def move(direction): # Choose the direction of the request if direction == 'camleft': video_dir.move_decrease_x() elif direction == 'camright': video_dir.move_increase_x() elif direction == 'camup': video_dir.move_increase_y() elif direction == 'camdown': video_dir.move_decrease_y() elif direction == 'camhome': video_dir.home_x_y() elif direction == 'record': subprocess.call(['motion'], shell=True) elif direction == 'stoprecord': subprocess.call(['./stop.sh'], shell=True) elif direction == 'forward': motor.forward() elif direction == 'reverse': motor.backward() elif direction == 'left': car_dir.turn_left() elif direction == 'right': car_dir.turn_right() elif direction == 'stop': motor.ctrl(0) elif direction == 'home': car_dir.home()
def left_forward(): print("turn left") turn.home() turn.turn_left() motor.forwardWithSpeed(spd=100) time.sleep(1) motor.stop() turn.home()
while True: data = '' data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client. # Analyze the command received and control the car accordingly. if not data: break if data == ctrl_cmd[0]: print 'motor moving forward' motor.forward() elif data == ctrl_cmd[1]: print 'recv backward cmd' motor.backward() elif data == ctrl_cmd[2]: print 'recv left cmd' car_dir.turn_left() elif data == ctrl_cmd[3]: print 'recv right cmd' car_dir.turn_right() elif data == ctrl_cmd[6]: print 'recv home cmd' car_dir.home() elif data == ctrl_cmd[4]: print 'recv stop cmd' motor.ctrl(0) elif data == ctrl_cmd[5]: print 'read cpu temp...' temp = cpu_temp.read() tcpCliSock.send('[%s] %0.2f' % (ctime(), temp)) elif data == ctrl_cmd[8]: print 'recv x+ cmd'
def server( value, collision ): #get value as Direction and collision as Collision detection from Shared memory pre_dir = 'home' x = 0 flag = 0 while True: sys.stdout.flush() print 'Waiting for connection...' # Waiting for connection. Once receiving a connection, the function accept() returns a separate # client socket for the subsequent communication. By default, the function accept() is a blocking # one, which means it is suspended before the connection comes. tcpCliSock, addr = tcpSerSock.accept() print '...connected from :', addr # Print the IP address of the client connected with the server. while True: data = '' data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client. # Analyze the command received and control the car accordingly. print data if not data: break if x == 1: if flag < 5: flag = flag + 1 continue #if there is any collision, Do not receive data from client.If so, Get stacked! x = 0 #after refusing data from client, start receiving flag = 0 if data == ctrl_cmd[0]: #If Client send message "forward" if collision.value == 1: #if there is obstacle in front of iCar motor.ctrl(0) #stop else: motor.forward() #Run the motors to forward elif data == ctrl_cmd[1]: #If Client send message "backward" motor.backward() elif data == ctrl_cmd[2]: #If Client send message "left" car_dir.turn_left() #change car direction to Left elif data == ctrl_cmd[3]: #If Client send message "right" car_dir.turn_right() #change car direction to Right elif data == ctrl_cmd[6]: #If Client send message "home" car_dir.home() #Set car direction to center elif data == ctrl_cmd[4]: #if Client send message "stop" motor.ctrl(0) #Stop Motor running elif data == ctrl_cmd[ 5]: #If Client click auto button, send message "auto" #auto drive motor.setSpeed(44) #Set motor speed with optimized speed 44 temp = value.value #get Value from jeongwook.py that is information of Car Direction if collision.value != 0: #If there is Collision print 'Collision detected' if