def test_Led():
led = Led()
try:
#Red wipe
print("\nRed wipe")
led.colorWipe(led.strip, Color(255, 0, 0))
time.sleep(1)
#Green wipe
print("\nGreen wipe")
led.colorWipe(led.strip, Color(0, 255, 0))
time.sleep(1)
#Blue wipe
print("\nBlue wipe")
led.colorWipe(led.strip, Color(0, 0, 255))
time.sleep(1)
#White wipe
print("\nWhite wipe")
led.colorWipe(led.strip, Color(255, 255, 255))
time.sleep(1)
led.colorWipe(led.strip, Color(0, 0, 0)) #turn off the light
print("\nEnd of program")
except KeyboardInterrupt:
led.colorWipe(led.strip, Color(0, 0, 0)) #turn off the light
print("\nEnd of program")
def __init__(self, gpio, pin, ledPin):
# initialize class variables
self.gpio = gpio
self.pir = pin
self.led = Led.Led(gpio, ledPin)
self.led.setup()
def __init__(self):
self.tcp_flag = False
self.led = Led()
self.adc = ADS7830()
self.servo = Servo()
self.buzzer = Buzzer()
self.control = Control()
self.sonic = Ultrasonic()
self.control.Thread_conditiona.start()
def __init__(self):
self.PWM = Motor()
self.servo = Servo()
self.led = Led()
self.ultrasonic = Ultrasonic()
self.buzzer = Buzzer()
self.adc = Adc()
self.light = Light()
self.infrared = Line_Tracking()
self.tcp_Flag = True
self.sonic = False
self.Light = False
self.Mode = 'one'
self.endChar = '\n'
self.intervalChar = '#'
def __init__(self):
self.headUpDownAngle = 90
self.headLeftRightAngle = 90
self.PWM = Motor()
self.servo = Servo()
self.horn = Buzzer()
self.speed = 1000
# corrected servo positions
# adjust these to suit your car
# so head is front and centre at start
self.headLRcorrect = -3
self.headUDcorrect = 4
self.reset_head()
self.selector = DefaultSelector()
# set true for mecanum wheels
self.mecanum = False
self.useLights = True
self.led = Led()
self.mouse = evdev.InputDevice('/dev/input/event1')
self.keybd = evdev.InputDevice('/dev/input/event0')
self.readingKeys = False
self.led.colorWipe(self.led.strip, Color(0,0,0),0)
self.brake = False
self.reverse = False
self.indicating = False
self.leftTurn = False
self.rightTurn = False
self.moving = False
self.indi_time = datetime.now()
self.indi_off = True
self.brake_time = datetime.now()
self.brake_off = True
atexit.register(self.keybd.ungrab) # Don't forget to ungrab the keyboard on exit!
atexit.register(self.mouse.ungrab)
self.keybd.grab() # Grab, i.e. prevent the keyboard from emitting original events.#
self.mouse.grab()
# This works because InputDevice has a `fileno()` method.
self.selector.register(self.mouse, EVENT_READ)
self.selector.register(self.keybd, EVENT_READ)
import time
from Led import *
from servo import *
from Motor import *
led = Led()
def test_Led():
try:
led.ledIndex(0x01, 255, 0, 0) #Red
led.ledIndex(0x02, 255, 125, 0) #orange
led.ledIndex(0x04, 255, 255, 0) #yellow
led.ledIndex(0x08, 0, 255, 0) #green
led.ledIndex(0x10, 0, 255, 255) #cyan-blue
led.ledIndex(0x20, 0, 0, 255) #blue
led.ledIndex(0x40, 128, 0, 128) #purple
led.ledIndex(0x80, 255, 255, 255) #white'''
print "The LED has been lit, the color is red orange yellow green cyan-blue blue white"
time.sleep(3) #wait 3s
led.colorWipe(led.strip, Color(0, 0, 0)) #turn off the light
print "\nEnd of program"
except KeyboardInterrupt:
led.colorWipe(led.strip, Color(0, 0, 0)) #turn off the light
print "\nEnd of program"
PWM = Motor()
def test_Motor():
def __init__(self):
self.led = Led()
import CmdMessenger
import CmdManager
import Motors
import Gripper
import Led
import SpeedControl
if __name__ == '__main__':
cMes = CmdMessenger.CmdMessenger()
cMes.start()
cMan = CmdManager.CmdManager(cMes)
cMotor = Motors.Motors(cMes, 5)
cMotor.start()
cSpeed = SpeedControl.SpeedControl(cMotor)
gripper = Gripper.Gripper(cMes)
led = Led.Led(cMes)
