def motor(request): left = request.args.get('l') right = request.args.get('r') if left and not cfg.chocks: left = int(left) if left >= -100 and left <= 100: cfg.left_motor = int(left * cfg.left_motor_trim) hw.motor_two_speed(cfg.left_motor) if right and not cfg.chocks: right = int(right) if right >= -100 and right <= 100: cfg.right_motor = int(right * cfg.right_motor_trim) hw.motor_one_speed(cfg.right_motor) return response.text('ok')
def motor(): left = request.args.get('l') right = request.args.get('r') if left and not cfg.chocks: left = int(left) if left >= -100 and left <= 100: cfg.left_motor = left hw.motor_two_speed(cfg.left_motor) if right and not cfg.chocks: right = int(right) if right >= -100 and right <= 100: cfg.right_motor = right hw.motor_one_speed(cfg.right_motor) return 'ok'
def joystick(): cfg.watchdog = 0 x_axis = int(request.args.get('x')) y_axis = int(request.args.get('y')) x_axis = -1 * max(min(x_axis, 100), -100) y_axis = max(min(y_axis, 100), -100) v = (100 - abs(x_axis)) * (y_axis / 100) + y_axis w = (100 - abs(y_axis)) * (x_axis / 100) + x_axis r = int((v + w) / 2) l = int((v - w) / 2) if not cfg.chocks: cfg.right_motor = r cfg.left_motor = l hw.motor_one_speed(cfg.right_motor) hw.motor_two_speed(cfg.left_motor) return 'ok'
def brakes_on(): cfg.brakes = True cfg.left_motor = 0 cfg.right_motor = 0 hw.motor_one_speed(cfg.right_motor) hw.motor_two_speed(cfg.left_motor)
def moveRight(): hw.motor_one_speed(100) hw.motor_two_speed(0)
def moveLeft(): hw.motor_one_speed(0) hw.motor_two_speed(100)
def moveBackwards(): hw.motor_one_speed(-100) hw.motor_two_speed(-100)
def moveForward(): hw.motor_one_speed(100) hw.motor_two_speed(100)
import io_wrapper as hw from picamera import PiCamera from time import sleep wheel = 0 camera = 0 if wheel == 0: print("Move Wheel...") while wheel != 1000: hw.motor_one_speed(-100) hw.motor_two_speed(-100) wheel = wheel + 1 print(wheel) camera = PiCamera() camera.rotation = 180 camera.resolution = (2592, 1944) camera.start_preview() sleep(5) camera.capture('/home/pi/Desktop/image.jpg') camera.stop_preview() print("Wheel Test Complete") hw.motor_one_speed(0) hw.motor_two_speed(0) if camera == 0: print("Camera Test...") camera = PiCamera() camera.rotation = 180