collision.value == 1: #Collision in front of iCar print "Obstacle In Front" motor.collision_auto( ) #collision_auto function let iCar move backward car_dir.turn_right() #to avoid collision, turn right motor.forward_auto( ) #move only for 0.8second (forward_auto let iCar move for 0.2second) motor.forward_auto() motor.forward_auto() motor.forward_auto() car_dir.home() motor.forward_auto() motor.forward_auto() pre_dir = 'left' #if iCar cannot detect any lane, it SHOULD BE on left side, so makes iCar go left after avoiding elif collision.value == 2: #Collision on Left side print "Obstacle is on Left" motor.collision_auto() car_dir.turn_right() #to avoid collision, turn right motor.forward_auto() motor.forward_auto() motor.forward_auto() motor.forward_auto() car_dir.home() motor.forward_auto() motor.forward_auto() pre_dir = 'left' elif collision.value == 3: #go left print "Obstacle is on Right" motor.collision_auto() car_dir.turn_left() #to avoid collision, turn left motor.forward_auto() motor.forward_auto() motor.forward_auto() motor.forward_auto() car_dir.home() motor.forward_auto() motor.forward_auto() pre_dir = 'right' #if iCar cannot detect any lane, it SHOULD BE on right side, so makes iCar go right after avoiding collision.value = 0 x = 1 #set x = 1 to Not receiving data from client for a moment elif temp == 1: #iCar is on Lane, Go with center direction print 'Lane is on my way' car_dir.home() motor.forward_auto() #move iCar for 0.2second with 44speed #because of camera delay elif temp == 2: #lane is located on left side print 'Lane is on left side' car_dir.turn_left() motor.forward_auto() pre_dir = 'left' elif temp == 3: #lane is located on right side print 'Lane is on right side' car_dir.turn_right() motor.setSpeed(44) motor.forward_auto() pre_dir = 'right' else: if pre_dir == 'right': #when No detection but predict that lane is on right side print 'cannot find but go right' car_dir.turn_right() motor.setSpeed(44) motor.forward_auto() elif pre_dir == 'left': #when No detection but predict that lane is on left side print 'cannot find but go left' car_dir.turn_left() motor.forward_auto() else: print 'Cannot find a Lane' #No detection with no prediction car_dir.home() #set center direction and stop motor.backward() time.sleep(0.6) motor.ctrl(0) time.sleep(1) elif data == ctrl_cmd[7]: #move camera right video_dir.move_increase_x() elif data == ctrl_cmd[8]: #move camera left video_dir.move_decrease_x() elif data == ctrl_cmd[9]: #move camera up video_dir.move_increase_y() elif data == ctrl_cmd[10]: #move camera down video_dir.move_decrease_y() elif data[0:5] == 'speed': # Change the speed print data numLen = len(data) - len('speed') if numLen == 1 or numLen == 2 or numLen == 3: tmp = data[-numLen:] spd = int(tmp) if spd < 24: spd = 24 motor.setSpeed(spd) elif data[ 0: 7] == 'leftPWM': #If Client send message like ~PWM, it is for initialization or servo motor that control Car direction. numLen = len(data) - len('leftPWM') pwm = data[-numLen:] leftpwm = int(pwm) car_dir.change_left(leftpwm) elif data[0:7] == 'homePWM': numLen = len(data) - len('homePWM') pwm = data[-numLen:] homepwm = int(pwm) car_dir.change_home(homepwm) elif data[0:8] == 'rightPWM': numLen = len(data) - len('rightPWM') pwm = data[-numLen:] rightpwm = int(pwm) car_dir.change_right(rightpwm) else: print 'Command Error! Cannot recognize command: ' + data tcpSerSock.close()
