def fwd_hndl(value):
# do something with the value received
forwards()
time.sleep(0.03)
stop()
def bk_hndl(value):
backwards()
time.sleep(0.03)
stop()
def lt_hndl(value):
left()
time.sleep(0.03)
stop()
def rt_hndl(value):
right()
time.sleep(0.03)
stop()
brew.subscribe("forward", fwd_hndl)
brew.subscribe("backward", bk_hndl)
brew.subscribe("left", lt_hndl)
brew.subscribe("right", rt_hndl)
try:
brew.start()
while True:
pass
finally:
brew.stop()
print "motor1a" + str(value)
def motor1bH(value):
value = str2bool(value)
GPIO.output(18, value)
print "motor1b" + str(value)
def motor2aH(value):
value = str2bool(value)
GPIO.output(22, value)
print "motor2a" + str(value)
def motor2bH(value):
value = str2bool(value)
GPIO.output(23, value)
print "motor2b" + str(value)
try:
brew.start()
brew.subscribe("motor1a", motor1aH)
brew.subscribe("motor1b", motor1bH)
brew.subscribe("motor2a", motor2aH)
brew.subscribe("motor2b", motor2bH)
finally:
brew.stop()
GPIO.cleanup()
# publish values
client.publish('x', point[0])
client.publish('y', point[1])
client.publish('z', point[2])
client.publish('vector', list(point))
print('0: {:.2f} 60: {:.2f} 120: {:.2f}'.format(c000, c060, c120))
aa = np.abs([c000, c060, c120])
mi = np.argmin(aa)
client.publish('000', c000 / math.pi * 1023)
client.publish('060', c060 / math.pi * 1023)
client.publish('120', c120 / math.pi * 1023)
try:
with mic.recorder(samplerate=rate) as recorder:
while True:
data = recorder.record(numframes=1024)
#normalize all data?
data /= np.max(np.abs(data))
cf = crest_factor(data)
if cf > 5:
print(cf)
processC(data)
print('processed')
except Exception as e:
print(e)
traceback.print_exc()
client.stop()
