def main():
try:
s = servos.Servos(serial.Serial("/dev/ttyACM0", 9600))
print("mounted ttyACM0")
except SerialException:
s = servos.Servos(serial.Serial("/dev/ttyACM1", 9600))
print("mounted ttyACM1")
wii = Wiimote(s)
wii.run()
def __init__(self, startPos, startDirection):
self.cam = camera.Camera()
self.sens = sensors.Sensors()
self.enc = encoders.Encoders()
self.serv = servos.Servos()
self.centeredInSquareLength = 7.5
self.sideDistance = 7.05
self.distanceBetweenSquares = 18
self.speed = 7
self.detectWallDistance = 15
self.nav = navigate.Navigate(startPos, startDirection)
self.useColor = False
self.colorList = []
self.foundColorList = []
self.foundColorNorth = False
self.foundColorEast = False
self.foundColorSouth = False
self.foundColorWest = False
SERVO_CENTER = 200 # Center value for the servo, should be 0 degrees of rotation.
# Initialize flask app
app = Flask(__name__)
app.config.from_object(__name__)
# Setup the servo and laser model
servos = None
if len(sys.argv) > 1 and sys.argv[1] == "test":
# Setup test servo for running outside a Raspberry Pi
import modeltests
servos = modeltests.TestServos()
else:
# Setup the real servo when running on a Raspberry Pi
import servos
servos = servos.Servos(SERVO_I2C_ADDRESS, SERVO_XAXIS_CHANNEL,
SERVO_YAXIS_CHANNEL, SERVO_PWM_FREQ)
model = model.LaserModel(servos, SERVO_MIN, SERVO_MAX, SERVO_CENTER)
# Main view for rendering the web page
@app.route('/')
def main():
return render_template('main.html', model=model)
# Error handler for API call failures
@app.errorhandler(ValueError)
def valueErrorHandler(error):
return jsonify({'result': error.message}), 500
# This program demonstrates usage of the digital encoders.
# After executing the program, manually spin the wheels and observe the output.
# See https://sourceforge.net/p/raspberry-gpio-python/wiki/Inputs/ for more details.
import encoders
import servos
import time
import RPi.GPIO as GPIO
import signal
# import pandas as pd
#objects for servos, encoders, sensors, and camera
enc = encoders.Encoders()
serv = servos.Servos()
# Pins that the encoders are connected to
LENCODER = 17
RENCODER = 18
def ctrlC(signum, frame):
print("Exiting")
serv.stopServos()
GPIO.cleanup()
exit()
def calibrateSpeeds(interval):
freq = 1.3
y = 1.3
while freq <= 1.7 and y <= 1.7:
serv.setSpeeds(freq, freq)
time.sleep(1)
speedTuple2 = enc.getSpeeds()
print(str((speedTuple2[0] + speedTuple2[1]) / 2) + " RPS")
def main():
s = servos.Servos(serial.Serial('/dev/ttyACM0', 9600))
while True:
play_morse('SOS ', s)
def calibrateSpeeds(self):
calServ = servos.Servos()
self.wheelTicksLeft = 0
self.wheelTicksRight = 0
self.calibrating = True
print('Starting calibration...')
if (self.graphing):
excelDataRight = [] #data to plot in excel
excelDataLeft = []
else:
calibrationData = {} #dictionary containing calibration data
calibrationData['left'] = {}
calibrationData['right'] = {}
rightStage = 1.2 #PWM freq for right
leftStage = 1.8 #PWM freq for left
print('CCW stage beginning...')
while (rightStage < 1.5 and leftStage > 1.5):
print('Collecting data for (' + str(leftStage) + ', ' +
str(rightStage) + ')...')
calServ.setSpeeds(leftStage, rightStage)
print('Waiting for ticks...')
while (self.wheelTicksLeft < self.accuracy + 1
and self.wheelTicksRight < self.accuracy + 1
): #while loop is just to wait for more ticks
pass
print('Got the ticks!')
