def close(self):
# Run this when ending the main python script
print("Robot| Closing Robot Thread")
# Safely close main threads
# self.stopped = True
# self.mainThread.join(2)
# In case the thread didn't close, use the lock when closing up
with self.actionLock:
self.LWheel.close()
self.RWheel.close()
self.camera.close()
RoboHat.cleanup()
def __init__(self):
RoboHat.init()
self.actionLock = RLock()
# Hardware
self.LWheel = Wheel(Const.leftWheelPinA, Const.leftWheelPinB,
Const.leftEncoderPinA, Const.leftEncoderPinB)
self.RWheel = Wheel(Const.rightWheelPinA, Const.rightWheelPinB,
Const.rightEncoderPinA, Const.rightEncoderPinB)
self.camera = PanTiltPiCamera(Const.cameraPanPin, Const.cameraTiltPin)
# Behaviors
self.behavior = FollowLine(self)
# Threading
self.stopped = False
import time
from HardwareLibs import RoboHat
RoboHat.init()
try:
while True:
dist = RoboHat.getDistance()
print "Distance: ", int(dist)
time.sleep(1)
except KeyboardInterrupt:
print
pass
finally:
RoboHat.cleanup()
return chr(0x10 + ord(c3) - 65) # 16=Up, 17=Down, 18=Right, 19=Left arrows
# End of single character reading
#======================================================================
speed = 60
print "Tests the motors by using the arrow keys to control"
print "Use , or < to slow down"
print "Use . or > to speed up"
print "Speed changes take effect when the next arrow key is pressed"
print "Press Ctrl-C to end"
print
RoboHat.init()
# main loop
try:
while True:
keyp = readkey()
if keyp == 'w' or ord(keyp) == 16:
RoboHat.forward(speed)
print 'Forward', speed
elif keyp == 'z' or ord(keyp) == 17:
RoboHat.reverse(speed)
print 'Reverse', speed
elif keyp == 's' or ord(keyp) == 18:
RoboHat.spinRight(speed)
print 'Spin Right', speed
elif keyp == 'a' or ord(keyp) == 19:
def doServos():
RoboHat.setServo(pan, pVal)
RoboHat.setServo(tilt, tVal)
def readkey(getchar_fn=None):
getchar = getchar_fn or readchar
c1 = getchar()
if ord(c1) != 0x1b:
return c1
c2 = getchar()
if ord(c2) != 0x5b:
return c1
c3 = getchar()
return chr(0x10 + ord(c3) - 65) # 16=Up, 17=Down, 18=Right, 19=Left arrows
# End of single character reading
#======================================================================
RoboHat.init()
#print "Robohat version: ", robohat.version()
def doServos():
RoboHat.setServo(pan, pVal)
RoboHat.setServo(tilt, tVal)
print "Use Arrows or W-Up, Z-Down, A-Left, S-Right Space=Centre, ^C=Exit:"
try:
while True:
key = readkey()
if key == ' ':
tVal = 0
import time
from HardwareLibs import RoboHat
RoboHat.init()
try:
lastL = RoboHat.irLeft()
lastR = RoboHat.irRight()
lastLineL = RoboHat.irLeftLine()
lastLineR = RoboHat.irRightLine()
print 'Left, Right, LeftLine, RightLine:', lastL, lastR, lastLineL, lastLineR
print
while True:
newL = RoboHat.irLeft()
newR = RoboHat.irRight()
newLineL = RoboHat.irLeftLine()
newLineR = RoboHat.irRightLine()
if (newL != lastL) or (newR != lastR) or (newLineL != lastLineL) or (
newLineR != lastLineR):
print 'Left, Right, LeftLine, RightLine:', newL, newR, newLineL, newLineR
print
lastL = newL
lastR = newR
lastLineL = newLineL
lastLineR = newLineR
time.sleep(0.1)
except KeyboardInterrupt:
print