return False
def failure(self):
self.red_led.blink()
def pending(self):
self.yellow_led.on()
def complete(self):
self.yellow_led.off()
def access(self):
self.green_led.on()
def lock(self):
print("Locked")
def unlock(self):
print("Unlocked")
def __init__(self):
print ("start main")
self.green_led = Led(GREEN)
self.yellow_led = Led(YELLOW)
self.red_led = Led(RED)
self.detected = False
class FaceLock:
def __init__(self):
print ("start main")
self.green_led = Led(GREEN)
self.yellow_led = Led(YELLOW)
self.red_led = Led(RED)
self.detected = False
def run(self):
if self.detect() == True:
self.unlock()
self.green_led.on()
else:
self.lock()
self.red_led.on()
def detect(self):
return False
def failure(self):
self.red_led.blink()
def pending(self):
self.yellow_led.on()
def complete(self):
self.yellow_led.off()
def access(self):
self.green_led.on()
def lock(self):
print("Locked")
def unlock(self):
print("Unlocked")
class LED:
def __init__(self):
self.led = Led()
def LED_on(self, led_ID, Red_Intensity, Blue_Intensity, Green_intensity):
"""
Parameters
----------
led_ID: This is the ID of leds. It can be from 1 to 8
Red_Intensity: 1 to 255, from dimmest to brightest
Blue_Intensity: 1 to 255, from dimmest to brightest
Green_intensity: 1 to 255, from dimmest to brightest
-------
"""
try:
self.led.ledIndex(led_ID, Red_Intensity, Blue_Intensity, Green_intensity)
except KeyboardInterrupt:
self.led.colorWipe(led.strip, Color(0, 0, 0)) ##This is to turn all leds off/
def test_Led(self):
"""
This is to test all leds and do several different leds.
"""
try:
self.led.ledIndex(0x01, 255, 0, 0) # Red
self.led.ledIndex(0x02, 255, 125, 0) # orange
self.led.ledIndex(0x04, 255, 255, 0) # yellow
self.led.ledIndex(0x08, 0, 255, 0) # green
self.led.ledIndex(0x10, 0, 255, 255) # cyan-blue
self.led.ledIndex(0x20, 0, 0, 255) # blue
self.led.ledIndex(0x40, 128, 0, 128) # purple
self.led.ledIndex(0x80, 255, 255, 255) # white'''
print("The LED has been lit, the color is red orange yellow green cyan-blue blue white")
time.sleep(3) # wait 3s
self.led.colorWipe("", Color(0, 0, 0)) # turn off the light
print("\nEnd of program")
except KeyboardInterrupt:
self.led.colorWipe("", Color(0, 0, 0)) # turn off the light
print("\nEnd of program")
def leds_off(self):
self.led.colorWipe("", Color(0, 0, 0)) ##This is to turn all leds off/
def __init__(self): self.lcd = Lcd.__init__() self.green = Led.__init__() self.red = Led.__init__()
class localKeyboard:
def __init__(self):
self.headUpDownAngle = 90
self.headLeftRightAngle = 90
self.PWM = Motor()
self.servo = Servo()
self.horn = Buzzer()
self.speed = 1000
# corrected servo positions
# adjust these to suit your car
# so head is front and centre at start
self.headLRcorrect = -3
self.headUDcorrect = 4
self.reset_head()
self.selector = DefaultSelector()
# set true for mecanum wheels
self.mecanum = False
self.useLights = True
self.led = Led()
self.mouse = evdev.InputDevice('/dev/input/event1')
self.keybd = evdev.InputDevice('/dev/input/event0')
self.readingKeys = False
self.led.colorWipe(self.led.strip, Color(0,0,0),0)
self.brake = False
self.reverse = False
self.indicating = False
self.leftTurn = False
self.rightTurn = False
self.moving = False
self.indi_time = datetime.now()
self.indi_off = True
self.brake_time = datetime.now()
self.brake_off = True
atexit.register(self.keybd.ungrab) # Don't forget to ungrab the keyboard on exit!