def run_server(key): #!/usr/bin/env python import RPi.GPIO as GPIO import video_dir import car_dir import motor from time import ctime # Import necessary modules ctrl_cmd = [ 'forward', 'backward', 'left', 'right', 'stop', 'read cpu_temp', 'home', 'distance', 'x+', 'x-', 'y+', 'y-', 'xy_home' ] busnum = 1 # Edit busnum to 0, if you uses Raspberry Pi 1 or 0 HOST = '' # The variable of HOST is null, so the function bind( ) can be bound to all valid addresses. PORT = 21567 BUFSIZ = 1024 # Size of the buffer ADDR = (HOST, PORT) tcpSerSock = socket(AF_INET, SOCK_STREAM) # Create a socket. tcpSerSock.bind(ADDR) # Bind the IP address and port number of the server. tcpSerSock.listen( 5 ) # The parameter of listen() defines the number of connections permitted at one time. Once the # connections are full, others will be rejected. #video_dir.setup(busnum=busnum) #car_dir.setup(busnum=busnum) #motor.setup(busnum=busnum) # Initialize the Raspberry Pi GPIO connected to the DC motor. #video_dir.home_x_y() #car_dir.home() while True: print 'Waiting for connection...' # Waiting for connection. Once receiving a connection, the function accept() returns a separate # client socket for the subsequent communication. By default, the function accept() is a blocking # one, which means it is suspended before the connection comes. tcpCliSock, addr = tcpSerSock.accept() print '...connected from :', addr # Print the IP address of the client connected with the server. while True: try: data = '' data = tcpCliSock.recv( BUFSIZ) # Receive data sent from the client. print "\nEncrypted command recieved from client = ,", eval( data)[2] data = crypto.AES_decrypt(eval(data), key) except: print "INCOMPLETE PACKET ERROR - try to input the command again" # Analyze the command received and control the car accordingly. if not data: break if data == ctrl_cmd[0]: print 'motor moving forward' motor.forward() elif data == ctrl_cmd[1]: print 'recv backward cmd' motor.backward() elif data == ctrl_cmd[2]: print 'recv left cmd' car_dir.turn_left() elif data == ctrl_cmd[3]: print 'recv right cmd' car_dir.turn_right() elif data == ctrl_cmd[6]: print 'recv home cmd' car_dir.home() elif data == ctrl_cmd[4]: print 'recv stop cmd' motor.ctrl(0) elif data == ctrl_cmd[5]: print 'read cpu temp...' temp = cpu_temp.read() tcpCliSock.send('[%s] %0.2f' % (ctime(), temp)) elif data == ctrl_cmd[8]: print 'recv x+ cmd' video_dir.move_increase_x() elif data == ctrl_cmd[9]: print 'recv x- cmd' video_dir.move_decrease_x() elif data == ctrl_cmd[10]: print 'recv y+ cmd' video_dir.move_increase_y() elif data == ctrl_cmd[11]: print 'recv y- cmd' video_dir.move_decrease_y() elif data == ctrl_cmd[12]: print 'home_x_y' video_dir.home_x_y() elif data[0:5] == 'speed': # Change the speed print data numLen = len(data) - len('speed') if numLen == 1 or numLen == 2 or numLen == 3: tmp = data[-numLen:] print 'tmp(str) = %s' % tmp spd = int(tmp) print 'spd(int) = %d' % spd if spd < 24: spd = 24 motor.setSpeed(spd) elif data[0:5] == 'turn=': #Turning Angle print 'data =', data angle = data.split('=')[1] try: angle = int(angle) car_dir.turn(angle) except: print 'Error: angle =', angle elif data[0:8] == 'forward=': print 'data =', data spd = data[8:] try: spd = int(spd) motor.forward(spd) except: print 'Error speed =', spd elif data[0:9] == 'backward=': print 'data =', data spd = data.split('=')[1] try: spd = int(spd) motor.backward(spd) except: print 'ERROR, speed =', spd else: #print 'Command Error! Cannot recognize command: ' + data print "COMMAND ERROR - Unable to interpret recieved command" tcpSerSock.close()
def left(self): cd.turn_left()