def Run_Cart4(self):
#------------------------------------------Ultrasonic sensor and Servo Motor Class
self.Ultrasonic = Ultrasonic()
self.LED = Led()
self.Buzzer = Buzzer()
self.Junction = 0
#--------------------------------------------------------------------------------------
while True:
self.Movement_Type = 0
Distance = self.Ultrasonic.get_distance()
IR_Left = GPIO.input(IR01)
IR_Mid = GPIO.input(IR02)
IR_Right = GPIO.input(IR03)
if (Distance > 15.0):
if ((IR_Left == 0) and (IR_Mid == 1) and (IR_Right == 0)):
if (self.Moved_Reverse_New != self.Moved_Reverse_Old):
self.Movement_Type = 11 #Move Reverse
else:
self.Movement_Type = 5 #Move Forward
self.Junction = 0 #Clear the Junction Variable
elif ((IR_Left == 1) and (IR_Mid == 0) and (IR_Right == 0)):
self.Movement_Type = 3 #Take Slight Left
elif ((IR_Left == 1) and (IR_Mid == 1) and (IR_Right == 0)):
self.Movement_Type = 3 #Take Slight Left
elif ((IR_Left == 0) and (IR_Mid == 0) and (IR_Right == 1)):
self.Movement_Type = 7 #Take Slight Right
elif ((IR_Left == 0) and (IR_Mid == 1) and (IR_Right == 1)):
self.Movement_Type = 7 #Take Slight Right
elif ((IR_Mid == 1) and (IR_Left == 1) and (IR_Right == 1)):
if (self.Junction == 0):
self.Movement_Type = self.Mov_According_To_Specified_position(
)
self.Junction = 1
else:
pass
else:
self.Movement_Type = 0 #Stop Movement
self.LED.ledIndex(0x20, 255, 125, 0) #Orange
self.LED.ledIndex(0x40, 255, 125, 0) #Orange
time.sleep(1)
self.LED.ledIndex(0x60, 0, 0, 0)
#Actuate the motors to move cart to the specific Coordinate
self.Move_Cart(self.Movement_Type)
if (self.Is_Intermediate_DestinTion_Reached()):
break
test_images = [
('01.jpg', [
1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0,
1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0
]),
('02.jpg', [1, 1, 1, 0, 1, 1, 0, 0]), # is tail 0,0 or 0,0,1?
('03.jpg', [0, 1, 1, 1, 0, 1, 1]),
('04.jpg', [1, 1, 0, 1, 1, 0, 0, 1])
]
start_time = time.time()
print 'Slow algorithm'
for test_image in test_images:
image_original = cv2.imread('img_in' + os.sep + test_image[0])
led = ll.Led(image_original)
counted_array = led.getCode()
if cmp(counted_array, test_image[1]) != 0:
print 'Error in decoding {}:'.format(test_image[0])
print 'correct:', test_image[1]
print 'counted:', counted_array
else:
print test_image[0] + ' is correct!'
print("--- %s seconds ---" % (time.time() - start_time))
# test fast method
start_time = time.time()
print '\nFast algorithm'
for test_image in test_images:
img_gray = cv2.imread('img_in' + os.sep + test_image[0], 0)
counted_array = ll.Led.getCodeFast(img_gray)
def __init__(self):
print("start main")
self.green_led = Led(GREEN)
self.yellow_led = Led(YELLOW)
self.red_led = Led(RED)
self.detected = False
def __init__(self):
self.led = Led.Led()
self.player = Player2.Player()
self.btManager = BluetoothManager.BluetoothManager(
self.onConnect, self.onDisconnect, self.player.on_property_changed)
self.apds = Apds.Apds()
print('Initialize motor control...')
myEngine = Motor.Motor()
print('Initialize servo control ... ')
myServo = ServoControl(debug = True)
print('Initialize Buzzer Driver...')
myBuzzer = Buzzer.Buzzer()
print('Initialize ADC Driver...')
myAdc = ADC.Adc()
Thread_Monitor = threading.Thread(target = monitorBattery, args=[myAdc, myBuzzer])
Thread_Monitor.start()
print('Initialize LED Driver...')
myLed = Led.Led()
try:
print('Center camera head...')
myServo.center()
time.sleep(2)
print('Enter 50ms control loop...')
disableMotor = False
while True:
# 1st stick controls the wheel motors
stick1_hor = myPad.get_axis_scaled(0)
stick1_ver = myPad.get_axis_scaled(1)
if not disableMotor:
process_stick1(stick1_hor, stick1_ver, myEngine)
else: