def backward_right(dir):
if (dir == 'go'):
xml_params = read_parameters_as_xml()
RPL.pwmWrite(motorL, 1500, freq)
RPL.pwmWrite(motorR, int(xml_params.get('motorR_backward')), freq)
else:
RPL.pwmWrite(motorL, 1500, freq)
RPL.pwmWrite(motorR, 1500, freq)
def forward(dir):
if (dir == 'go'):
xml_params = read_parameters_as_xml()
RPL.pwmWrite(motorL, int(xml_params.get('motorL_forward')), freq)
RPL.pwmWrite(motorR, int(xml_params.get('motorR_forward')), freq)
else:
RPL.pwmWrite(motorL, 1500, freq)
RPL.pwmWrite(motorR, 1500, freq)
# python web2py.py -c server.crt -k server.key -a 'Engineering1!' -i 0.0.0.0 -p 8000
# Kirwin's vi tab preferences: set shiftwidth=2 softtabstop=2 expandtab
import xml.etree.ElementTree as ET
import RoboPiLib as RPL
RPL.RoboPiInit("/dev/ttyAMA0", 115200)
######################
## Motor Establishment
######################
freq = 3000
motorL = 0
RPL.pinMode(motorL, RPL.PWM)
RPL.pwmWrite(motorL, 1500, freq)
motorR = 1
RPL.pinMode(motorR, RPL.PWM)
RPL.pwmWrite(motorR, 1500, freq)
def read_parameters_as_xml():
parser = ET.ElementTree() # use .get('param')
return parser.parse('command_parameters.txt')
################
## Web Functions
################
def dashboard():
def navigation():
#Pulls respective values of the hedge for x and y from the position array
MobileX = float(hedge.position()[1])
MobileY = float(hedge.position()[2])
while True:
MobileX = hedge.position()[1]
MobileY = hedge.position()[2]
if RPL.analogRead(1) > 500: # front left
RPL.pwmWrite(ServoR, 1250, 3000)
RPL.pwmWrite(ServoL, 1000, 3000)
print "1"
elif RPL.analogRead(2) > 500: # front right
RPL.pwmWrite(ServoR, 2000, 3000)
RPL.pwmWrite(ServoL, 1750, 3000)
print "2"
elif RPL.analogRead(3) > 500: # left side
RPL.pwmWrite(ServoR, 1550, 3000)
RPL.pwmWrite(ServoL, 1000, 3000)
print "3"
elif RPL.analogRead(4) > 500: # right side
RPL.pwmWrite(ServoR, 2000, 3000)
RPL.pwmWrite(ServoL, 1450, 3000)
print "4"
elif 0 > MobileX and 0 > MobileY:
RPL.pwmWrite(ServoR, 1750, 3000) # drive straight
RPL.pwmWrite(ServoL, 1250, 3000)
print "a"
elif MobileX < 0 and MobileY > 0:
RPL.pwmWrite(ServoR, 1550, 3000) # turn right
RPL.pwmWrite(ServoL, 1250, 3000)
print "b"
elif MobileX > 0 and MobileY < 0:
RPL.pwmWrite(ServoR, 1750, 3000) # turn left
RPL.pwmWrite(ServoR, 1450, 3000)
print "c"
elif MobileX == 0 and MobileY == 0:
RPL.pwmWrite(ServoR, 1500, 3000) # stop
RPL.pwmWrite(ServoL, 1500, 3000)
print "d"
elif MobileX > 0 and MobileY > 0:
RPL.pwmWrite(ServoR, 1450, 3000) # backwards
RPL.pwmWrite(ServoR, 1550, 3000)
print "e"
print MobileX
print MobileY
hedge.print_position()
def elbow_down(dir):
if (dir == 'go'):
RPL.digitalWrite(elbow_dir, 1)
RPL.pwmWrite(elbow_pulse, 200, 400)
else:
RPL.pwmWrite(elbow_pulse, 0, 400)
def shoulder_down(dir):
if (dir == 'go'):
RPL.digitalWrite(shoulder_dir, 1)
RPL.pwmWrite(shoulder_pulse, 200, 400)
else:
RPL.pwmWrite(shoulder_pulse, 0, 400)
######################
freq = 3000
motorL = 0
motorR = 1
servo1 = 8 # Wrist Pitch
servo2 = 9 # Wrist Roll
servo3 = 10 # Grabber
elbow_dir = 3
elbow_pulse = 5
shoulder_dir = 6
shoulder_pulse = 7
try:
RPL.pinMode(motorL, RPL.PWM)
RPL.pwmWrite(motorL, 1500, freq)
RPL.pinMode(motorR, RPL.PWM)
RPL.pwmWrite(motorR, 1500, freq)
RPL.pinMode(servo1, RPL.SERVO)
RPL.pinMode(servo2, RPL.SERVO)
RPL.pinMode(servo3, RPL.SERVO)
RPL.pinMode(elbow_dir, RPL.OUTPUT)
RPL.pinMode(elbow_pulse, RPL.PWM)
RPL.pwmWrite(elbow_pulse, 0, 1000)
RPL.pinMode(shoulder_dir, RPL.OUTPUT)
RPL.pinMode(shoulder_pulse, RPL.PWM)
RPL.pwmWrite(shoulder_pulse, 0, 1000)
except:
pass
