def __init__(self):
self.us = Ultrasound()
try:
p = subprocess.Popen(['pidof','raspberry_pi_camera_streamer'], stdout=subprocess.PIPE)
out,err = p.communicate()
pid = int(out.strip('\n'))
os.kill(pid,signal.SIGKILL)
try:
self.camera = PiCamera(resolution = (512,320))
self.camera.hflip = True
self.camera.vflip = True
except:
pass
print "Camera killed"
except:
print "Camera already dead"
#need to fix this
try:
self.ser = serial.Serial(port = '/dev/ttyUSB0',baudrate = 9600,timeout = 1)
except Exception as e:
print e
try:
self.ser = serial.Serial(port = '/dev/ttyUSB1',baudrate = 9600,timeout = 1)
except:
self.ser = None
self.angle = 0
self.top = 0
self.bottom = 0
self.right = 0
self.left = 0
class Sensor:
def __init__(self):
self.us = Ultrasound()
try:
p = subprocess.Popen(['pidof','raspberry_pi_camera_streamer'], stdout=subprocess.PIPE)
out,err = p.communicate()
pid = int(out.strip('\n'))
os.kill(pid,signal.SIGKILL)
try:
self.camera = PiCamera(resolution = (512,320))
self.camera.hflip = True
self.camera.vflip = True
except:
pass
print "Camera killed"
except:
print "Camera already dead"
#need to fix this
try:
self.ser = serial.Serial(port = '/dev/ttyUSB0',baudrate = 9600,timeout = 1)
except Exception as e:
print e
try:
self.ser = serial.Serial(port = '/dev/ttyUSB1',baudrate = 9600,timeout = 1)
except:
self.ser = None
self.angle = 0
self.top = 0
self.bottom = 0
self.right = 0
self.left = 0
def takePicture(self, name = "testPic", extention = "jpeg"):
self.camera.capture(name, extention)
print self.camera.resolution
def removeOutLiers(self, listS):
low = 100
high = 0
for i in listS:
if i < low:
low = i
elif i > high:
high = i
listS.remove(low)
listS.remove(high)
return listS
#reads from either the right or left sensor.
#'r' == right
#'l' == left
#
def getSensor(self, side = 'r'):
self.ser.flushInput()
self.ser.write(side)
dist = self.ser.readline()
d = 0
try:
d = float(dist.strip('\r\n'))
except:
d = None
return d
def getDistance(self):
listSense = []
for i in range(50):
listSense.append(self.us.read_normalized())
#print listSense[i]
listSense = self.removeOutLiers(listSense)
dist = float(sum(listSense))/48.0
return dist
def isWall(self, colours={'white':1,'black' :1}):
'''
colours dictionary of colours in a picture.
returns odds of the picture being a Wall
'''
black = float(colours['black'])
if black == 0.0:
return 0
others = float(sum(v for k,v in colours.iteritems() if k != 'black'))
if others == 0.0:
return 100 #only black in the picture
print black,others
return black/(others + black)
def makeBox(self):
length = int(self.top + self.bottom)
width = int(self.left + self.right)
room = []
for i in range(length):
line = []
for j in range(width):
if (i == 0 or j == 0) or (i == length - 1) or (j == width - 1):
line.append(1)
else:
line.append(0)
room.append(line)
room[int(self.top)][int(self.left)] = 8
return room
camera.vflip = True
#calibrate servos
c_left = Servo(pins.SERVO_LEFT_MOTOR)
c_right = Servo(pins.SERVO_RIGHT_MOTOR)
c_left.set_normalized(0.5)
c_right.set_normalized(0.5)
movement = Movement()
servo = Servo()
#initialize the Buzzer
buzzer = Buzzer()
#initialize the ultrasound
usound = Ultrasound()
#initialize the physical button press event
b = Button()
#Clean up on exiting so that the motors are off and the image is destroyed.
@atexit.register
def goodbye():
print "You are killing the PyNet"
#os.system("rm *.jpg")
movement.stop()
def takePicture(name=0):
buzzer.on()
