def __init__(self):
#movement variables
self.legs = Robot(left=(5, 6), right=(17, 27))
self.turning_right = False
self.turning_left = False
self.moving_forward = False
self.moving_backward = False
#used when preforming specific actions for fleeing Darth Vader
self.turning_around = False
self.time_turning_around = 0
self.running_away = False
self.time_running_away = 0
self.fleeing = False
#used to blink red-blue light
self.light = RGBLED(red=16, green=20, blue=21)
self.light.color = (1, 0, 0)
self.red = True
self.time_since_last_blink = 0
#used to make random movements
self.time_stopped = 0
self.time_moving = 0
self.moving = False
#used for reaction to characters
self.seeing_Leia = False
self.seen_Leia = False
self.time_seeing_Leia = 0
self.seeing_Obiwan = False
self.time_seeing_Obiwan = 0
self.seeing_Vader = False
self.time_seeing_Vader = 0
class RobotWheels:
robot = Robot(left=(5, 6), right=(22, 27))
def __init__(self):
pass
def move_forward(self):
self.robot.forward(0.2)
def move_backwards(self):
self.robot.backward(0.2)
def turn_right(self):
self.robot.right(0.2)
def turn_left(self):
self.robot.left(0.2)
def dance(self):
self.move_forward()
sleep(0.5)
self.stop()
self.move_backwards()
sleep(0.5)
self.stop()
self.turn_right()
sleep(0.5)
self.stop()
self.turn_left()
sleep(0.5)
self.stop()
def stop(self):
self.robot.stop()
def wheel_action(msg):
data = json.loads(msg["data"])
duration = data["duration"]
speed = data.get("speed", 1)
direction = data["direction"]
robot = Robot(left=config.WHEEL_LEFT, right=config.WHEEL_RIGHT)
if direction in "left right forward backward".split():
getattr(robot, direction)(speed)
time.sleep(duration)
def __init__(self, level='lvl0'):
#instantiating all the motors and sensors on the bot
self.robot = Robot(left=MOTOR_L, right=MOTOR_R)
self.sonic = DistanceSensor(echo=SONIC_ECHO, trigger=SONIC_TRIG)
self.ir_l = MCP3008(IR_L)
self.ir_r = MCP3008(IR_R)
self.button = MCP3008(BTN)
self.bz = TonalBuzzer(BZ)
self.led = RGBLED(R, G, B)
#creating custom variables
self.speed = self.get_speed(level)
def __init__(self):
GPIO.cleanup()
self.__leftencoder = Encoder(21)
self.__rightencoder = Encoder(27)
self.__robot = Robot(left=(23, 24), right=(26, 22))
self.__en1 = 12
self.__en2 = 13
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.__en1, GPIO.OUT)
GPIO.output(self.__en1, GPIO.HIGH)
GPIO.setup(self.__en2, GPIO.OUT)
GPIO.output(self.__en2, GPIO.HIGH)
def __init__(self):
#movement variables
self.legs = Robot(left=(5, 6), right=(17, 27))
self.turning_right = False
self.turning_left = False
self.moving_forward = False
self.moving_backward = False
#light variables
#used to blink red-blue light
self.light = RGBLED(red=16, green=20, blue=21)
self.light.color = (1, 0, 0)
self.red = True
self.time_since_last_blink = 0
def __init__(self):
window = np.zeros((100,100)) #initialising a black 100x100 window for using escape to quit
self.colour = {'red':0,'green':0,'blue':0,-1:0} #control dictionary for logic
left = (4,14) #left wheel gpio pins
right = (17,18) #right wheel gpio pins
self.robot = Robot(left,right) #robot initialisation class call
self.cap = cv2.VideoCapture(0) #recording video from camera 0 (i.e. the camera on rpi)
while(True):
ret, image = self.cap.read() #read from camera
if cv2.waitKey(1) != 27 :
cv2.imshow('window',window) #show the window previously made
self.botmove(image) #main bot moving method call
else:
break #exit if escape key is pressed
def main():
""" メイン関数 """
# 接続ピン
PIN_AIN1 = 6
PIN_AIN2 = 5
PIN_BIN1 = 26
PIN_BIN2 = 27
# 左右モーター設定(PWM)
motors = Robot(left=(PIN_AIN1, PIN_AIN2),