atexit.register(self.mouse.ungrab)
self.keybd.grab() # Grab, i.e. prevent the keyboard from emitting original events.#
self.mouse.grab()
# This works because InputDevice has a `fileno()` method.
self.selector.register(self.mouse, EVENT_READ)
self.selector.register(self.keybd, EVENT_READ)
def read_keys_loop(self):
self.readingKeys = True
while self.readingKeys:
self.read_keys()
# only manage lights after a key press so brake lights, if on,
# will stay on until next key event
if self.useLights: self.manage_lights()
def manage_lights(self):
# indicators
if not self.indicating and not self.reverse:
self.led.colorWipe(self.led.strip, Color(0,0,0),0)
else:
if self.indicating:
if (datetime.now() - self.indi_time).microseconds > 250000:
self.indi_off = not self.indi_off
self.indi_time = datetime.now()
if self.indi_off:
if self.leftTurn:
self.led.strip.setPixelColor(2, Color(125,85,0) )
self.led.strip.setPixelColor(5, Color(125,85,0) )
if self.rightTurn:
self.led.strip.setPixelColor(1, Color(125,85,0) )
self.led.strip.setPixelColor(6, Color(125,85,0) )
self.led.strip.show()
else:
self.led.colorWipe(self.led.strip, Color(0,0,0),0)
if self.reverse:
self.led.strip.setPixelColor(1, Color(255,255,255) )
self.led.strip.setPixelColor(2, Color(255,255,255) )
self.led.strip.show()
if self.brake:
self.brake = False
if self.brake_off:
self.brake_off = False
self.brake_time = datetime.now()
self.led.strip.setPixelColor(1, Color(255,0,0) )
self.led.strip.setPixelColor(2, Color(255,0,0) )
self.led.strip.show()
if not self.brake_off:
#this is a minimum time on, they stay on until next key press
if (datetime.now() - self.brake_time).microseconds > 250000:
self.led.colorWipe(self.led.strip, Color(0,0,0),0)
self.brake = False
self.brake_off = True
def read_keys(self):
for key, mask in self.selector.select():
device =key.fileobj
for event in device.read():
if event.type == evdev.ecodes.EV_KEY:
# print("key press")
# print(evdev.ecodes.bytype[evdev.ecodes.EV_KEY][event.code])
if event.value == 1 or event.value == 2:
self.key_press(event, self.keybd)
elif event.value == 0:
self.drive_stop()
elif event.type == evdev.ecodes.EV_REL:
if event.code == evdev.ecodes.REL_X:
if event.value < 0:
self.head_left()
else:
self.head_right()
if event.code == evdev.ecodes.REL_Y:
if event.value < 0:
self.head_down()
else:
self.head_up()
else:
pass
#print(event)
def key_press(self, ev, kbd):
if (ev.value == 1 or ev.value == 2): # 1 PRESS or 2 HOLD
# EVENTS CALLED ON PRESS AND ON HOLD
# HEAD POSITION
if ev.code == evdev.ecodes.KEY_Z: self.head_down()
elif ev.code == evdev.ecodes.KEY_A: self.head_left()
elif ev.code == evdev.ecodes.KEY_S: self.head_right()
elif ev.code == evdev.ecodes.KEY_W: self.head_up()
# HORN
elif ev.code == evdev.ecodes.KEY_T: self.toot()
# not interested in any other held keys
elif ev.value == 2: pass
#EVENTS THAT SHOULD ONLY BE CALLED ON PRESS AND NOT HOLD
# SPEED SETTING
elif ev.code == evdev.ecodes.KEY_1: self.speed = 1000
elif ev.code == evdev.ecodes.KEY_2: self.speed = 1200
elif ev.code == evdev.ecodes.KEY_3: self.speed = 1400
elif ev.code == evdev.ecodes.KEY_4: self.speed = 1700
elif ev.code == evdev.ecodes.KEY_5: self.speed = 2000
elif ev.code == evdev.ecodes.KEY_6: self.speed = 2400
elif ev.code == evdev.ecodes.KEY_7: self.speed = 2800
elif ev.code == evdev.ecodes.KEY_8: self.speed = 3200
elif ev.code == evdev.ecodes.KEY_9: self.speed = 3600
elif ev.code == evdev.ecodes.KEY_0: self.speed = 4000
# DRIVE FUNCTIONS
elif ev.code == evdev.ecodes.KEY_UP: self.drive_forward()
elif ev.code == evdev.ecodes.KEY_DOWN: self.drive_backward()
