# The robot has not found the black line yet, so stop
robot.stop()
# Increase the seek count
seekcount += 1
# Change direction
direction = not direction
# The line wasn't found, so return False
robot.stop()
print("The line has been lost - relocate your robot")
linelost = True
return False
# Tell the program what to do with a line is seen
linesensor.when_line = linenotseen
# And when no line is seen
linesensor.when_no_line = lineseen
try:
# repeat the next indented block forever
robot.value = motorforward
while True:
if not isoverblack and not linelost:
seekline()
# If you press CTRL+C, cleanup and stop
except KeyboardInterrupt:
exit()
def joystick_loop(j, ):
robot = Robot((27, 4), (6, 5))
fork = Motor(15, 23)
lift = Motor(20, 21)
print('Pins OK')
try:
axes = {}
d_pad = '(0, 0) '
buttons = []
acceleration_mode = False
stick_mode = False
forward = False
d_pad_x, d_pad_y = 0, 0
nom_left, nom_right = 0, 0
while True:
try:
events = pygame.event.get()
for event in events:
if event.type == pygame.JOYBUTTONDOWN:
buttons.append(str(event.button))
if event.button == 1:
# switch soft acceleration mode
acceleration_mode = not acceleration_mode
elif event.button == 2:
try:
# blocking scan function
scan()
try:
buttons.remove(str(event.button))
except ValueError:
pass
except Exception as e:
print(f'\r{e}')
elif event.button == 3:
# switch control map
stick_mode = not stick_mode
elif event.type == pygame.JOYBUTTONUP:
try:
buttons.remove(str(event.button))
except ValueError:
pass
elif event.type == pygame.JOYAXISMOTION:
if abs(event.value) > 0.1:
axes[event.axis] = f'{event.value:+.4f}'
else:
axes[event.axis] = f'{0.0:+.4f}'
elif event.type == pygame.MOUSEMOTION:
pass # print(event.rel, event.buttons)
elif event.type == pygame.MOUSEBUTTONDOWN:
pass
elif event.type == pygame.MOUSEBUTTONUP:
pass
elif event.type == pygame.JOYHATMOTION:
d_pad = f'{event.value} '
d_pad_x, d_pad_y = event.value
else:
print(event)
# logging and writing to motors
buttons.sort(key=lambda x: int(x))
ax = list(axes.items())
ax.sort(key=lambda x: x[0])
left, right = -float(axes.get(1, '+0.0')), -float(
axes.get(4, '+0.0'))
if stick_mode:
left, right = joy_to_motor_best(
-float(axes.get(0, '+0.0')),
-float(axes.get(1, '+0.0')))
if acceleration_mode:
left, right, nom_left, nom_right = calculate_diff(
left, right, nom_left, nom_right, diff=0.005)
if forward:
left, right = 0.1, 0.1
print('\rButtons: ' + d_pad + ' '.join(buttons) +
' Axes: ' + '; '.join([f'{k}: {v}' for k, v in ax]),
end=f' ({left}, {right})')
robot.value = (left, right)
lift.value = -d_pad_y
fork.value = -d_pad_x
except Exception as e:
print(f'\r{e}')
except KeyboardInterrupt:
print("\rEXITING NOW")
j.quit()
self.encoder.when_activated = self._increment
self.encoder.when_deactivated = self._increment
def reset(self):
self._value = 0
def _increment(self):
self._value += 1
@property
def value(self):
return self._value
SAMPLETIME = 0.1
r = Robot((3, 2), (15, 14))
e1 = Encoder(17)
e2 = Encoder(27)
#start the robot
m1_speed = 1.0
m2_speed = 1.0
r.value = (m1_speed, m2_speed)
#find a sample rate
while True:
print("e1 {} e2 {}".format(e1.value, e2.value))
e1.reset()
e2.reset()
sleep(SAMPLETIME)
from gpiozero import Robot
from time import sleep
left_pins = (24, 25)
right_pins = (18, 23)
robot = Robot(left_pins, right_pins)
while True:
x = input("left 1, right 2, forward 3, back 4")
if x == 1:
print("left")
robot.value = (1, 0)
elif x == 2:
print("right")
robot.value = (0, 1)
elif x == 3:
print("forward")
robot.value = (1, 1)
elif x == 4:
print("back")
robot.value = (-1, -1)
diminui_velocidade = True