right=(PIN_BIN1, PIN_BIN2),
pwm=True)
# ループ処理
while True:
# 0.2秒前進(50%)
motors.forward(speed=0.5)
sleep(0.2)
# 0.2秒停止
motors.stop()
sleep(0.2)
# 0.2秒後退(50%)
motors.backward(speed=0.5)
sleep(0.2)
# 0.2秒停止
motors.stop()
sleep(0.2)
# 0.2秒左カーブ(50%)前進(100%)
motors.forward(speed=1, curve_left=0.5)
sleep(0.2)
# 0.2秒逆転
motors.reverse()
sleep(0.2)
# 0.2秒停止
motors.stop()
sleep(0.2)
# 0.2秒右カーブ(50%)前進(100%)
motors.forward(speed=1, curve_right=0.5)
sleep(0.2)
# 0.2秒逆転
motors.reverse()
sleep(0.2)
# 0.2秒停止
motors.stop()
sleep(0.2)
def main(): """ メイン関数 """ # 接続ピン PIN_AIN1 = 6 PIN_AIN2 = 5 PIN_BIN1 = 26 PIN_BIN2 = 27 # 左右モーター設定(PWM) motors = Robot(left=(PIN_AIN1,PIN_AIN2),right=(PIN_BIN1,PIN_BIN2),pwm=True) # 0.1秒毎周期30（約3秒）のSIN値の信号源 srcleft = post_delayed(sin_values(period=30),0.1) # 0.1秒毎周期30（約3秒）のCOS値の信号源 srcright = post_delayed(cos_values(period=30),0.1) # 左右モータに信号源を接続 motors.source = zip(srcleft,srcright) # 停止(Ctr+c)まで待機 pause()
def main():
""" メイン関数 """
# 接続ピン
PIN_AIN1 = 6
PIN_AIN2 = 5
PIN_BIN1 = 26
PIN_BIN2 = 27
# 左右モーター設定(PWM)
motors = Robot(left=(PIN_AIN1, PIN_AIN2),
right=(PIN_BIN1, PIN_BIN2),
pwm=True)
# 1秒毎の正負パルス値の信号源
dirleft = post_delayed(scaled(alternating_values(True), -1, 1), 1)
dirright = post_delayed(scaled(alternating_values(False), -1, 1), 1)
# 左右モーターに信号源を接続
motors.source = zip(dirleft, dirright)
# 停止(Ctrl+c)まで待機
pause()
def __init__(self):
self._commands = [
0, # forward
0, # backward
0, # left
0, # right
0, # turbo
]
self._robot = Robot(left=(_LEFT_MOTOR_NEG_PIN,
_LEFT_MOTOR_POS_PIN),
right=(_RIGHT_MOTOR_POS_PIN,
_RIGHT_MOTOR_NEG_PIN))
# A Driver exposes a number of multiprocess Events objects that
# external objects can use to signal the need of an emergency stops.
# It is up to the caller to clear the safety stop Event.
self._safety_stop_event = mp.Event()
self._safety_stop_forward_event = mp.Event()
self._safety_stop_backward_event = mp.Event()
_logger.debug('{} initialized'.format(self.__class__.__name__))
def main():
""" メイン関数 """
# 接続ピン
PIN_AIN1 = 6
PIN_AIN2 = 5
PIN_BIN1 = 26
PIN_BIN2 = 27
# 左右モーター設定(ON/OFF)
motors = Robot(left=(PIN_AIN1, PIN_AIN2),
right=(PIN_BIN1, PIN_BIN2),
pwm=False)
# ループ処理
while True:
# 0.2秒前進
motors.forward()
sleep(0.2)
# 0.2秒停止
motors.stop()
sleep(0.2)
# 0.2秒後退
motors.backward()
sleep(0.2)
# 0.2秒停止
motors.stop()
sleep(0.2)
# 0.2秒左旋回
motors.left()
sleep(0.2)
# 0.2秒停止
motors.stop()
sleep(0.2)
# 0.2秒右旋回
motors.right()
sleep(0.2)
# 0.2秒停止
motors.stop()
sleep(0.2)
def main():
""" メイン関数 """
# モータードライバ接続ピン
PIN_AIN1 = 6
PIN_AIN2 = 5
PIN_BIN1 = 26
PIN_BIN2 = 27
# A/D変換チャネル数
NUM_CH = 4
# 左右モーター設定(PWM)
motors = Robot(left=(PIN_AIN1,PIN_AIN2), \
right=(PIN_BIN1,PIN_BIN2), \
pwm=True)
# フォトリフレクタ（複数）設定（A/D変換）
photorefs = [MCP3004(channel=idx) for idx in range(NUM_CH)]
# ライントレース処理
motors.source = line_follow(photorefs)
# 停止(Ctr+c)まで待機
pause()
def setup(self):
self.robot = Robot(left=left_wheel, right=right_wheel)
dotbot_ros.Subscriber("cmd_vel", Twist, self.on_cmd_vel)
import curses
from gpiozero import Robot
import sys
robot = Robot(left=(27, 24), right=(16, 23))
actions = {
curses.KEY_UP: robot.forward,
curses.KEY_DOWN: robot.backward,
curses.KEY_LEFT: robot.left,
curses.KEY_RIGHT: robot.right,
}
def main(stdscr):
nextKey = None
while True:
curses.halfdelay(1)
if nextKey is None:
key = stdscr.getch()
else:
key = nextKey
nextKey = None
if key != -1:
curses.halfdelay(3)
action = actions.get(key)
if action is not None:
action()
nextKey = key
while nextKey == key:
nextKey = stdscr.getch()
from gpiozero import DistanceSensor, Robot
from time import sleep
robot = Robot(left=(7, 8), right=(9, 10))
