async def handle_command(websocket, path):
while True:
message = await websocket.recv()
message = literal_eval(message)
print(message)
if message['command'] == 'moveForward':
robot.forward()
answer = {'action': 'moveForward'}
elif message['command'] == 'moveBackward':
robot.backward()
answer = {'action': 'moveBackward'}
elif message['command'] == 'turnRight':
robot.right()
answer = {'action': 'turnRight'}
elif message['command'] == 'turnLeft':
robot.left()
answer = {'action': 'turnLeft'}
elif message['command'] == 'stop':
robot.stop()
answer = {'action': 'stop'}
elif message['command'] == 'grabberGrab':
# grabber action grab
answer = {'action': 'grabberGrab', 'value': message['value']}
elif message['command'] == 'grabberTilt':
# grabber action tilt
answer = {'action': 'grabberTilt', 'value': message['value']}
elif message['command'] == 'grabberHeight':
# grabber action height
answer = {'action': 'grabberHeight', 'value': message['value']}
await websocket.send(json.dumps(answer))
def do_POST(self):
global f
global b
global r
global l
global robot
self._set_headers()
form = cgi.FieldStorage(fp=self.rfile,
headers=self.headers,
environ={'REQUEST_METHOD': 'POST'})
print form.getvalue("forward")
print form.getvalue("backward")
print form.getvalue("left")
print form.getvalue("right")
if form.getvalue("forward") == "Forward":
if f == 0:
robot.stop()
robot.forward()
f = 1
else:
robot.stop()
f = 0
if form.getvalue("backward") == "Backward":
if b == 0:
robot.stop()
robot.backward()
b = 1
else:
robot.stop()
b = 0
if form.getvalue("left") == "Left":
if l == 0:
robot.stop()
robot.left()
l = 1
else:
robot.stop()
l = 0
if form.getvalue("right") == "Right":
if r == 0:
robot.stop()
robot.right()
r = 1
else:
robot.stop()
r = 0
file = open("index.html", "r")
page = file.read()
file.close()
self.wfile.write(page)
def move(direction):
if direction == 'forward':
robot.forward(0.5)
if direction == 'backward':
robot.backward(0.5)
if direction == 'left':
robot.left(0.5)
if direction == 'right':
robot.right(0.5)
return '{}'
def action(client, userdata, message):
data = message.payload.decode()
data = json.loads(data)
data = data['action']
print(data)
if data == 'forward':
print('forward')
robot.forward()
elif data == 'stop':
print('stop')
robot.stop()
elif data == 'left':
print('left')
robot.left()
elif data == 'right':
print('right')
robot.right()
elif data == 'backward':
print('backward')
robot.backward()
elif data == 'servo left':
print('servo left')
robot.servo_left()
elif data == 'servo center':
print('servo center')
robot.servo_center()
elif data == 'servo right':
print('servo right')
robot.servo_right()
elif data == 'lights':
print('lights')
robot.lights()
elif data == 'blinkers':
print('blinkers')
robot.blinkers()
elif data == 'voltage':
print('voltage')
voltage = robot.voltage()
voltage = send_json(voltage)
myMQTT.publish('from_robot', voltage, 0)
elif data == 'distance':
print('distance')
distance = robot.distance()
distance = send_json(distance)
myMQTT.publish('from_robot', distance, 0)
else:
pass
def move_div():
#if flask.request.method == 'POST':
if flask.request.form['button'] == 'forward':
print('forward!')
robot.forward()
elif flask.request.form['button'] == 'stop':
print('stop!')
robot.stop()
elif flask.request.form['button'] == 'left':
print('left')
robot.left()
elif flask.request.form['button'] == 'right':
print('right')
robot.right()
elif flask.request.form['button'] == 'backward':
print('backward')
robot.backward()
else:
pass
return flask.render_template('index.html')
# robot.robot_speed = 125 # robot.forward(3) # robot.right_rot(.7) # robot.forward(2.5) # robot.left_rot(.7) # robot.forward(5) # robot.forward(4) # robot.left_rot(.7) # robot.forward(3) # # robot.forward(3) # robot.right_rot(.7) # robot.forward(3) # robot.stop() ''' These are all the functions you can call in robot. robot.backward(1.0) robot.forward(1.0) robot.left(1.0) robot.right(1.0) robot.left_rot(1.0) robot.right_rot(1.0) robot.stop(1.0) robot.blink() d = robot.distance() v = robot.volt() '''
def console_thread(robot, left_motor, right_motor, imu_device, front_pan_tilt, front_lidar, back_pan_tilt, back_lidar, speed_pid_controller):
print_help()
is_console_on = True
selected_pid = 1
while is_console_on == True:
print('> ', end = '')
user_input = input()
if len(user_input) == 1:
command = user_input[0]
if command == '1':
print('')
print('Speed PID selected')
print('')
selected_pid = 1
elif command == 'm':
print('')
left_motor.print_info ('LEFT DC MOTOR')
right_motor.print_info('RIGHT DC MOTOR')
print('')
elif command == 'v':
print('')
front_pan_tilt.print_info('FRONT')
print('')
back_pan_tilt.print_info ('BACK' )
print('')
elif command == 'c':
print('')
print('SPEED PID:')
speed_pid_controller.print_info()
print('')
elif command == 'u':
print('')
imu_device.print_info()
print('')
elif command == 'r':
print('')
robot.print_info()
print('')
front_lidar.print_info('FRONT LIDAR')
back_lidar.print_info ('BACK LIDAR')
print('')
print('Line following threshold: {}'.format(control.line_threshold))
print('')
elif command == 'q':
print('')
print('***** GOING TO OPERATIONAL MODE *****')
is_console_on = False
elif command == 'x':
print('***** EXITING GRACEFULLY *****')
robot.stop()
front_pan_tilt.stop()
back_pan_tilt.stop ()
if status.is_rpi_gpio_used:
RPi.GPIO.cleanup()
os._exit(0)
elif command == 'h':
print_help()
elif len(user_input) == 2:
command = user_input[0:2]
if command == 'sf':
robot.forward_step()
elif command == 'sb':
robot.backward_step()
elif command == 'sl':
robot.left_step()
elif command == 'sr':
robot.right_step()
elif len(user_input) > 2 and user_input[1] == '=':
command = user_input[0]
value = float(user_input[2:])
if command == 'l':
if value == 0:
log_set_level(NO_LOG )
elif value == 1:
log_set_level(ERROR )
elif value == 2:
log_set_level(WARNING)
elif value == 3:
log_set_level(INFO )
elif value == 4:
log_set_level(DEBUG )
else:
print('Invalid log level')
elif command == 'p':
if selected_pid == 1:
speed_pid_controller.set_kp(value)
elif command == 'i':
if selected_pid == 1:
speed_pid_controller.set_ki(value)
elif command == 'd':
if selected_pid == 1:
speed_pid_controller.set_kd(value)
elif command == 'w':
if selected_pid == 1:
speed_pid_controller.set_anti_wind_up(value)
elif command == 's':
if value > 0:
robot.forward(value)
elif value < 0:
robot.backward(-value)
else:
robot.stop()
elif command == 'a':
if value < 0:
robot.right_with_angle(-value, True)
else:
robot.left_with_angle(value, True)
elif command == 'g':
if value < 0:
robot.right_with_strength(-value)
else:
robot.left_with_strength(value)
elif command == 't':
control.line_threshold = value
elif len(user_input) > 2 and user_input[2] == '=':
command = user_input[0:2]
value = float(user_input[3:])
if command == 'fp':
front_pan_tilt.set_pan(value)
elif command == 'ft':
front_pan_tilt.set_tilt(value)
elif command == 'bp':
back_pan_tilt.set_pan(value)
elif command == 'bt':
back_pan_tilt.set_tilt(value)
# robot.robot_speed = 125 # robot.forward(3) # robot.right_rot(.7) # robot.forward(2.5) # robot.left_rot(.7) # robot.forward(5) # robot.forward(4) # robot.left_rot(.7) # robot.forward(3) # # robot.forward(3) # robot.right_rot(.7) # robot.forward(3) # robot.stop() ''' These are all the functions you can call in robot. robot.backward(1.0) robot.forward(1.0) robot.left(1.0) robot.right(1.0) robot.left_rot(1.0) robot.right_rot(1.0) robot.stop(1.0) robot.blink() d = robot.distance() v = robot.volt() '''
print(data.decode())
if data == 'forward':
print('forward!')
robot.forward()
elif data == 'stop':
print('stop!')
robot.stop()
elif data == 'left':
print('left')
robot.left()
elif data == 'right':
print('right')
robot.right()
elif data == 'backward':
print('backward')
robot.backward()
elif data == 'servo left':
print('servo left')
robot.servo_left()
elif data == 'servo center':
print('servo center')
robot.servo_center()
elif data == 'servo right':
print('servo right')
robot.servo_right()
elif data == 'lights':
print('lights')
robot.lights()
elif data == 'blinkers':
print('blinkers')
robot.blinkers()