elif ev.code == evdev.ecodes.KEY_LEFT: self.turn_left()
elif ev.code == evdev.ecodes.KEY_RIGHT: self.turn_right()
elif ev.code == evdev.ecodes.KEY_COMMA: self.crab_left()
elif ev.code == evdev.ecodes.KEY_DOT: self.crab_right()
elif ev.code == evdev.ecodes.KEY_SEMICOLON: self.diag_right()
elif ev.code == evdev.ecodes.KEY_K: self.diag_left()
elif ev.code == evdev.ecodes.KEY_SLASH: self.diag_rev_right()
elif ev.code == evdev.ecodes.KEY_M: self.diag_rev_left()
elif ev.code == evdev.ecodes.KEY_U: self.curve_right()
elif ev.code == evdev.ecodes.KEY_Y: self.curve_left()
elif ev.code == evdev.ecodes.KEY_J: self.curve_rev_right()
elif ev.code == evdev.ecodes.KEY_H: self.curve_rev_left()
# USE OR DONT USE LIGHTS
elif ev.code == evdev.ecodes.KEY_L:
self.useLights = not self.useLights
if not self.useLights: self.led.colorWipe(self.led.strip, Color(0,0,0),0)
# RESET TO START STATE
elif ev.code == evdev.ecodes.KEY_HOME: #RESET TO START STATE
self.drive_stop()
self.servo.setServoPwm('0', int(self.headLeftRightAngle))
self.servo.setServoPwm('1', int(self.headUpDownAngle))
self.speed = 1000
self.led.colorWipe(self.led.strip, Color(0,0,0),0)
# PROG FUNCTIONS
elif ev.code == evdev.ecodes.KEY_LEFTMETA: self.close()
elif ev.code == evdev.ecodes.KEY_END: self.shutdown_pi()
elif ev.code == evdev.ecodes.KEY_SYSRQ: self.reboot_pi()
else:
print("UNUSED KEY CODE")
print(evdev.ecodes.bytype[evdev.ecodes.EV_KEY][ev.code])
if ev.value == 0:
self.drive_stop()
# flush backed up key presses
while kbd.read_one() is not None:
if ev.value == 0 :
self.drive_stop()
def close(self):
self.readingKeys = False
self.selector.unregister(self.mouse)
self.selector.unregister(self.keybd)
self.led.colorWipe(self.led.strip, Color(0,0,0),0)
# kbd should be ungrabbed by atexit
# but belt and braces
try:
self.keybd.ungrab
self.mouse.ungrab
except:
pass
sys.exit()
def shutdown_pi(self):
self.readingKeys = False
self.toot()
time.sleep(0.2)
self.toot()
call("sudo nohup shutdown -h now", shell=True)
def reboot_pi(self):
self.readingKeys = False
self.toot()
call("sudo nohup reboot", shell=True)
def toot(self):
self.horn.run('1')
time.sleep(0.2)
self.horn.run('0')
def drive_forward(self):
self.moving = True
PWM.setMotorModel(self.speed, self.speed, self.speed, self.speed)
def turn_left(self):
self.moving = True
self.indicating = True
self.leftTurn = True
self.rightTurn = False
PWM.setMotorModel(-self.speed, -self.speed, self.speed, self.speed)
def drive_backward(self):
self.moving = True
self.reverse = True
PWM.setMotorModel(-self.speed, -self.speed, -self.speed, -self.speed)
def turn_right(self):
self.moving = True
self.indicating = True
self.leftTurn = False
self.rightTurn = True
PWM.setMotorModel(self.speed, self.speed, -self.speed, -self.speed)
def curve_left(self, biasPcent=20):
self.moving = True
PWM.setMotorModel(int(self.speed * (100 - biasPcent) / 100), int(self.speed * (100 - biasPcent) / 100),
int(self.speed * (100 + biasPcent) / 100), int(self.speed * (100 + biasPcent) / 100))
def curve_right(self, biasPcent=20):
self.moving = True
PWM.setMotorModel(int(self.speed * (100 + biasPcent) / 100), int(self.speed * (100 + biasPcent) / 100),
int(self.speed * (100 - biasPcent) / 100), int(self.speed * (100 - biasPcent) / 100))
def curve_rev_left(self, biasPcent=20):
self.moving = True
self.reverse = True
PWM.setMotorModel(-int(self.speed * (100 - biasPcent) / 100), -int(self.speed * (100 - biasPcent) / 100),
-int(self.speed * (100 + biasPcent) / 100), -int(self.speed * (100 + biasPcent) / 100))
def curve_rev_right(self, biasPcent=20):
