def setup(): pi.set_mode(22,pigpio.OUTPUT) pi.write(22,0) pi.write(17,0) time.sleep(1) BMX055.bmx055_setup() GPS.openGPS()
def setup(): global phaseChk pi.write(22,1) pi.write(24,0) BME280.bme280_setup() BME280.bme280_calib_param() BMX055.bmx055_setup() TSL2561.tsl2561_setup() GPS.openGPS() with open(phaseLog, 'a') as f: pass
def setup(): global phaseChk pi.set_mode(17, pigpio.OUTPUT) pi.set_mode(22, pigpio.OUTPUT) pi.write(22, 1) pi.write(17, 0) time.sleep(1) BME280.bme280_setup() BME280.bme280_calib_param() BMX055.bmx055_setup() GPS.openGPS() with open(phaseLog, 'a') as f: pass phaseChk = int(Other.phaseCheck(phaseLog))
def stuck_confirm(): BMX055.bmx055_setup() get_accdata() accdata = np.array([[accx, accy, accz]]) global cond #--- use Timer ---# cond = True thread = Thread(target=timer, args=([3])) thread.start() #--- note start time ---# start = time.time() time_base = start global time_array time_array = np.array([[0]]) try: while cond: #--- escape by run faster ---# run = pwm_control.Run() run.straight_h() time_count = time.time() - time_base if time_count >= 0.2: get_accdata() #--- multi dimention accdata matrix ---# accdata = np.append(accdata, np.array([[accx, accy, accz]])) #--- multi dimention time_array matrix ---# passed_time = time.time() - start time_array = np.append(time_array, np.array([[passed_time]])) #--- initialize time_base ---# time_base = time.time() except KeyboardInterrupt: run = pwm_control.Run() run.stop() finally: run = pwm_control.Run() run.stop() global accx_data accx_data = accdata[:, 0] #--- escape detection ---# move_judge = cor(accx_data, time_array) print(move_judge) return move_judge
def setup(): global phaseChk pi.set_mode(17, pigpio.OUTPUT) pi.set_mode(22, pigpio.OUTPUT) pi.write(22, 1) #IM920 Turn On pi.write(17, 0) #Outcasing Turn Off time.sleep(1) BME280.bme280_setup() BME280.bme280_calib_param() BMX055.bmx055_setup() GPS.openGPS() with open(phaseLog, 'a') as f: pass #if it is End to End Test, then phaseChk = int(Other.phaseCheck(phaseLog)) #if it is debug phaseChk = 8
def setup(): global phaseChk global startPosStatus pi.set_mode(17,pigpio.OUTPUT) pi.set_mode(22,pigpio.OUTPUT) pi.write(22,1) #IM920 Turn On IM920.Strt("2") #distance mode pi.write(17,0) #Outcasing Turn Off time.sleep(1) BME280.bme280_setup() BME280.bme280_calib_param() BMX055.bmx055_setup() TSL2561.tsl2561_setup() GPS.openGPS() with open(phaseLog, 'a') as f: pass #if it is End to End Test, then try: phaseChk = int(Other.phaseCheck(phaseLog)) except: phaseChk = 0 #if it is debug #phaseChk = 8 if phaseChk == 0: Other.saveLog(positionLog, "Goal", gLat, gLon, "\t") startPosStatus = 1 else: Other.saveLog(positionLog, "\t") if(Other.positionCheck(positionLog) == [0.0, 0.0]): print("Not Logged Start Position") startPosStatus = 1 else: rsLat, rsLon = Other.positionCheck(positionLog) print(rsLat, rsLon) startPosStatus = 0
#--- default module ---# #import difflib import time import traceback from threading import Thread GPS_data = [0.0,0.0,0.0,0.0,0.0] def timer(t): global cond time.sleep(t) cond = False if __name__ == "__main__": BMX055.bmx055_setup() GPS.openGPS() print('Run Phase Start!') #--- difine goal latitude and longitude ---# lon2 = 139.9060815 lat2 = 35.9143235 #------------- program start -------------# direction = Calibration.calculate_direction(lon2,lat2) goal_distance = direction["distance"] print('goal distance = '+str(goal_distance)) #------------- GPS navigate -------------# while goal_distance >= 15: #------------- Calibration -------------# print('Calibration Start') #--- calculate offset ---# magdata = Calibration.magdata_matrix()