def on_message(ws, data): print data # Analyze the command received and control the car accordingly. #if not data: if data == ctrl_cmd[0]: print 'motor moving forward' motor.forward() elif data == ctrl_cmd[1]: print 'recv backward cmd' motor.backward() elif data == ctrl_cmd[2]: print 'recv left cmd' car_dir.turn_left() elif data == ctrl_cmd[3]: print 'recv right cmd' car_dir.turn_right() elif data == ctrl_cmd[6]: print 'recv home cmd' car_dir.home() elif data == ctrl_cmd[4]: print 'recv stop cmd' motor.ctrl(0) elif data == ctrl_cmd[5]: print 'read cpu temp...' temp = cpu_temp.read() tcpCliSock.send('[%s] %0.2f' % (ctime(), temp)) elif data == ctrl_cmd[8]: print 'recv x+ cmd' video_dir.move_increase_x() elif data == ctrl_cmd[9]: print 'recv x- cmd' video_dir.move_decrease_x() elif data == ctrl_cmd[10]: print 'recv y+ cmd' video_dir.move_increase_y() elif data == ctrl_cmd[11]: print 'recv y- cmd' video_dir.move_decrease_y() elif data == ctrl_cmd[12]: print 'home_x_y' video_dir.home_x_y() elif data[0:12] == ctrl_cmd[13]: # Change the speed print data #numLen = len(data) - len('speed') #if numLen == 1 or numLen == 2 or numLen == 3: # tmp = data[-numLen:] # print 'tmp(str) = %s' % tmp # spd = int(tmp) # print 'spd(int) = %d' % spd # if spd < 24: # spd = 24 motor.setSpeed(30) elif data[0:5] == 'turn=': #Turning Angle print 'data =', data angle = data.split('=')[1] try: angle = int(angle) car_dir.turn(angle) except: print 'Error: angle =', angle elif data[0:8] == 'forward=': print 'data =', data spd = 30 try: spd = int(spd) motor.forward(spd) except: print 'Error speed =', spd elif data[0:9] == 'backward=': print 'data =', data spd = data.split('=')[1] try: spd = int(spd) motor.backward(spd) except: print 'ERROR, speed =', spd else: print 'Command Error! Cannot recognize command: ' + data
def drive(stops): # setup all devices and initialize values busnum = 1 car_dir.setup(busnum=busnum) motor.setup(busnum=busnum) distance_detect.setup() car_dir.home() motor.setSpeed(30) video_capture = cv2.VideoCapture(-1) video_capture.set(3, 160) video_capture.set(4, 120) command = 0 stopCount = 0 stopFound = 0 #drive until passed certain amount of stops while True: # capture video frames ret, frame = video_capture.read() # set color masking boundaries for red and mask image colorLower = np.array([0, 0, 100], dtype='uint8') colorUpper = np.array([50, 50, 255], dtype='uint8') colorMask = cv2.inRange(frame, colorLower, colorUpper) outMask = cv2.bitwise_and(frame, frame, mask=colorMask) # create mask image, convert to grayscale, and blur clonedImg = outMask.copy() clonedImg = cv2.cvtColor(clonedImg, cv2.COLOR_BGR2GRAY) clonedImg = cv2.GaussianBlur(clonedImg, (5, 5), 0) # show current image cv2.namedWindow('Gray color select', cv2.WINDOW_NORMAL) cv2.imshow('Gray color select', clonedImg) # calculate circles within image circles = cv2.HoughCircles(clonedImg, cv2.cv.CV_HOUGH_GRADIENT, 1, 20, param1=50, param2=30, minRadius=15, maxRadius=100) # if a circle was detected if circles != None: # if this is first time encountering this stop increase stop count if stopFound == 0: stopCount += 1 stopFound = 1 # map out circles for display circles = np.uint16(np.around(circles)) for i in circles[0, :]: cv2.circle(clonedImg, (i[0], i[1]), i[2], (0, 255, 0), 2) cv2.circle(clonedImg, (i[0], i[1]), 2, (0, 255, 0), 3) elif (cv2.countNonZero(clonedImg) == 0): stopFound = 0 # display camera feed and circles cv2.namedWindow('Circles', cv2.WINDOW_NORMAL) cv2.imshow('Circles', clonedImg) # crop the image crop_img = frame[60:120, 0:160] # convert to grayscale gray = cv2.cvtColor(crop_img, cv2.COLOR_BGR2GRAY) # gaussian blur blur = cv2.GaussianBlur(gray, (5, 5), 0) # color thresholding ret, thresh = cv2.threshold(blur, 60, 