self.moving = True
self.reverse = True
PWM.setMotorModel(-int(self.speed * (100 + biasPcent) / 100), -int(self.speed * (100 + biasPcent) / 100),
-int(self.speed * (100 - biasPcent) / 100), -int(self.speed * (100 - biasPcent) / 100))
def crab_left(self): #REQUIRES MECANUM WHEELS
if self.mecanum:
self.moving = True
self.indicating = True
self.leftTurn = True
self.rightTurn = False
PWM.setMotorModel(-self.speed, self.speed, self.speed, -self.speed)
def crab_right(self): #REQUIRES MECANUM WHEELS
if self.mecanum:
self.moving = True
self.indicating = True
self.leftTurn = False
self.rightTurn = True
PWM.setMotorModel(self.speed, -self.speed, -self.speed, self.speed)
def diag_right(self): #REQUIRES MECANUM WHEELS
if self.mecanum:
self.moving = True
PWM.setMotorModel(self.speed, 0, 0, self.speed)
def diag_left(self): #REQUIRES MECANUM WHEELS
if self.mecanum:
self.moving = True
PWM.setMotorModel(0, self.speed, self.speed, 0)
def diag_rev_left(self): #REQUIRES MECANUM WHEELS
if self.mecanum:
self.moving = True
self.reverse = True
PWM.setMotorModel(-self.speed, 0, 0, -self.speed)
def diag_rev_right(self): #REQUIRES MECANUM WHEELS
if self.mecanum:
self.moving = True
self.reverse = True
PWM.setMotorModel(0, -self.speed, -self.speed, 0)
def drive_stop(self):
if self.moving:
self.brake = True
self.moving = False
PWM.setMotorModel(0, 0, 0, 0)
self.reverse = False
self.indicating = False
self.leftTurn = False
self.rightTurn = False
def head_up(self):
self.headUpDownAngle += 1
if self.headUpDownAngle > 180 + self.headUDcorrect:
self.headUpDownAngle = 180 + self.headUDcorrect
self.servo.setServoPwm('1', self.headUpDownAngle)
# print("Up/down " + str(self.headUpDownAngle))
def head_down(self):
self.headUpDownAngle -= 1
if self.headUpDownAngle < 80 + self.headUDcorrect:
self.headUpDownAngle = 80 + self.headUDcorrect
self.servo.setServoPwm('1', self.headUpDownAngle)
# print("Up/down " + str(self.headUpDownAngle))
def head_left(self):
self.headLeftRightAngle -= 1
if self.headLeftRightAngle < 10 + self.headLRcorrect:
self.headLeftRightAngle = 10 + self.headLRcorrect
self.servo.setServoPwm('0', self.headLeftRightAngle)
# print("Left/Right " + str(self.headLeftRightAngle))
def head_LRpos(self, angle):
# print("Move head to " + str(self.headLeftRightAngle))
self.headLeftRightAngle = angle + self.headLRcorrect
self.servo.setServoPwm('0', self.headLeftRightAngle)
def head_right(self):
self.headLeftRightAngle += 1
if self.headLeftRightAngle > 170 + self.headLRcorrect:
self.headLeftRightAngle = 170 + self.headLRcorrect
self.servo.setServoPwm('0', self.headLeftRightAngle)
# print("Left/Right " + str(self.headLeftRightAngle))
def reset_head(self):
self.headLeftRightAngle = 90 + self.headLRcorrect
self.headUpDownAngle = 90 + self.headUDcorrect
self.servo.setServoPwm('0', int(self.headLeftRightAngle))
self.servo.setServoPwm('1', int(self.headUpDownAngle))
test_images = [
('01.jpg', [
1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0,
1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0
]),
('02.jpg', [1, 1, 1, 0, 1, 1, 0, 0]), # is tail 0,0 or 0,0,1?
('03.jpg', [0, 1, 1, 1, 0, 1, 1]),
('04.jpg', [1, 1, 0, 1, 1, 0, 0, 1])
]
start_time = time.time()
print 'Slow algorithm'
for test_image in test_images:
image_original = cv2.imread('img_in' + os.sep + test_image[0])
led = ll.Led(image_original)
counted_array = led.getCode()
if cmp(counted_array, test_image[1]) != 0:
print 'Error in decoding {}:'.format(test_image[0])
print 'correct:', test_image[1]
print 'counted:', counted_array
else:
print test_image[0] + ' is correct!'