#robot.forward(0.3)
def go_forward(n_seconds):
robot.forward(0.5)
sleep(n_seconds)
robot.stop()
def go_left(n_seconds):
robot.left(0.5)
sleep(n_seconds)
robot.stop()
def go_forward_cautious():
sensor = DistanceSensor(echo=18, trigger=17)
robot.forward(0.3)
while True:
##print('Distance: ', sensor.distance)
if sensor.distance < 0.1:
##print("less than 0.1")
robot.forward(0.5)
if sensor.distance < 0.5:
print("less than 0.05")
robot.forward(0.025)
if sensor.distance < 0.025:
print("About to stop")
import signal
from xbox360controller import Xbox360Controller
from gpiozero import Robot
robot = Robot(left=(19,26),right=(20,21))
def on_button_pressed(button):
print('Button {0} was pressed'.format(button.name))
if button.name == "button_a":
print('[Robot goes Forward]')
robot.forward()
elif button.name == "button_b":
print('[Robot goes Backward]')
robot.backward()
elif button.name == "button_trigger_l":
print('[Robot goes Left]')
robot.left()
elif button.name == "button_trigger_r":
print('[Robot goes Right]')
robot.right()
def on_button_released(button):
print('Button {0} was released'.format(button.name))
print('[Robot was Stoped]')
robot.stop()
def on_axis_moved(axis):
print('Axis {0} moved to {1} {2}'.format(axis.name,axis.x,axis.y))
from gpiozero import Robot robot = Robot(left=(5,6), right=(13,19))
from gpiozero import Robot, Motor, MotionSensor from signal import pause robot = Robot(left=Motor(4, 14), right=Motor(17, 18)) pir = MotionSensor(5) pir.when_motion = robot.forward pir.when_no_motion = robot.stop pause()
from gpiozero import Robot, InputDevice, OutputDevice
from time import sleep, time
trig = OutputDevice(4)
echo = InputDevice(17)
olivia = Robot(right=(7, 8), left=(10, 9))
duration = 7
end_time = time() + duration
running = True
sleep(2)
def get_pulse_time():
pulse_start, pulse_end = 0, 0
trig.on()
sleep(0.00001)
trig.off()
while echo.is_active == False:
pulse_start = time()
while echo.is_active == True:
pulse_end = time()
return pulse_end - pulse_start
from gpiozero import DistanceSensor, LED, MotionSensor,Robot
import gpiozero
from signal import pause
import time
pir = MotionSensor(12)
sensor = DistanceSensor(21, 20, max_distance=1, threshold_distance=0.2)
led = LED(16)
robot = Robot(left=(26, 19), right=(6, 13))
def sense():
#stop robot
robot.stop()
#record time
start = time.time()
#this function will stop when it see's any motion but if will stop anyway after 2 seconds
pir.wait_for_motion(timeout=2)
#if it took less than 2 seconds for the waitForMotion fuction to stop then it detected movement
if time.time() - start < 1.9999999:
#buzzer on
led.on()
#wait 2 seconds
time.sleep(2)
#buzzer off
led.off()
else:
#the thing in front of the robot is a walll
#turn to get out of the way
robot.left()
time.sleep(1)
robot.stop()
from gpiozero import Robot, DistanceSensor from signal import pause sensor = DistanceSensor(23, 24, max_distance=1, threshold_distance=0.2) robot = Robot(left=(4, 14), right=(17, 18)) sensor.when_in_range = robot.backward sensor.when_out_of_range = robot.stop pause()
from time import sleep
from gpiozero import Robot
from bluedot import BlueDot
from signal import pause
robby = Robot(left=(9, 10), right=(8, 7))
tleft = 0.85
tright = 0.85
def line():
robby.forward(1)
sleep(1.15)
robby.left(1)
sleep(tleft)
robby.forward(1)
sleep(2)
robby.right(1)
sleep(tright)
robby.forward(0.4)
sleep(0.5)
robby.left(1)
sleep(tleft)
robby.forward(1)
sleep(0.9)
robby.stop()
def remoteAndroid():
bd = BlueDot(
from bluedot import BlueDot
from gpiozero import Robot
bd = BlueDot()
robot = Robot(left=(8, 7), right=(10, 9))
def move(pos):
if pos.top:
robot.forward()
elif pos.bottom:
robot.backward()
elif pos.right:
robot.right()
elif pos.left:
robot.left()
def stop():
robot.stop()
bd.when_pressed = move
bd.when_moved = move
bd.when_released = stop
from gpiozero import Robot, DistanceSensor
from time import sleep
import CERCBot
import random
burt_the_robot = Robot(left=(8, 7), right=(21, 20))
left_echo_pin = 14
left_trigger_pin = 15
centre_echo_pin = 17
centre_trigger_pin = 4
right_echo_pin = 23
right_trigger_pin = 18
threshold = 20
threshold2 = 25
dead_end = 0
fast = 0.7
slow = 0.6
def go_forwards(speed):
burt_the_robot.forward(speed)
print("Going forwards")
def go_backwards(speed):
burt_the_robot.backward(speed)
print("Going backwards")
from gpiozero import Robot from time import sleep robot = Robot(left=(5, 6), right=(22, 27)) robot.forward(0.2) sleep(0.5) robot.backward(0.2) sleep(0.5) robot.stop()
cl = 0.1
def inrange():
global cl
robot.stop()
robot.backward(curve_right=0.5)
sleep(2)
#robot.right()
#robot.reverse()
sleep(1)
robot.forward(curve_right=cl)
def outrange():
global cl
robot.stop()
robot.forward(curve_right=cl)
sensor = DistanceSensor(echo=20,
trigger=21,
max_distance=1,
threshold_distance=0.15)
sensor.when_in_range = inrange
sensor.when_out_of_range = outrange
#robot = Robot(left=(26, 19), right=(6, 13))
robot = Robot(right=(19, 26), left=(6, 13))
robot.forward(curve_right=cl)
pause()
# -------------------------------------------------------------------------------------------------
from gpiozero import Robot # controls the robot hardware
import paho.mqtt.client as mqtt # provides IoT functionality to send messages between computers
# Settings
# -------------------------------------------------------------------------------------------------
# If you need to change the defaults, change them in settings.py:
from settings import *
# Globals
# -------------------------------------------------------------------------------------------------
# Set the GPIO pins used to connect to the motor controller
robot = Robot(left=(19, 26), right=(16, 20))
# Functions
# -------------------------------------------------------------------------------------------------
def map(n, a, b, c, d):
return (n - a) * (d - c) / (b - a)
def on_connect(client, userdata, flags, rc):
# Called when the client receives connection acknowledgement response from the broker
print("MQTT Connected with result code " + str(rc))
# Subscribing in on_connect() means that if we lose the connection and
high = bus.read_byte_data(d_address, adr+1)
val=(high<<8)+low
if(val > 32768):
val = val - 65536
return val
magneto_start()
in1=17
in2=27
in3=23
in4=24
en1=PWMOutputDevice(18)
en2=PWMOutputDevice(19)
GPIO.setmode(GPIO.BCM)
robot = Robot((in1, in2), (in3, in4))
speed=1
en1.value=speed
en2.value=speed
#def user_input():
# while 1:
# global speed
# i=input("Please enter a number: ")
# print ('wrong input')
# if i== 'w':
# robot.forward()
# elif i=='s':
# robot.backward()
# elif i=='a':
from gpiozero import Button, Robot from gpiozero.pins.pigpio import PiGPIOFactory from signal import pause factory = PiGPIOFactory(host='192.168.1.17') robot = Robot(left=(4, 14), right=(17, 18), pin_factory=factory) # remote pins # local buttons left = Button(26) right = Button(16) fw = Button(21) bw = Button(20) fw.when_pressed = robot.forward fw.when_released = robot.stop left.when_pressed = robot.left left.when_released = robot.stop right.when_pressed = robot.right right.when_released = robot.stop bw.when_pressed = robot.backward bw.when_released = robot.stop pause()