averageSpeedLeft = sum(
self.calibrationArrayLeft[-self.accuracy:]
) / self.accuracy #averages last x elements of left array, left out first because it may not be accurate
averageSpeedRight = sum(
self.calibrationArrayRight[-self.accuracy:]
) / self.accuracy #averages last x elements of right array
if (self.graphing):
excelDataRight.append((rightStage, -averageSpeedRight))
excelDataLeft.append((leftStage, averageSpeedLeft))
else:
calibrationData['left'][averageSpeedLeft] = leftStage
calibrationData['right'][-averageSpeedRight] = rightStage
print('Average speed left: ' + str(averageSpeedLeft))
print('Average speed right: ' + str(averageSpeedRight))
#empty everything and reset for next stage
self.calibrationArrayLeft = []
self.calibrationArrayRight = []
self.wheelTicksLeft = 0
self.wheelTicksRight = 0
if leftStage > 1.6 and rightStage < 1.4:
rightStage += 0.0025
leftStage -= 0.0025
elif (
leftStage > 1.505 and rightStage < 1.495
): #would be miserable going slower than this, and this is the easy direction to spin so the requirements are closer to 1.5 than next stage
rightStage += 0.001
leftStage -= 0.001
else:
rightStage = 1.5
leftStage = 1.5
#reset for another run in the opposite direction
print('CW stage beginning...')
rightStage = 1.8 #PWM freq for right
leftStage = 1.2 #PWM freq for left
while (rightStage > 1.5 and leftStage < 1.5):
print('Collecting data for (' + str(leftStage) + ', ' +
str(rightStage) + ')...')
calServ.setSpeeds(leftStage, rightStage)
print('Waiting for ticks...')
while (self.wheelTicksLeft < self.accuracy + 1
and self.wheelTicksRight < self.accuracy + 1
): #while loop is just to wait for more ticks
pass
print('Got the ticks!')
averageSpeedLeft = sum(
self.calibrationArrayLeft[-self.accuracy:]
) / self.accuracy #averages last x elements of left array, left out first because it may not be accurate
averageSpeedRight = sum(
self.calibrationArrayRight[-self.accuracy:]
) / self.accuracy #averages last x elements of right array
if (self.graphing):
excelDataRight.append((rightStage, averageSpeedRight))
excelDataLeft.append((leftStage, -averageSpeedLeft))
else:
calibrationData['left'][-averageSpeedLeft] = leftStage
calibrationData['right'][averageSpeedRight] = rightStage
print('Average speed left: ' + str(averageSpeedLeft))
print('Average speed right: ' + str(averageSpeedRight))
#empty everything and reset for next stage
self.calibrationArrayLeft = []
self.calibrationArrayRight = []
self.wheelTicksLeft = 0
self.wheelTicksRight = 0
if leftStage < 1.4 and rightStage > 1.6:
rightStage -= 0.0025
leftStage += 0.0025
elif (leftStage < 1.493 and rightStage >
1.507): #would be miserable going slower than this
rightStage -= 0.001
leftStage += 0.001
else:
rightStage = 1.5
leftStage = 1.5
print('Turning off servos.')
calServ.stopServos()
#write to file
if (self.graphing):
workbook = xlsxwriter.Workbook('calibrationData.xlsx')
worksheet = workbook.add_worksheet()
col = 0
row = 0
for item in excelDataLeft:
worksheet.write(row, col, item[0])
worksheet.write(row, col + 1, item[1])
row += 1
col = 4
row = 0
for item in excelDataRight:
worksheet.write(row, col, item[0])
worksheet.write(row, col + 1, item[1])
row += 1
workbook.close()
else:
with open('calibration.json', 'w') as writeFile:
json.dump(calibrationData,
writeFile,
indent=4,
separators=(',', ': '),
sort_keys=True)
self.calibrating = False
self.wheelTicksLeft = 0
self.wheelTicksRight = 0
def calibrateSpeeds(self):
calServ = servos.Servos()
self.calibrating = True
print('Starting calibration...')