print("--- %s seconds ---" % (time.time() - start_time))
# test fast method
start_time = time.time()
print '\nFast algorithm'
for test_image in test_images:
img_gray = cv2.imread('img_in' + os.sep + test_image[0], 0)
counted_array = ll.Led.getCodeFast(img_gray)
def TurnOn(self,color):
L.send(self.findledVal(),color)
class SPUG:
def Initialize_Values(self):
#Itial position
self.x_init = 0
self.y_init = 0
#Product Location Positions
self.x_pro_des = 3 #Test Initialization
self.y_pro_des = 3 #Test Initialization
#Intermediate Destination Positions
self.x_inter_des = 3 #Test Initialization
self.y_inter_des = 3 #Test Initialization
#Local Position of the SPUG
self.l_x = 0
self.l_y = 0
#SPUG Starts at Coordinate [0 ,0] facing North
self.Orientation = "North"
#SPUG Number
self.Cart_Number = 4
#Variable to calculate the Position of SPUG after movement
self.Moved_Straight_New = 0
self.Moved_Straight_Old = 0
self.Moved_Reverse_New = 0
self.Moved_Reverse_Old = 0
self.Moved_Left_New = 0
self.Moved_Left_Old = 0
self.Moved_Right_New = 0
self.Moved_Right_Old = 0
#Total moves made by SPUG
self.Total_Moves = 0
#Intermediate Position Reached by SPUG
self.Inter_Target_Reached = 0
#Product Location Reached by SPUG
self.Product_Des_Reached = 0
#SPUG presesnt at junction
self.Junction = 0
#SPUG at [0 ,0] coordinate:
# 0 - Present at [0,0] coordinate
# 1 - Not pressent at [0,0] coordinate
self.IntialJunction = 0
#Function to set the intermediate coordinates to navigate SPUG
def Set_intermediate_destnation_position(self, x_destination,
y_destnation):
self.x_inter_des = x_destination
self.y_inter_des = y_destnation
self.Inter_Target_Reached = 0
#Function to set the Product locations to message the server if the product location is reached
def Set_product_destnation_position(self, x_destination, y_destnation):
self.x_pro_des = x_destination
self.y_pro_des = y_destnation
self.Product_Des_Reached = 0
#Function to get the current coordinates of SPUG
def Get_curent_position(self):
return self.l_x, self.l_y
#Function to get if Intermediate position is reached
def Is_Intermediate_DestinTion_Reached(self):
return self.Inter_Target_Reached
#Function to get if Product location is reached
def Is_Product_DestinTion_Reached(self):
return self.Product_Des_Reached
#Function to update the coordinates and get the direction to move
def Mov_According_To_Specified_position(self):
#Intial Position Before Movement
self.x_init = self.l_x
self.y_init = self.l_y
#Do not update the coordinates for the first junction
if (self.IntialJunction != 0):
Coordinates_Updated = 0
#Code for updating the co-ordinates
if (self.Moved_Straight_New != self.Moved_Straight_Old):
if (self.Orientation == "North"):
self.l_x = self.l_x
self.l_y = self.l_y + 1
elif (self.Orientation == "South"):
self.l_x = self.l_x
self.l_y = self.l_y - 1
elif (self.Orientation == "East"):
self.l_x = self.l_x + 1
self.l_y = self.l_y
elif (self.Orientation == "West"):
self.l_x = self.l_x - 1
self.l_y = self.l_y
Coordinates_Updated = 1
elif (self.Moved_Reverse_New != self.Moved_Reverse_Old):
if (self.Orientation == "North"):
self.l_x = self.l_x
self.l_y = self.l_y - 1
elif (self.Orientation == "South"):
self.l_x = self.l_x
self.l_y = self.l_y + 1
elif (self.Orientation == "East"):
self.l_x = self.l_x - 1
self.l_y = self.l_y
elif (self.Orientation == "West"):
self.l_x = self.l_x + 1
self.l_y = self.l_y
Coordinates_Updated = 1
elif (self.Moved_Left_New != self.Moved_Left_Old):
if (self.Orientation == "North"):
self.l_x = self.l_x - 1
self.l_y = self.l_y
self.Orientation = 'West'
elif (self.Orientation == "South"):
self.l_x = self.l_x + 1
self.l_y = self.l_y
self.Orientation = 'East'
elif (self.Orientation == "East"):
self.l_x = self.l_x
self.l_y = self.l_y + 1
self.Orientation = 'North'
elif (self.Orientation == "West"):
self.l_x = self.l_x
self.l_y = self.l_y - 1
self.Orientation = 'South'
Coordinates_Updated = 1
elif (self.Moved_Right_New != self.Moved_Right_Old):
if (self.Orientation == "North"):
self.l_x = self.l_x + 1
self.l_y = self.l_y
self.Orientation = 'East'
elif (self.Orientation == "South"):
self.l_x = self.l_x - 1
self.l_y = self.l_y
self.Orientation = 'West'
elif (self.Orientation == "East"):
self.l_x = self.l_x
self.l_y = self.l_y - 1
self.Orientation = 'South'
elif (self.Orientation == "West"):
self.l_x = self.l_x
self.l_y = self.l_y + 1
self.Orientation = 'North'
Coordinates_Updated = 1
if (Coordinates_Updated != 0):
self.Total_Moves = self.Total_Moves + 1
self.Moved_Straight_New = self.Moved_Straight_Old
self.Moved_Reverse_New = self.Moved_Reverse_Old
self.Moved_Left_New = self.Moved_Left_Old
self.Moved_Right_New = self.Moved_Right_Old
#Calculate the next move
if (self.Orientation == "North"):
if ((self.y_inter_des - self.l_y) > 0):
self.Moved_Straight_New = self.Moved_Straight_Old + 1
ret = 5 #Straight
elif ((self.x_inter_des - self.l_x) > 0):
self.Moved_Right_New = self.Moved_Right_Old + 1
ret = 9 #Right
elif ((self.x_inter_des - self.l_x) < 0):
self.Moved_Left_New = self.Moved_Left_Old + 1
ret = 1 #Left
elif ((self.y_inter_des - self.l_y) < 0):
self.Moved_Reverse_New = self.Moved_Reverse_Old + 1
ret = 11 #Reverse
elif ((self.y_inter_des == self.l_y)
and (self.x_inter_des == self.l_x)):
ret = 0 #Stop
elif (self.Orientation == "South"):
if ((self.y_inter_des - self.l_y) < 0):
self.Moved_Straight_New = self.Moved_Straight_Old + 1
ret = 5 #Straight
elif ((self.x_inter_des - self.l_x) < 0):
self.Moved_Right_New = self.Moved_Right_Old + 1
ret = 9 #Right
elif ((self.x_inter_des - self.l_x) > 0):
self.Moved_Left_New = self.Moved_Left_Old + 1
ret = 1 #Left
elif ((self.y_inter_des - self.l_y) > 0):
self.Moved_Reverse_New = self.Moved_Reverse_Old + 1
ret = 11 #Reverse
elif ((self.y_inter_des == self.l_y)
and (self.x_inter_des == self.l_x)):
ret = 0 #Stop
elif (self.Orientation == "East"):
if ((self.x_inter_des - self.l_x) > 0):
self.Moved_Straight_New = self.Moved_Straight_Old + 1
ret = 5 #Straight
elif ((self.y_inter_des - self.l_y) < 0):
self.Moved_Right_New = self.Moved_Right_Old + 1
ret = 9 #Right
elif ((self.y_inter_des - self.l_y) > 0):
self.Moved_Left_New = self.Moved_Left_Old + 1
ret = 1 #Left
elif ((self.x_inter_des - self.l_x) < 0):
self.Moved_Reverse_New = self.Moved_Reverse_Old + 1
ret = 11 #Reverse
elif ((self.y_inter_des == self.l_y)
and (self.x_inter_des == self.l_x)):
ret = 0 #Stop
elif (self.Orientation == "West"):
if ((self.x_inter_des - self.l_x) < 0):
self.Moved_Straight_New = self.Moved_Straight_Old + 1
ret = 5 #Straight
elif ((self.y_inter_des - self.l_y) > 0):
self.Moved_Right_New = self.Moved_Right_Old + 1
ret = 9 #Right
elif ((self.y_inter_des - self.l_y) < 0):
self.Moved_Left_New = self.Moved_Left_Old + 1
ret = 1 #Left
elif ((self.x_inter_des - self.l_x) > 0):
self.Moved_Reverse_New = self.Moved_Reverse_Old + 1
ret = 11 #Reverse
elif ((self.y_inter_des == self.l_y)
and (self.x_inter_des == self.l_x)):
ret = 0 #Stop
#Set the inital junction value to 1
self.IntialJunction = 1
#Update if the intermediate position is reached
if ((self.y_inter_des == self.l_y) and (self.x_inter_des == self.l_x)):
self.Inter_Target_Reached = 1
else:
self.Inter_Target_Reached = 0
#Update if the product location coordinate is reached
if ((self.y_pro_des == self.l_y) and (self.x_pro_des == self.l_x)):
self.Product_Des_Reached = 1
else:
self.Product_Des_Reached = 0
#------------------------------------------------------------------------------------------------------------------------
#--------------------Print data for debugging-------------------------------------------------------------------------
print("Orientation - %s" % self.Orientation)
print("X Coordinate - %d " % self.l_x)
print("Y Coordinate - %d " % self.l_y)