255, cv2.THRESH_BINARY_INV) # find the contours of the frame contours, hierarchy = cv2.findContours(thresh.copy(), 1, cv2.CHAIN_APPROX_NONE) # detect distance to closes object dis = distance_detect.checkdis() print "distance: ", dis # find the biggest contour (if detected) if len(contours) > 0 and dis >= 15: c = max(contours, key=cv2.contourArea) M = cv2.moments(c) if M['m00'] != 0: cx = int(M['m10'] / M['m00']) cy = int(M['m01'] / M['m00']) cv2.line(crop_img, (cx, 0), (cx, 720), (255, 0, 0), 1) cv2.line(crop_img, (0, cy), (1280, cy), (255, 0, 0), 1) cv2.drawContours(crop_img, contours, -1, (0, 255, 0), 1) if cx >= 120: print "Turn Right ", cx car_dir.turn_right() motor.forward() if cx < 120 and cx > 50: print "On Track! ", cx car_dir.home() motor.forward() if cx <= 50: print "Turn Left! ", cx car_dir.turn_left() motor.forward() else: if dis < 15: print "something blocking me" car_dir.home() motor.stop() else: print "I don't see the line" car_dir.home() motor.backward() # display the resulting frame cv2.namedWindow('frame', cv2.WINDOW_NORMAL) cv2.imshow('frame', crop_img) # exit condition after passing certain amount of stops or 'q' is pressed if stopCount == stops or (cv2.waitKey(1) & 0xFF == ord('q')): # clean up motor.stop() distance_detect.cleanup() cv2.destroyAllWindows() break
def run(self): while True: print 'Waiting for connection...' tcpCliSock, addr = tcpSerSock.accept() print '...connected from :', addr while True: data = '' data = tcpCliSock.recv(BUFSIZ) if not data: break if data == ctrl_cmd[0]: print 'motor moving forward' motor.forward() elif data == ctrl_cmd[1]: print 'recv backward cmd' motor.backward() elif data == ctrl_cmd[2]: print 'recv left cmd' car_dir.turn_left() elif data == ctrl_cmd[3]: print 'recv right cmd' car_dir.turn_right() elif data == ctrl_cmd[6]: print 'recv home cmd' car_dir.home() elif data == ctrl_cmd[4]: print 'recv stop cmd' motor.ctrl(0) elif data == ctrl_cmd[5]: print 'read cpu temp...' temp = cpu_temp.read() tcpCliSock.send('[%s] %0.2f' % (ctime(), temp)) elif data == ctrl_cmd[8]: print 'recv x+ cmd' video_dir.move_increase_x() elif data == ctrl_cmd[9]: print 'recv x- cmd' video_dir.move_decrease_x() elif data == ctrl_cmd[10]: print 'recv y+ cmd' video_dir.move_increase_y() elif data == ctrl_cmd[11]: print 'recv y- cmd' video_dir.move_decrease_y() elif data == ctrl_cmd[12]: print 'home_x_y' video_dir.home_x_y() elif data[0:5] == 'speed': print data numLen = len(data) - len('speed') if numLen == 1 or numLen == 2 or numLen == 3: tmp = data[-numLen:] print 'tmp(str) = %s' % tmp spd = int(tmp) print 'spd(int) = %d' % spd if spd < 24: spd = 24 motor.setSpeed(spd) elif data[0:5] == 'turn=': print 'data =', data angle = data.split('=')[1] try: angle = int(angle) car_dir.turn(angle) except: print 'Error: angle =', angle elif data[0:8] == 'forward=': print 'data =', data spd = data[8:] try: spd = int(spd) motor.forward(spd) except: print 'Error speed =', spd elif data[0:9] == 'backward=': print 'data =', data spd = data.split('=')[1] try: spd = int(spd) motor.backward(spd) except: print 'ERROR, speed =', spd else: print 'Command Error! Cannot recognize command: ' + data tcpSerSock.close()
angle = int((pred / 2 + 0.5) * 170 + 35) data = "turn=" + str(angle) if lstop_detected: motor.forward() lstop_detected = False if data == ctrl_cmd[0]: print 'motor moving forward' motor.forward() elif data == ctrl_cmd[1]: print 'recv backward cmd' motor.backward() elif data == ctrl_cmd[2]: print 'recv left cmd' car_dir.turn_left() elif data == ctrl_cmd[3]: print 'recv right cmd' car_dir.turn_right() elif data == ctrl_cmd[6]: print 'recv home cmd' car_dir.home() elif data == ctrl_cmd[4]: print 'recv stop cmd' motor.ctrl(0) elif data == ctrl_cmd[5]: print 'read cpu temp...' temp = cpu_temp.read() elif data == ctrl_cmd[8]: print 'recv x+ cmd' video_dir.move_increase_x() elif data == ctrl_cmd[9]:
def steer_left(self): sfsteering.turn_left() return True
def process_request(data): # Analyze the command received and control the car accordingly. if not data: return "cmd not understood" if data == ctrl_cmd[0]: print('motor moving forward') motor.forward() elif data == ctrl_cmd[1]: print('recv backward cmd') motor.backward() elif data == ctrl_cmd[2]: print('recv left cmd') car_dir.turn_left() elif data == ctrl_cmd[3]: print('recv right cmd') car_dir.turn_right() elif data == ctrl_cmd[6]: print('recv home cmd') car_dir.home() elif data == ctrl_cmd[4]: print('recv stop cmd') motor.ctrl(0) elif data == ctrl_cmd[5]: print('read cpu temp...') temp = cpu_temp.read() tcpCliSock.send('[%s] %0.2f' % (ctime(), temp)) elif data == ctrl_cmd[8]: print('recv x+ cmd') video_dir.move_increase_x() elif data == ctrl_cmd[9]: print('recv x- cmd') video_dir.move_decrease_x() elif data == ctrl_cmd[10]: print('recv y+ cmd') video_dir.move_increase_y() elif data == ctrl_cmd[11]: print('recv y- cmd') video_dir.move_decrease_y() elif data == ctrl_cmd[12]: print('home_x_y') video_dir.home_x_y() elif data[0:5] == 'speed': # Change the speed print(data) numLen = len(data) - len('speed') if numLen == 1 or numLen == 2 or numLen == 3: tmp = data[-numLen:] print('tmp(str) = %s' % tmp) spd = int(tmp) print('spd(int) = %d' % spd) if spd < 24: spd = 24 motor.setSpeed(spd) elif data[0:5] == 'turn=': # Turning Angle print('data =', data) angle = data.split('=')[1] try: angle = int(angle) car_dir.turn(angle) except: print('Error: angle =', angle) elif data[0:8] == 'forward=': print('data =', data) spd = data[8:] try: spd = int(spd) motor.forward(spd) except: print('Error speed =', spd) elif data[0:9] == 'backward=': print('data =', data) spd = data.split('=')[1] try: spd = int(spd) motor.backward(spd) except: print('ERROR, speed =', spd) else: print('Command Error! Cannot recognize command: ' + data)
def CarController(socket): while True: print 'Waiting for connection to car controller service...' # Waiting for connection. Once receiving a connection, the function accept() returns a separate # client socket for the subsequent communication. By default, the function accept() is a blocking # one, which means it is suspended before the connection comes. clientSocket, addr = socket.accept() print '...connected to car controller service:', addr # Print the IP address of the client connected with the server. lastCmd = '' while True: msgs = '' recdata = clientSocket.recv(BUFSIZ) # Receive data sent from the client. # Analyze the command received and control the car accordingly. msgs = recdata.split(';') #print("Received", len(msgs), "new messages") for data in msgs: if not data: break if lastCmd == data: print("Last Command:", lastCmd, "Current Data:", data, "Ignoring") break if data == ctrl_cmd[0]: print 'motor moving forward' motor.forward() elif data == ctrl_cmd[1]: print 'recv backward cmd' motor.backward() elif data == ctrl_cmd[2]: print 'recv left cmd' car_dir.turn_left() elif data == ctrl_cmd[3]: print 'recv right cmd' car_dir.turn_right() elif data == ctrl_cmd[6]: print 'recv home cmd' car_dir.home() elif data == ctrl_cmd[4]: print 'recv stop cmd' motor.ctrl(0) elif data == ctrl_cmd[5]: print 'read cpu temp...' temp = cpu_temp.read() tcpCliSock.send('[%s] %0.2f' % (ctime(), temp)) elif data[0:5] == 