while not (iscenteroverblack() and isrightoverblack() and isleftoverblack()) and not robotlost:
if (sensor.distance > 20):
# print(sensor.distance)
# if (sensor.distance < 30):# and diminui_velocidade:
# print("diminuindo velocidade "+str(sensor.distance))
#motorforward = (leftmotorspeed-0.15, rightmotorspeed-0.15)
#motorbackward = (-leftmotorspeed+0.15, -rightmotorspeed+0.15)
#motorright = (-leftmotorspeed+0.15, rightmotorspeed-0.15)
#motorleft = (leftmotorspeed-0.15, -rightmotorspeed+0.15)
#robot.stop()
#time.sleep(1)
#diminui_velocidade = False
if iscenteroverblack():
print("para frente")
robot.value = motorforward
# time.sleep(tempo)
if isrightoverblack():
print("para a direita")
robot.value = motorright
# time.sleep(tempo)
if isleftoverblack():
print("para a esquerda")
robot.value = motorleft
# time.sleep(tempo)
else:
print("achou objeto")
servo_position = 0
servo.value = servo_position
time.sleep(1)
robot.value = motorright
gate_wid = 50
gate_dis = 50
gate_L = width / 2 - gate_dis
gate_R = width / 2 + gate_dis
# threshold variables #hsv
greenLower = (29, 86, 35)
greenUpper = (70, 255, 255)
white = (255, 255, 255)
# motor setup
r = Robot(mL, mR)
# m_speed = (mL_speed, mR_speed)
m_speed = (base_spd, base_spd)
r.value = m_speed
# initialize camera and grab reference
camera = PiCamera()
camera.resolution = (width, height)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(width, height))
# allow camera to warm up
time.sleep(0.1)
# grab an image
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
from gpiozero import Robot
from time import sleep
left_pins = (24, 25)
right_pins = (18, 23)
robot = Robot(left_pins, right_pins)
while True:
print("right")
robot.value = (0, 1)
sleep(2)
print("left")
robot.value = (1, 0)
sleep(2)
print("both")
robot.value = (1, 1)
sleep(2)
mR = (5, 6)
satadj = 1.25
SLEEPTIME = 0.1
# threshold variables #hsv
greenLower = (29, 86, 50)
greenUpper = (64, 255, 255)
white = (255, 255, 255)
# motor setup
r = Robot(mL, mR)
mL_speed = base_spd
mR_speed = base_spd
r.value = (mL_speed, mR_speed)
# initialize camera and grab reference
camera = PiCamera()
camera.resolution = (width, height)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(width, height))
# allow camera to warm up
time.sleep(0.1)
# grab an image
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
# grab the raw NumPy array representing the image, then initialize the timestamp
from gpiozero import Robot from time import sleep robot = Robot(left=(4, 14), right=(17, 18)) robot.forward() # full speed forwards robot.forward(0.5) # half speed forwards robot.backward() # full speed backwards robot.backward(0.5) # half speed backwards robot.stop() # stop the motor robot.value = 0.5 # half speed forwards robot.value = -0.5 # half speed backwards robot.value = 0 # stop robot.reverse() # reverse direction at same speed, e.g... robot.forward(0.5) # going forward at half speed robot.reverse() # now going backwards at half speed robot.right() robot.left()
from gpiozero import Robot
from gpiozero.tools import zip_values
from time import sleep
blackWinter = Robot(left=(7, 8), right=(9, 10))
blackWinter.stop()
print("setting full speed ahead straight 3 secs")
blackWinter.value = (1.0, 1.0)
blackWinter.forward()
sleep(1)
# print("pausing 3 secs")
# blackWinter.stop()
# sleep(3)
print("3 sec turning left")
blackWinter.value = (0.1, 1.0)
#blackWinter.forward()
sleep(11.5)
blackWinter.stop()
print("setting full speed ahead straight 3 secs")
blackWinter.value = (1.0, 1.0)
blackWinter.forward()
sleep(4)
# print("pausing 3 secs")
# sleep(3)
# blackWinter.stop()