print("Intermediate Destination Reached - %d " %
self.Inter_Target_Reached)
print("Product Destination Reached - %d " % self.Product_Des_Reached)
print("Total Moves - %d " % self.Total_Moves)
#------------------------------------------------------------------------------------------------------------------------
#----------------------Write data into Google Firebase Cloud Database-------------------------------------------------
# Create a dictionary to store the data before sending to the database
data_to_upload = {
'Time': time.ctime(),
'Current X Coordinate': self.l_x,
'Current Y Coordinate': self.l_y,
'Intermed Destination X': self.x_inter_des,
'Intermed Destination Y': self.y_inter_des,
'Product Destination X': self.x_pro_des,
'Product Destination Y': self.y_pro_des,
'Movement': ret,
'Orientation': self.Orientation,
'Intermed Destination Reached': self.Inter_Target_Reached,
'Product Destination Reached': self.Product_Des_Reached,
'Total Moves': self.Total_Moves
}
#Post the data to the appropriate folder/branch within your database
result = FBConn.post('/Cart4/SPUG_PI2PC_Coordinates_Data/',
data_to_upload)
#------------------------------------------------------------------------------------------------------------------------
#----------------------------------------Send MQTT Path Occupy Message-------------------------------------------------
client = mqtt.Client("RaspBerry_PI_1") #create new instance
client.connect('192.168.1.9', 1883, 70) #connect to broker
client.loop_start()
message1 = {
"X": str(self.x_inter_des),
"Y": str(str(self.y_inter_des))
}
msg1 = json.dumps(message1)
client.publish("pointOccupy/", msg1, 2)
time.sleep(0.1)
print("Point Occupy message Sent from Pi :" + time.ctime() + " " +
msg1)
#------------------------------------------------------------------------------------------------------------------------
#----------------------------------------Send MQTT Path Un-Occupy Message-------------------------------------------------
if (self.Is_Intermediate_DestinTion_Reached()):
client = mqtt.Client("RaspBerry_PI_2") #create new instance
client.connect('192.168.1.9', 1883, 70) #connect to broker
client.loop_start()
message2 = {
"X": str(self.x_inter_des),
"Y": str(str(self.y_inter_des))
}
msg2 = json.dumps(message2)
client.publish("pointUnoccupy/", msg2, 2)
time.sleep(0.1)
print("Point Un-Occupy message Sent from Pi :" + time.ctime() +
" " + msg2)
#-------------------------------------------------------------------------------------------------------------------------
#----------------------------------------Send MQTT Item Purchased Message-------------------------------------------------
if (self.Is_Product_DestinTion_Reached()):
client = mqtt.Client("RaspBerry_PI_3") #create new instance
client.connect('192.168.1.9', 1883, 70) #connect to broker
client.loop_start()
message3 = { "itemPurchasedX" : str(self.l_x), "itemPurchasedY" : str(self.l_y), \
"cartName" : "cart"+str(self.Cart_Number)}
msg3 = json.dumps(message3)
client.publish("item/", msg3, 2)
time.sleep(0.1)
print("Item Purchased message Sent from Pi :" + time.ctime() +
" " + msg3)
self.LED.ledIndex(0xFF, 0, 0, 0) # Switch off all LED's
self.Buzzer.run('1')
time.sleep(0.5)
self.Buzzer.run('0')
#---------------------------------------------------------------------------------------------------------------------
#Return Value from the Calculations
return int(ret)
def Move_Cart(self, l_Movement_Type):
if (l_Movement_Type == 5):
self.LED.ledIndex(0xFF, 0, 0, 0) #Turn Off
self.LED.ledIndex(0xF0, 0, 255, 0) #Green
#PWM.setMotorModel(800,800,800,800)
#time.sleep(0.1)
#PWM.setMotorModel(0,0,0,0)
elif (l_Movement_Type == 1):
self.LED.ledIndex(0xFF, 0, 0, 0) #Turn Off
self.LED.ledIndex(0x3C, 0, 255, 0) #Green
#PWM.setMotorModel(-2000,-2000,4000,4000)
#time.sleep(0.2)
elif (l_Movement_Type == 3):
