def main():
# setup
global lightSensors
global proximitySensors
lightSensors = TRSensor()
proximitySensors = IRSensor
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(7, GPIO.IN, GPIO.PUD_UP)
lightSensors.calibrate()
proximitySensors.setup(robot)
# make broadcasters
topSensorsPub = rospy.Publisher("/alphabot2/top_sensors",
Int32MultiArray,
queue_size=10)
bottomSensorsPub = rospy.Publisher("/alphabot2/bottom_sensors",
Int32MultiArray,
queue_size=10)
# start node
rospy.init_node('alphabot2_handler', anonymous=True)
# subscribe movement_listener
rospy.Subscriber("/alphabot2/control", Twist, movementCmdCallback)
print "Alphabot2 is ready to operate!"
rate = rospy.Rate(10)
while True:
while True:
light, proximity = getSensorsInfos()
topSensorsPub.publish(Int32MultiArray(data=proximity))
bottomSensorsPub.publish(Int32MultiArray(data=light))
rate.sleep()
if GPIO.input(7) == 0:
break
robot.stop()
time.sleep(2)
while GPIO.input(7) != 0:
time.sleep(0.1)
time.sleep(1)
robot.stop()
mqtt.on_disconnect = on_disconnect mqtt.on_message = on_message mqtt.will_set(SERVICE_NAME + "/state/status", "OFF", 1, True) mqtt.reconnect_delay_set(min_delay=1, max_delay=60) mqtt.connect(BROKER_ADDRESS, BROKER_PORT, 60) # connect to broker mqtt.publish(SERVICE_NAME + "/state/status", "ON", 1, True) # Modules pixels = Pixels(mqtt, SERVICE_NAME, DEBUG) buzzer = Buzzer(mqtt, SERVICE_NAME, DEBUG) cameraServo = CameraServo(mqtt, SERVICE_NAME, DEBUG) infrared_receiver = InfraredReceiver(mqtt, SERVICE_NAME, DEBUG) infrared_sensor = InfraredSensor(mqtt, SERVICE_NAME, DEBUG) joystick = Joystick(mqtt, SERVICE_NAME, DEBUG) obstacle_avoidance = ObstacleAvoidance(mqtt, SERVICE_NAME, DEBUG) trSensor = TRSensor(mqtt, SERVICE_NAME, 5, DEBUG) ultrasonic = Ultrasonic(mqtt, SERVICE_NAME, DEBUG) wheels = Wheels(mqtt, SERVICE_NAME, DEBUG) # Setup IR Sensor infrared_receiver.buzzer = buzzer infrared_receiver.camera_servo = cameraServo infrared_receiver.pixels = pixels infrared_receiver.wheels = wheels # Setup Joystick joystick.buzzer = buzzer joystick.camera_servo = cameraServo joystick.wheels = wheels # Setup Obstacle Avoidance
GPIO.setwarnings(False)
GPIO.setup(Button,GPIO.IN,GPIO.PUD_UP)
# LED strip configuration:
LED_COUNT = 4
LED_PIN = 18
LED_FREQ_HZ = 800000
LED_DMA = 5
LED_BRIGHTNESS = 255
LED_INVERT = False
maximum = 50;
j = 0
integral = 0;
last_proportional = 0
TR = TRSensor()
Ab = AlphaBot2()
Ab.stop()
print("Line follow")
time.sleep(0.5)
for i in range(0,100):
if(i<25 or i>= 75):
Ab.right()
Ab.setPWMA(30)
Ab.setPWMB(30)
else:
Ab.left()
Ab.setPWMA(30)
Ab.setPWMB(30)
TR.calibrate()
Ab.stop()
Button = 7
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(Button, GPIO.IN, GPIO.PUD_UP)
calibrate_turn_speed = 10
# maximum = 100;
maximum = 15
# SET THE MAX SPEED HERE
integral = 0
last_proportional = 0
TR = TRSensor() # create a new instance of the Tracking Sensor class
# Ab = AlphaBot2()
DCM = DCMotors(
) # create a new instance of the DC Motors (Variable Speed) class
### STEP 1 | Waiting to begin calibration sequence
DCM.stop() # initally, we must set the DC motors to halt/stop
print("Waiting to initiate calibration sequence")
time.sleep(2)
### STEP 2 | Calibration sequence
for i in range(0, 100):
if (i < 25 or i >= 75):
DCM.right()
DCM.setPWMAX(calibrate_turn_speed)
DCM.setPWMBX(calibrate_turn_speed)
#!/usr/bin/python
import traceback, time
from DCMotors_VS import DCMotors
from TRSensors import TRSensor
try:
dcm = DCMotors()
trs = TRSensor()
edv = 100 # edge detection value
speed = 2
dcm.setPWMAY(speed) # slow motor A down (forward/backward)
dcm.setPWMBY(speed) # slow motor B down (forward/backward)
dcm.setPWMAX(speed) # slow motor A down (turning)
dcm.setPWMBX(speed) # slow motor B down (turning)
while True:
# store the TRSensor values (an array)
trs_va = trs.AnalogRead()
if trs_va[0] < edv or trs_va[1] < edv or trs_va[2] < edv or trs_va[
3] < edv or trs_va[4] < edv:
## code for what happens when an edge is detected
print("edge detected")
dcm.stop() # stop both DC motors
dcm.backward()
#time.sleep(0.2)
import RPi.GPIO as GPIO
from AlphaBot2 import AlphaBot2
from TRSensors import TRSensor
import time
TR = TRSensor()
Ab = AlphaBot2()
m = 0
cut = 0
move_time = [0.1,0.2,0.3,0.5,0.7]
while(1):
f = 0
input = TR.AnalogRead()
for i in range(0,5):
if(input[i] < 400):
f += pow(2,i)
if(f == 0 or f == 31):
print("zero or full")
if(m > 0):
if(cut == 1):
Ab.right(20)
cut = 0
elif(cut == 0):
Ab.left(20)
cut = 1
time.sleep(move_time[(10-m)/2])