calibrationData = {} #dictionary containing calibration data
calibrationData['left'] = {}
calibrationData['right'] = {}
rightStage = 1.2 #PWM freq for right
leftStage = 1.8 #PWM freq for left
print('CCW stage beginning...')
while (rightStage < 1.5 and leftStage > 1.5):
print('Collecting data for (' + str(leftStage) + ', ' +
str(rightStage) + ')...')
calServ.setSpeeds(leftStage, rightStage)
print('Waiting for ticks...')
while (self.wheelTicksLeft < self.accuracy + 1
and self.wheelTicksRight < self.accuracy + 1
): #while loop is just to wait for more ticks
#speed = self.getSpeeds()
#if speed[0] == 0 or speed[1] == 0 and rightStage > 1.4 and leftStage < 1.6:
#rightStage = 1.5
#leftStage = 1.5
#break
pass
print('Got the ticks!')
averageSpeedLeft = sum(
self.calibrationArrayLeft[-self.accuracy:]
) / self.accuracy #averages last x elements of left array, left out first because it may not be accurate
averageSpeedRight = sum(
self.calibrationArrayRight[-self.accuracy:]
) / self.accuracy #averages last x elements of right array
calibrationData['left'][averageSpeedLeft] = leftStage
calibrationData['right'][-averageSpeedRight] = rightStage
print('Average speed left: ' + str(averageSpeedLeft))
print('Average speed right: ' + str(averageSpeedRight))
#empty everything and reset for next stage
self.calibrationArrayLeft = []
self.calibrationArrayRight = []
self.wheelTicksLeft = 0
self.wheelTicksRight = 0
# if (leftStage > 1.6 and rightStage < 1.4):
# rightStage += 0.01
# leftStage -= 0.01
if (leftStage > 1.52 and rightStage <
1.48): #would be miserable going slower than this
rightStage += 0.005
leftStage -= 0.005
else:
rightStage = 1.5
leftStage = 1.5
#reset for another run in the opposite direction
print('CW stage beginning...')
rightStage = 1.8 #PWM freq for right
leftStage = 1.2 #PWM freq for left
while (rightStage > 1.5 and leftStage < 1.5):
print('Collecting data for (' + str(leftStage) + ', ' +
str(rightStage) + ')(1.5, 1.5)...')
calServ.setSpeeds(leftStage, rightStage)
print('Waiting for ticks...')
while (self.wheelTicksLeft < self.accuracy + 1
and self.wheelTicksRight < self.accuracy + 1
): #while loop is just to wait for more ticks
#speed = self.getSpeeds()
#if speed[0] == 0 or speed[1] == 0 and rightStage > 1.4 and leftStage < 1.6:
#rightStage = 1.5
#leftStage = 1.5
#break
pass
print('Got the ticks!')
averageSpeedLeft = sum(
self.calibrationArrayLeft[-self.accuracy:]
) / self.accuracy #averages last x elements of left array, left out first because it may not be accurate
averageSpeedRight = sum(
self.calibrationArrayRight[-self.accuracy:]
) / self.accuracy #averages last x elements of right array
calibrationData['left'][-averageSpeedLeft] = leftStage
calibrationData['right'][averageSpeedRight] = rightStage
print('Average speed left: ' + str(averageSpeedLeft))
print('Average speed right: ' + str(averageSpeedRight))
#empty everything and reset for next stage
self.calibrationArrayLeft = []
self.calibrationArrayRight = []
self.wheelTicksLeft = 0
self.wheelTicksRight = 0
# if (leftStage < 1.4 and rightStage > 1.6):
# rightStage -= 0.01
# leftStage += 0.01
if (leftStage < 1.48 and rightStage >
1.52): #would be miserable going slower than this
rightStage -= 0.005
leftStage += 0.005
else:
rightStage = 1.5
leftStage = 1.5
print('Turning off servos.')
calServ.stopServos()
#write to file
with open('calibration.json', 'w') as writeFile:
json.dump(calibrationData,
writeFile,
indent=4,
separators=(',', ': '),
sort_keys=True)
self.calibrating = False