self.LED.ledIndex(0xFF, 0, 0, 0) #Turn Off
self.LED.ledIndex(0x3C, 0, 0, 0) #Green
#PWM.setMotorModel(-1200,-1200,2000,2000)
#time.sleep(0.2)
elif (l_Movement_Type == 7):
self.LED.ledIndex(0xFF, 0, 0, 0) #Turn Off
self.LED.ledIndex(0xC3, 0, 0, 0) #Green
#PWM.setMotorModel(2000,2000,-1200,-1200)
#time.sleep(0.2)
elif (l_Movement_Type == 9):
self.LED.ledIndex(0xFF, 0, 0, 0) #Turn Off
self.LED.ledIndex(0xC3, 0, 255, 0) #Green
#PWM.setMotorModel(4000,4000,-2000,-2000)
#time.sleep(0.5)
elif (l_Movement_Type == 11):
self.LED.ledIndex(0xFF, 0, 0, 0) #Turn Off
self.LED.ledIndex(0x0F, 0, 255, 0) #Green
#PWM.setMotorModel(-600,-600,-600,-600)
elif (l_Movement_Type == 0):
time.sleep(0.001)
#PWM.setMotorModel(0,0,0,0)
def Run_Cart4(self):
#------------------------------------------Ultrasonic sensor and Servo Motor Class
self.Ultrasonic = Ultrasonic()
self.LED = Led()
self.Buzzer = Buzzer()
self.Junction = 0
#--------------------------------------------------------------------------------------
while True:
self.Movement_Type = 0
Distance = self.Ultrasonic.get_distance()
IR_Left = GPIO.input(IR01)
IR_Mid = GPIO.input(IR02)
IR_Right = GPIO.input(IR03)
if (Distance > 15.0):
if ((IR_Left == 0) and (IR_Mid == 1) and (IR_Right == 0)):
if (self.Moved_Reverse_New != self.Moved_Reverse_Old):
self.Movement_Type = 11 #Move Reverse
else:
self.Movement_Type = 5 #Move Forward
self.Junction = 0 #Clear the Junction Variable
elif ((IR_Left == 1) and (IR_Mid == 0) and (IR_Right == 0)):
self.Movement_Type = 3 #Take Slight Left
elif ((IR_Left == 1) and (IR_Mid == 1) and (IR_Right == 0)):
self.Movement_Type = 3 #Take Slight Left
elif ((IR_Left == 0) and (IR_Mid == 0) and (IR_Right == 1)):
self.Movement_Type = 7 #Take Slight Right
elif ((IR_Left == 0) and (IR_Mid == 1) and (IR_Right == 1)):
self.Movement_Type = 7 #Take Slight Right
elif ((IR_Mid == 1) and (IR_Left == 1) and (IR_Right == 1)):
if (self.Junction == 0):
self.Movement_Type = self.Mov_According_To_Specified_position(
)
self.Junction = 1
else:
pass
else:
self.Movement_Type = 0 #Stop Movement
self.LED.ledIndex(0x20, 255, 125, 0) #Orange
self.LED.ledIndex(0x40, 255, 125, 0) #Orange
time.sleep(1)
self.LED.ledIndex(0x60, 0, 0, 0)
#Actuate the motors to move cart to the specific Coordinate
self.Move_Cart(self.Movement_Type)
if (self.Is_Intermediate_DestinTion_Reached()):
break
import time
from Led import *
from servo import *
from Motor import *
led = Led()
def test_Led():
try:
led.ledIndex(0x01, 255, 0, 0) #Red
led.ledIndex(0x02, 255, 125, 0) #orange
led.ledIndex(0x04, 255, 255, 0) #yellow
led.ledIndex(0x08, 0, 255, 0) #green
led.ledIndex(0x10, 0, 255, 255) #cyan-blue
led.ledIndex(0x20, 0, 0, 255) #blue
led.ledIndex(0x40, 128, 0, 128) #purple
led.ledIndex(0x80, 255, 255, 255) #white'''
print "The LED has been lit, the color is red orange yellow green cyan-blue blue white"
time.sleep(3) #wait 3s
led.colorWipe(led.strip, Color(0, 0, 0)) #turn off the light
print "\nEnd of program"
except KeyboardInterrupt:
led.colorWipe(led.strip, Color(0, 0, 0)) #turn off the light
print "\nEnd of program"
PWM = Motor()
def test_Motor():
print('Initialize motor control...')
myEngine = Motor.Motor()
print('Initialize servo control ... ')
myServo = ServoControl(debug = True)
print('Initialize Buzzer Driver...')
myBuzzer = Buzzer.Buzzer()
print('Initialize ADC Driver...')
myAdc = ADC.Adc()
Thread_Monitor = threading.Thread(target = monitorBattery, args=[myAdc, myBuzzer])
Thread_Monitor.start()
print('Initialize LED Driver...')
myLed = Led.Led()
try:
print('Center camera head...')
myServo.center()
time.sleep(2)
print('Enter 50ms control loop...')
disableMotor = False
while True:
# 1st stick controls the wheel motors
stick1_hor = myPad.get_axis_scaled(0)
stick1_ver = myPad.get_axis_scaled(1)
if not disableMotor:
process_stick1(stick1_hor, stick1_ver, myEngine)
else: