def setup():
global api, bw, fw, buzzer, led_green, led_red, mqtt_distance, mqtt_speed, ua
# 1. PiCar setup.
picar.setup()
ua = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
fw = front_wheels.Front_Wheels(db='config')
bw = back_wheels.Back_Wheels(db='config')
fw.turning_max = 45
# 2. GPIO pins for buzzer and LED.
GPIO.setmode(GPIO.BCM) # GPIO.BCM mode.
GPIO.setup(PIN_BUZZER, GPIO.OUT) # Buzzer pin.
GPIO.setup(PIN_LED, GPIO.OUT) # LED pins.
GPIO.output(PIN_LED, GPIO.LOW) # Set LED pins to low to turn off LEDs.
buzzer = GPIO.PWM(PIN_BUZZER, 440) # Set buzzer frequency to 440Hz.
led_red = GPIO.PWM(PIN_LED[0], 2000) # Set LED frequencies to 2KHz.
led_green = GPIO.PWM(PIN_LED[1], 2000)
buzzer.start(0)
led_red.start(0)
led_green.start(0)
# 3. Ubidots.
api = ApiClient(token='A1E-priJupwmfAGtVeOjcslK9wAW16HJzO')
mqtt_distance = api.get_variable('59e93a20c03f9748c6bc3d54')
mqtt_speed = api.get_variable('5a092816c03f9706c0205e88')
def ParktheBatmobile():
finished = False
timer = 0
ua = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
frontWheels.turn_left()
frontWheels.turn_straight()
distance = ua.get_distance()
print "distance: %scm" % distance
backWheels.backward()
time.sleep(0.5)
frontWheels.turn_right()
backWheels.backward()
backWheels.speed = backward_speed
time.sleep(1.15)
frontWheels.turn_left()
time.sleep(1.1)
backWheels.stop()
time.sleep(1)
frontWheels.turn_straight()
backWheels.forward()
backWheels.speed = forward_speed
time.sleep(0.4)
backWheels.stop()
def LookForSpot():
ua = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
frontWheels.turn_straight()
found = False
start = False
obstacleEnd = False
timer = 0
time.sleep(1)
while (found == False):
backWheels.forward()
backWheels.speed = forward_speed
distance = ua.get_distance()
if (distance < 20):
start = True
if (start == True):
print "Obstacle"
time.sleep(0.2)
distance = ua.get_distance()
if (distance > 20):
obstacleEnd = True
while (obstacleEnd == True):
print "Empty Space"
time.sleep(0.1)
distance = ua.get_distance()
timer += 1
if (distance < 50):
obstacleEnd = False
print "New Obstacle"
print "Distance %scm" % distance
if (timer > 7):
found = True
else:
start = False
continue
backWheels.stop()
print "SPOT FOUND"
time.sleep(1)
print "CREEPING FORWARD"
backWheels.forward()
backWheels.speed = forward_speed
time.sleep(0.4)
print "READY TO PARK"
backWheels.stop()
ParktheBatmobile()
def __init__(self):
# 0 = random direction, 1 = force left, 2 = force right, 3 = orderdly
self.force_turning = 0
picar.setup()
self.ua = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
self.fw = front_wheels.Front_Wheels(db='config')
self.bw = back_wheels.Back_Wheels(db='config')
self.fw.turning_max = 45
self.forward_speed = 70
self.backward_speed = 70
self.back_distance = 10
self.turn_distance = 20
self.timeout = 10
self.last_angle = 90
self.last_dir = 0
self.command = xavier_command.STOP
max_off_track_count = 40
delay = 0.0005
fw = front_wheels.Front_Wheels(db='config')
bw = back_wheels.Back_Wheels(db='config')
lf = Line_Follower.Line_Follower()
lf.references = REFERENCES
fw.ready()
bw.ready()
fw.turning_max = 45
# Picar Ultrasonic init
UA = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
# PICAR ORDERS
def order(value):
if "SPEED" in value.upper():
speed = value.split(':')
bw.speed = int(speed[1])
bw.forward()
if value.upper() == 'L':
print("left")
fw.turn(int(90 - turning_angle))
if value.upper() == 'R':
print("right")
fw.turn(int(90 + turning_angle))
if value.upper() == 'S':
import time import picar picar.setup() # D0~D7 to BCM number D0 = 17 D1 = 18 D2 = 27 D3 = 22 D4 = 23 D5 = 24 D6 = 25 D7 = 4 ua = Ultrasonic_Avoidance.Ultrasonic_Avoidance(D0) lf = Line_Follower.Line_Follower() fw = front_wheels.Front_Wheels(db='config') bw = back_wheels.Back_Wheels(db='config') adc = ADC() lf.read_analog = adc.read gate_value = 50 # less then the normal, will act forward_speed = 90 lf_status_last = [0, 0, 0] a_step = 20 b_step = 40 FLASH_line_DELAY = 50
from SunFounder_Ultrasonic_Avoidance import Ultrasonic_Avoidance
from picar import front_wheels
from picar import back_wheels
import picar
import sys
picar.setup()
ua_left = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
ua_right = Ultrasonic_Avoidance.Ultrasonic_Avoidance(16)
ua_front = Ultrasonic_Avoidance.Ultrasonic_Avoidance(12)
fw = front_wheels.Front_Wheels(db='config')
bw = back_wheels.Back_Wheels(db='config')
forward_speed = 0
correction = 0
ls = []
rs = []
def stop():
bw.stop()
fw.turn_straight()
def reading_sides():
print('...measuring left...')
for x in range(0, 10):
left_storage = ua_left.get_distance()
def __init__(self):
self.UA = Ultrasonic_Avoidance.Ultrasonic_Avoidance(20)
self.bus = smbus.SMBus(1)