'speed': #print data numLen = len(data) - len('speed') if numLen == 1 or numLen == 2 or numLen == 3: tmp = data[-numLen:] #print 'tmp(str) = %s' % tmp spd = int(tmp) #print 'spd(int) = %d' % spd if spd < 24: spd = 24 motor.setSpeed(spd) elif data[0:8] == 'network=': print 'network =', data spd = data.split('=')[1] try: spd = int(spd) os.system('sudo tc qdisc del dev wlan0 root') os.system( 'sudo tc qdisc add dev wlan0 root netem delay {0}ms' .format(spd)) except: print 'ERROR , speed =', spd elif data[0:7] == 'offset=': print 'offset called, data = ', data offset = int(data[7:]) + 28 car_dir.calibrate(offset) elif data[0:8] == 'forward=': #print 'data =', data spd = data.split('=')[1] try: spd = int(spd) motor.setSpeed(spd) motor.forward() except: print 'Error speed =', spd elif data[0:9] == 'backward=': #print 'data =', data spd = data.split('=')[1] try: spd = int(spd) motor.setSpeed(spd) motor.backward() except: print 'ERROR , speed =', spd else: print 'Command Error! Cannot recognize command: ' + data
def mover(): #Init variables for the control loop counter = 1 bDriving = False bEndLoops = False sRobotDirection = Direction() rospy.init_node('mover', anonymous=True) rospy.Subscriber("motioncommand", String, sRobotDirection.direction_callback) scooper_dir.setup(busnum=busnum) car_dir.setup(busnum=busnum) # Initialize the Raspberry Pi GPIO connected to the DC motor. motor.setup(busnum=busnum) #video_dir.home_x_y() #scooper_dir.servo_test () car_dir.home() # Loop to wait for received commands. while (bEndLoops == False): # Loop to perform movement controls while input received. while (bEndLoops == False): data = sRobotDirection.directionMsg # Analyze the command received and control the car accordingly. #doAction (data, counter) #counter += 1 #print counter if not data: break if data == ctrl_cmd[0]: print 'ELFF WILL DRIVE' counter += 1 print counter try: spd = 20 #print "Moving forward with speed!" motor.forwardWithSpeed(spd) except: print 'Error speed =' + str(spd) elif data == ctrl_cmd[1]: print 'ELFF WILL REVERSE' counter += 1 print counter try: spd = 20 #print "Moving backward with speed!" motor.backwardWithSpeed(spd) except: print 'Error speed =' + str(spd) elif data == ctrl_cmd[2]: print 'ELFF WILL GO LEFT' counter += 1 car_dir.turn_left() elif data == ctrl_cmd[3]: print 'ELFF WILL GO RIGHT' counter += 1 car_dir.turn_right() elif data == ctrl_cmd[4]: print 'ELFF WILL SCOOP' scooper_dir.home_x_y() scooper_dir.doScoop() scooper_dir.home_x_y() # Used with publisher.py only as a debug method. elif data == ctrl_cmd[5]: print 'ELFF WILL RESET POSITION' scooper_dir.home_x_y() car_dir.home() motor.ctrl(0) bEndLoops = True elif data == ctrl_cmd[6]: print 'ELFF WILL STOP' counter += 1 print counter try: spd = 0 motor.forwardWithSpeed(spd) except: print 'Error speed =' + str(spd) else: print 'Waiting to receive a command...'
def turn_left(): car_dir.turn_left()
data = tcpCliSock.recv(BUFSIZ) # Receive data sent from the client. # Analyze the command received and control the car accordingly. if not data: break print('data : ' + str(data)) elif data == ctrl_cmd[0]: motor.forward() elif data == ctrl_cmd[1]: motor.backward() elif data == ctrl_cmd[2]: car_dir.turn_left() elif data == ctrl_cmd[3]: car_dir.turn_right() elif data == ctrl_cmd[6]: car_dir.home() elif data == ctrl_cmd[4]: motor.ctrl(0) elif data == ctrl_cmd[5]: temp = cpu_temp.read() tcpCliSock.send('[%s] %0.2f' % (ctime(), temp)) elif data == ctrl_cmd[8]:
def turn_left(self): """Front wheels will turn left, regardless of whether it is moving or not.""" car_dir.turn_left()